Add asset desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/affordance/affordance_annot.json +391 -0
- dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -6170,3 +6170,4 @@ dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/affordance
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| 6170 |
dataset/desktop_supplies/decorations/f43dc0a4b1855874a16fc253636923e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6171 |
dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6172 |
dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6170 |
dataset/desktop_supplies/decorations/f43dc0a4b1855874a16fc253636923e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6171 |
dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6172 |
dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6173 |
+
dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "phone support panel",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the panel edges to pick up and reposition the folded stand",
|
| 10 |
+
"confidence": 0.75
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the panel to adjust the viewing angle while stabilizing the stand",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support a phone back",
|
| 19 |
+
"provide viewing surface",
|
| 20 |
+
"retain the phone with the lower lip",
|
| 21 |
+
"set screen angle"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rectangular dark gray plastic panel with a matte smooth hard surface, rounded corners, a small front lip, and a centered logo-shaped opening/marking, forming the upper phone-holding face.",
|
| 24 |
+
"id": 4,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_46": {
|
| 27 |
+
"confidence": 0.9821741580963135,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.060653610447332085,
|
| 30 |
+
0.018864270503399894,
|
| 31 |
+
0.12245185673236847
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.2581244382801507,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6065393890946571,
|
| 37 |
+
0.7451900102221821,
|
| 38 |
+
0.1008642280707126
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_51": {
|
| 43 |
+
"confidence": 0.9816732406616211,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.043530563184901894,
|
| 46 |
+
0.017144210840342566,
|
| 47 |
+
0.13428640365600586
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.09459132249435999,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.7232381615656698,
|
| 53 |
+
0.6459201640909723,
|
| 54 |
+
-0.22531352596896911
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_56": {
|
| 59 |
+
"confidence": 0.9807923436164856,
|
| 60 |
+
"position": [
|
| 61 |
+
0.08609712653429824,
|
| 62 |
+
0.021689104120014235,
|
| 63 |
+
0.10163149237632751
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.22308116011770776,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6712491787712882,
|
| 69 |
+
-0.5664883802059124,
|
| 70 |
+
0.4227886600786389
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "support arm",
|
| 78 |
+
"mask_color": "Green",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp the arm to unfold or fold the stand",
|
| 83 |
+
"confidence": 0.82
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "hold the arm to lift and reposition the stand",
|
| 87 |
+
"confidence": 0.64
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"functional_labels": [
|
| 91 |
+
"link panel to base",
|
| 92 |
+
"support tilt adjustment",
|
| 93 |
+
"brace the phone panel",
|
| 94 |
+
"transfer load to the base"
|
| 95 |
+
],
|
| 96 |
+
"semantic_description": "Narrow dark gray plastic arm with a matte smooth hard finish and two elongated cutouts, mounted between the base and panel as the main rear support structure.",
|
| 97 |
+
"id": 1,
|
| 98 |
+
"grasp_group": {
|
| 99 |
+
"grasp_15": {
|
| 100 |
+
"confidence": 0.9169700741767883,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.10177860624520463,
|
| 103 |
+
0.0038799626927357167,
|
| 104 |
+
0.025086741894483566
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.500612576185379,
|
| 108 |
+
"xyz": [
|
| 109 |
+
0.5216763362721953,
|
| 110 |
+
0.5513791163212373,
|
| 111 |
+
0.41619937388644473
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_19": {
|
| 116 |
+
"confidence": 0.3941430449485779,
|
| 117 |
+
"position": [
|
| 118 |
+
0.009673373481348335,
|
| 119 |
+
-0.010433814284624532,
|
| 120 |
+
-0.11002164334058762
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.6492399870624027,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.07095534197163207,
|
| 126 |
+
0.034366610216537974,
|
| 127 |
+
0.7564864273383393
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"part_name": "base disc",
|
| 135 |
+
"mask_color": "Yellow",
|
| 136 |
+
"graspable": true,
|
| 137 |
+
"grasp_scenarios": [
|
| 138 |
+
{
|
| 139 |
+
"scenario": "grasp the base from the sides to lift the stand off a table",
|
| 140 |
+
"confidence": 0.86
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"scenario": "hold the base to stabilize the stand while changing the panel angle",
|
| 144 |
+
"confidence": 0.8
|
| 145 |
+
}
|
| 146 |
+
],
|
| 147 |
+
"functional_labels": [
|
| 148 |
+
"support on a table",
|
| 149 |
+
"stabilize the stand",
|
| 150 |
+
"distribute weight",
|
| 151 |
+
"provide a resting footprint"
|
| 152 |
+
],
|
| 153 |
+
"semantic_description": "Large round dark gray plastic base with a matte smooth hard surface, low-profile disc shape, and broad bottom footprint located under the entire stand.",
|
| 154 |
+
"id": 3,
|
| 155 |
+
"grasp_group": {
|
| 156 |
+
"grasp_27": {
|
| 157 |
+
"confidence": 0.5659393072128296,
|
| 158 |
+
"position": [
|
| 159 |
+
0.10759253584416228,
|
| 160 |
+
-0.0016890692349988967,
|
| 161 |
+
-0.036836177110672
|
| 162 |
+
],
|
| 163 |
+
"orientation": {
|
| 164 |
+
"w": 0.06530671503591567,
|
| 165 |
+
"xyz": [
|
| 166 |
+
0.6147382984456383,
|
| 167 |
+
-0.08023193720206323,
|
| 168 |
+
-0.7819173189335193
|
| 169 |
+
]
|
| 170 |
+
}
|
| 171 |
+
}
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"part_name": "base rim ring",
|
| 176 |
+
"mask_color": "Lime Green",
|
| 177 |
+
"graspable": false,
|
| 178 |
+
"grasp_scenarios": [],
|
| 179 |
+
"functional_labels": [
|
| 180 |
+
"stabilize the perimeter",
|
| 181 |
+
"finish the base edge",
|
| 182 |
+
"provide contact boundary"
|
| 183 |
+
],
|
| 184 |
+
"semantic_description": "Thin dark gray annular ring around the outer portion of the base, with a smooth matte hard plastic surface and shallow raised profile near the base perimeter.",
|
| 185 |
+
"id": 9,
|
| 186 |
+
"grasp_group": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"part_name": "hinge barrel",
|
| 190 |
+
"mask_color": "Magenta",
|
| 191 |
+
"graspable": true,
|
| 192 |
+
"grasp_scenarios": [
|
| 193 |
+
{
|
| 194 |
+
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},
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{
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| 204 |
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"connect moving parts",
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| 205 |
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"set tilt pivot"
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| 206 |
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],
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"semantic_description": "Small cylindrical dark gray hinge elements with a smooth matte hard plastic appearance, positioned at the panel and arm joints to form the tilt pivots.",
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},
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"grasp_72": {
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],
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| 345 |
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| 346 |
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| 347 |
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| 349 |
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]
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| 353 |
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},
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| 354 |
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| 355 |
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| 356 |
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],
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| 361 |
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| 362 |
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| 363 |
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| 364 |
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]
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| 368 |
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}
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| 369 |
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}
|
| 370 |
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}
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| 371 |
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},
|
| 372 |
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{
|
| 373 |
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"part_name": "hinge end cap",
|
| 374 |
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"mask_color": "Pink",
|
| 375 |
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"graspable": false,
|
| 376 |
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"grasp_scenarios": [],
|
| 377 |
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"functional_labels": [
|
| 378 |
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"cap the hinge end",
|
| 379 |
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"retain the hinge pin",
|
| 380 |
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"finish the joint end"
|
| 381 |
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],
|
| 382 |
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"semantic_description": "Tiny light pink segmented circular end pieces on the ends of the lower support-arm hinge cylinders, with minimal exposed surface.",
|
| 383 |
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"id": 8,
|
| 384 |
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"grasp_group": {}
|
| 385 |
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}
|
| 386 |
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],
|
| 387 |
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"quality_check": {
|
| 388 |
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"success": false,
|
| 389 |
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"message": "Pink part color described incorrectly; actual object is uniformly dark gray, not light pink."
|
| 390 |
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}
|
| 391 |
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}
|
dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:7c0c7b080ed298a75ba2c60f785b739d968317d5d34d67ecdb7728330efcbaab
|
| 3 |
+
size 3784392
|
dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|