Add asset desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/affordance/affordance_annot.json +395 -0
- dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/charging_cable_020.urdf +1 -0
.gitattributes
CHANGED
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@@ -6279,3 +6279,4 @@ dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d
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| 6279 |
dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6280 |
dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6281 |
dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6279 |
dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6280 |
dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6281 |
dataset/desktop_supplies/electronic_accessories/b9359304d31459aeb7f65fe1e6e3d42a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6282 |
+
dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,395 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cable body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the coiled cable body to pick up and move the cable",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cable body to stabilize it while plugging in a connector",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch a section of the cable body to reposition or uncoil it",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"carry electrical power or data between connectors",
|
| 23 |
+
"provide flexible reach",
|
| 24 |
+
"bend for routing",
|
| 25 |
+
"bundle into a coil",
|
| 26 |
+
"main grasp surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long dark gray braided cable with a matte woven fabric sleeve, slightly textured flexible cylindrical shape, medium thickness, forming the large coiled main body between the two ends.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9719216227531433,
|
| 33 |
+
"position": [
|
| 34 |
+
0.11964793017250486,
|
| 35 |
+
0.018862162600271404,
|
| 36 |
+
-0.0037993410387571203
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7248633257531291,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.20779437523674216,
|
| 42 |
+
-0.6551984147131497,
|
| 43 |
+
0.045931404893175605
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_5": {
|
| 48 |
+
"confidence": 0.9557168483734131,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.1169803861703258,
|
| 51 |
+
0.008260094444267452,
|
| 52 |
+
-0.008728389746465837
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.10816929773928907,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6799888032890242,
|
| 58 |
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-0.04792847653707466,
|
| 59 |
+
-0.7236141869566856
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_7": {
|
| 64 |
+
"confidence": 0.9477649927139282,
|
| 65 |
+
"position": [
|
| 66 |
+
0.02377743719262071,
|
| 67 |
+
0.11574260226916522,
|
| 68 |
+
-0.003232153949284111
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5470972514015259,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.48626825537432894,
|
| 74 |
+
0.4970401078258738,
|
| 75 |
+
-0.46602458361823074
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_10": {
|
| 80 |
+
"confidence": 0.9431573152542114,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.095077966543613,
|
| 83 |
+
0.06053026847075671,
|
| 84 |
+
-0.02197525475821749
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7588349858063499,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.3614263180283568,
|
| 90 |
+
0.5186092562156461,
|
| 91 |
+
-0.15679579178088893
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_11": {
|
| 96 |
+
"confidence": 0.9391773343086243,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.09932633975404315,
|
| 99 |
+
0.0666287251515314,
|
| 100 |
+
0.008601317063948954
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.3223955567323566,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.6995713107891831,
|
| 106 |
+
-0.25025034379650823,
|
| 107 |
+
0.5865456943407454
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_14": {
|
| 112 |
+
"confidence": 0.9338905215263367,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.10775419065612368,
|
| 115 |
+
0.026978815789334476,
|
| 116 |
+
0.02336410607495054
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5695954104710421,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.07435996694482344,
|
| 122 |
+
0.7799697437120534,
|
| 123 |
+
-0.24835229529852035
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"part_name": "connector housing",
|
| 131 |
+
"mask_color": "Lime Green",
|
| 132 |
+
"graspable": true,
|
| 133 |
+
"grasp_scenarios": [
|
| 134 |
+
{
|
| 135 |
+
"scenario": "grasp the connector housing to align and insert the plug into a port",
|
| 136 |
+
"confidence": 0.97
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"scenario": "hold the connector housing to unplug the cable safely",
|
| 140 |
+
"confidence": 0.96
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"scenario": "grasp one housing to manipulate and orient the cable end",
|
| 144 |
+
"confidence": 0.93
|
| 145 |
+
}
|
| 146 |
+
],
|
| 147 |
+
"functional_labels": [
|
| 148 |
+
"provide a grip for insertion and removal",
|
| 149 |
+
"protect the connector termination",
|
| 150 |
+
"support connector orientation",
|
| 151 |
+
"transfer force to the plug"
|
| 152 |
+
],
|
| 153 |
+
"semantic_description": "Small light lavender to pale purple connector shell with a smooth finish and hard surface, blocky and elongated near each cable end, with simple molded sides and visible printed branding on some views.",
|
| 154 |
+
"id": 9,
|
| 155 |
+
"grasp_group": {
|
| 156 |
+
"grasp_41": {
|
| 157 |
+
"confidence": 0.9598636031150818,
|
| 158 |
+
"position": [
|
| 159 |
+
0.05067046618205495,
|
| 160 |
+
-0.13007336773443967,
|
| 161 |
+
-0.010865734077015077
|
| 162 |
+
],
|
| 163 |
+
"orientation": {
|
| 164 |
+
"w": 0.5940405245695121,
|
| 165 |
+
"xyz": [
|
| 166 |
+
-0.31824017276434485,
|
| 167 |
+
-0.5857163068887455,
|
| 168 |
+
-0.45030595760294767
|
| 169 |
+
]
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"grasp_42": {
|
| 173 |
+
"confidence": 0.958563506603241,
|
| 174 |
+
"position": [
|
| 175 |
+
-0.023164495098171756,
|
| 176 |
+
-0.138132571359165,
|
| 177 |
+
9.701050112198573e-05
|
| 178 |
+
],
|
| 179 |
+
"orientation": {
|
| 180 |
+
"w": 0.5014187800397973,
|
| 181 |
+
"xyz": [
|
| 182 |
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-0.567565489197423,
|
| 183 |
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-0.441915736620738,
|
| 184 |
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-0.48079008332373313
|
| 185 |
+
]
|
| 186 |
+
}
|
| 187 |
+
},
|
| 188 |
+
"grasp_54": {
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| 189 |
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},
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{
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"part_name": "charging plug tip",
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| 384 |
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"indicate connector orientation"
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| 385 |
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],
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"semantic_description": "Tiny metallic plug tip with a smooth reflective finish and hard surface, protruding from the end of each connector housing as the smallest terminal part.",
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| 387 |
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| 388 |
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"quality_check": {
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| 392 |
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"success": true,
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"message": "YES"
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| 394 |
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| 395 |
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}
|
dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:0aba3f7f3ba13863fdfa889f72ff86007895f8842ab9ab348e0e6aadb7369030
|
| 3 |
+
size 3779500
|
dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/charging_cable_020.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|