Add asset desktop_supplies/electronic_accessories/2e1dcc8d52d7583194676669c7b2f5c8
Browse files
.gitattributes
CHANGED
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@@ -6198,3 +6198,4 @@ dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823
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| 6198 |
dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6199 |
dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6200 |
dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6198 |
dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6199 |
dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6200 |
dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6201 |
+
dataset/desktop_supplies/electronic_accessories/2e1dcc8d52d7583194676669c7b2f5c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/2e1dcc8d52d7583194676669c7b2f5c8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,599 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cable jacket",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cable midspan to pick up and reposition the short charging cable",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cable jacket to route or untangle the cable",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the cable near an end to pull a connector into reach",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"carry electrical conductors",
|
| 23 |
+
"provide flexible connection",
|
| 24 |
+
"allow routing",
|
| 25 |
+
"support pulling and repositioning",
|
| 26 |
+
"main grasp surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long dark gray flexible cable jacket with a matte smooth rubbery surface, forming the looped main body between the two connectors.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_15": {
|
| 32 |
+
"confidence": 0.5923846364021301,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0014338128676172346,
|
| 35 |
+
0.11151616874849424,
|
| 36 |
+
-0.006950790426799358
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7273795939731196,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.6843835635459614,
|
| 42 |
+
-0.04349792768127636,
|
| 43 |
+
0.025416421995738046
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
}
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"part_name": "USB-C plug shell",
|
| 51 |
+
"mask_color": "Cyan",
|
| 52 |
+
"graspable": true,
|
| 53 |
+
"grasp_scenarios": [
|
| 54 |
+
{
|
| 55 |
+
"scenario": "grasp the plug shell to align and insert the connector into a port",
|
| 56 |
+
"confidence": 0.95
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"scenario": "grasp the plug shell to unplug the cable from a device",
|
| 60 |
+
"confidence": 0.94
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"scenario": "hold the connector end to orient the cable before docking",
|
| 64 |
+
"confidence": 0.9
|
| 65 |
+
}
|
| 66 |
+
],
|
| 67 |
+
"functional_labels": [
|
| 68 |
+
"connect to port",
|
| 69 |
+
"enable charging connection",
|
| 70 |
+
"support insertion and removal",
|
| 71 |
+
"provide end effector alignment surface"
|
| 72 |
+
],
|
| 73 |
+
"semantic_description": "Small black connector housing with a hard slightly matte finish and smooth surfaces, located at one cable end with a compact rectangular shape and white printed branding.",
|
| 74 |
+
"id": 6,
|
| 75 |
+
"grasp_group": {
|
| 76 |
+
"grasp_54": {
|
| 77 |
+
"confidence": 0.7287465333938599,
|
| 78 |
+
"position": [
|
| 79 |
+
0.06260914783342741,
|
| 80 |
+
-0.09388114657485858,
|
| 81 |
+
-0.007086329526373447
|
| 82 |
+
],
|
| 83 |
+
"orientation": {
|
| 84 |
+
"w": 0.2793782010348313,
|
| 85 |
+
"xyz": [
|
| 86 |
+
-0.5411346405745632,
|
| 87 |
+
0.3859509596788847,
|
| 88 |
+
0.6929379324872669
|
| 89 |
+
]
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"grasp_69": {
|
| 93 |
+
"confidence": 0.8539298176765442,
|
| 94 |
+
"position": [
|
| 95 |
+
0.06945329587324522,
|
| 96 |
+
-0.08108659234130755,
|
| 97 |
+
-0.02711565689287454
|
| 98 |
+
],
|
| 99 |
+
"orientation": {
|
| 100 |
+
"w": 0.3166060526641655,
|
| 101 |
+
"xyz": [
|
| 102 |
+
-0.578313491659227,
|
| 103 |
+
0.25798906750929285,
|
| 104 |
+
0.7062264182448954
|
| 105 |
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{
|
| 515 |
+
"scenario": "grasp the sleeved section to stabilize the cable end during manipulation",
|
| 516 |
+
"confidence": 0.63
|
| 517 |
+
}
|
| 518 |
+
],
|
| 519 |
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"functional_labels": [
|
| 520 |
+
"protect cable near connector",
|
| 521 |
+
"add abrasion resistance",
|
| 522 |
+
"provide local reinforcement",
|
| 523 |
+
"improve grip texture"
|
| 524 |
+
],
|
| 525 |
+
"semantic_description": "Short black braided wrap around the cable near each connector, with a textured woven surface, semi-matte appearance, and slightly thicker cylindrical shape than the main cable.",
|
| 526 |
+
"id": 9,
|
| 527 |
+
"grasp_group": {
|
| 528 |
+
"grasp_95": {
|
| 529 |
+
"confidence": 0.8578110337257385,
|
| 530 |
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"position": [
|
| 531 |
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0.08470259289606474,
|
| 532 |
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-0.06571043428266421,
|
| 533 |
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-0.007860114696541132
|
| 534 |
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],
|
| 535 |
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"orientation": {
|
| 536 |
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"w": 0.2753355286539862,
|
| 537 |
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"xyz": [
|
| 538 |
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-0.6636402818716206,
|
| 539 |
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0.18235156322135027,
|
| 540 |
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0.6712077400692843
|
| 541 |
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]
|
| 542 |
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}
|
| 543 |
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},
|
| 544 |
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"grasp_97": {
|
| 545 |
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"confidence": 0.8483635187149048,
|
| 546 |
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"position": [
|
| 547 |
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0.07117344866856001,
|
| 548 |
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-0.07936111983144656,
|
| 549 |
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-0.002470636871748866
|
| 550 |
+
],
|
| 551 |
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"orientation": {
|
| 552 |
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"w": 0.335670576057854,
|
| 553 |
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"xyz": [
|
| 554 |
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-0.6488145919607193,
|
| 555 |
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0.2599980639067294,
|
| 556 |
+
0.6314791337744952
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
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"grasp_108": {
|
| 561 |
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"confidence": 0.8917677998542786,
|
| 562 |
+
"position": [
|
| 563 |
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0.0769732786284294,
|
| 564 |
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-0.06823124137008563,
|
| 565 |
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-0.02323895962081224
|
| 566 |
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],
|
| 567 |
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"orientation": {
|
| 568 |
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"w": 0.2857426260376022,
|
| 569 |
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"xyz": [
|
| 570 |
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-0.6112694280260997,
|
| 571 |
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0.20887640078691538,
|
| 572 |
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0.7078640315908733
|
| 573 |
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]
|
| 574 |
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}
|
| 575 |
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},
|
| 576 |
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"grasp_109": {
|
| 577 |
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"confidence": 0.8887279629707336,
|
| 578 |
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"position": [
|
| 579 |
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0.08730979691608809,
|
| 580 |
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-0.05798876431072131,
|
| 581 |
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-0.004521829440363945
|
| 582 |
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],
|
| 583 |
+
"orientation": {
|
| 584 |
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"w": 0.6957402309930911,
|
| 585 |
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"xyz": [
|
| 586 |
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-0.2283111229307807,
|
| 587 |
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|
| 588 |
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-0.16844484588323383
|
| 589 |
+
]
|
| 590 |
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}
|
| 591 |
+
}
|
| 592 |
+
}
|
| 593 |
+
}
|
| 594 |
+
],
|
| 595 |
+
"quality_check": {
|
| 596 |
+
"success": true,
|
| 597 |
+
"message": "YES"
|
| 598 |
+
}
|
| 599 |
+
}
|
dataset/desktop_supplies/electronic_accessories/2e1dcc8d52d7583194676669c7b2f5c8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bab2646ede1c863cb046958451a6a4c3f4b73dba52c4eef1221bf37d998ec417
|
| 3 |
+
size 3786940
|