Add asset desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/affordance/affordance_annot.json +614 -0
- dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/usb_drive_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -6267,3 +6267,4 @@ dataset/desktop_supplies/electronic_accessories/a0ff960790455e618f5e151e3cb9d43b
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| 6267 |
dataset/desktop_supplies/electronic_accessories/a44a56ab097b584a90cd29e4a7855ea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6268 |
dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6269 |
dataset/desktop_supplies/electronic_accessories/a85ad31236be54a79f066616dd30793e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6267 |
dataset/desktop_supplies/electronic_accessories/a44a56ab097b584a90cd29e4a7855ea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6268 |
dataset/desktop_supplies/electronic_accessories/a56b50b0cc2d5859a930d4883ed03f27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6269 |
dataset/desktop_supplies/electronic_accessories/a85ad31236be54a79f066616dd30793e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6270 |
+
dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,614 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "USB connector",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the metal connector lightly to pull the drive out of a USB port",
|
| 10 |
+
"confidence": 0.56
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the connector briefly to reorient the small drive during manipulation",
|
| 14 |
+
"confidence": 0.38
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"connect to USB port",
|
| 19 |
+
"transmit data",
|
| 20 |
+
"provide electrical interface",
|
| 21 |
+
"enable insertion and removal"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small silver metal USB plug at one end with a reflective smooth finish and rectangular shape, protruding from the white housing as the connection interface.",
|
| 24 |
+
"id": 6,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.4515473246574402,
|
| 28 |
+
"position": [
|
| 29 |
+
0.08867648159503005,
|
| 30 |
+
0.027069308329373598,
|
| 31 |
+
-0.006405378604540601
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7073355136684766,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.16964728550232652,
|
| 37 |
+
-0.665981701902504,
|
| 38 |
+
0.16542261742606185
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_23": {
|
| 43 |
+
"confidence": 0.4952552616596222,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.09118498201132752,
|
| 46 |
+
0.02225776808336377,
|
| 47 |
+
-0.00028038853633916005
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6904096953539588,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.15160310269207397,
|
| 53 |
+
0.6932870239228748,
|
| 54 |
+
-0.14037113049182862
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_25": {
|
| 59 |
+
"confidence": 0.8428553342819214,
|
| 60 |
+
"position": [
|
| 61 |
+
0.0974741495156195,
|
| 62 |
+
-0.024422576185315847,
|
| 63 |
+
0.014029009354999289
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.05482707687931564,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.7605558247522854,
|
| 69 |
+
0.012725489053381778,
|
| 70 |
+
0.6468283319433317
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_26": {
|
| 75 |
+
"confidence": 0.8130050301551819,
|
| 76 |
+
"position": [
|
| 77 |
+
0.10124036585330032,
|
| 78 |
+
-0.016816535498946905,
|
| 79 |
+
-0.0007256957178469747
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.0154451713377707,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.7024031321536531,
|
| 85 |
+
-0.0006575630554767065,
|
| 86 |
+
0.7116114489199236
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_27": {
|
| 91 |
+
"confidence": 0.6766259074211121,
|
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-0.008732487360248342,
|
| 504 |
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0.10215641045942903,
|
| 505 |
+
-0.04566148101002909
|
| 506 |
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],
|
| 507 |
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"orientation": {
|
| 508 |
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"w": 0.8564433968686102,
|
| 509 |
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"xyz": [
|
| 510 |
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0.4972853268904247,
|
| 511 |
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0.11068871258610069,
|
| 512 |
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-0.08342673747469803
|
| 513 |
+
]
|
| 514 |
+
}
|
| 515 |
+
},
|
| 516 |
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"grasp_15": {
|
| 517 |
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"confidence": 0.7348144054412842,
|
| 518 |
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"position": [
|
| 519 |
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0.08322007124661468,
|
| 520 |
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0.06461164588108659,
|
| 521 |
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-0.002813202707329765
|
| 522 |
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],
|
| 523 |
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"orientation": {
|
| 524 |
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"w": 0.7032553828049511,
|
| 525 |
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"xyz": [
|
| 526 |
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0.19846652901143705,
|
| 527 |
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-0.6574347099154161,
|
| 528 |
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0.18390896013094743
|
| 529 |
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]
|
| 530 |
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}
|
| 531 |
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},
|
| 532 |
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"grasp_17": {
|
| 533 |
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"confidence": 0.700457751750946,
|
| 534 |
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"position": [
|
| 535 |
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-0.08738178844214417,
|
| 536 |
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0.06489315861836076,
|
| 537 |
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-0.014719581144163385
|
| 538 |
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],
|
| 539 |
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"orientation": {
|
| 540 |
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"w": 0.7340465618707723,
|
| 541 |
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"xyz": [
|
| 542 |
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0.19499066848020621,
|
| 543 |
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0.6267096040806128,
|
| 544 |
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-0.17432543235128337
|
| 545 |
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]
|
| 546 |
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}
|
| 547 |
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},
|
| 548 |
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"grasp_19": {
|
| 549 |
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"confidence": 0.6744685769081116,
|
| 550 |
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"position": [
|
| 551 |
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-0.054771416733274236,
|
| 552 |
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0.09681967878714204,
|
| 553 |
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0.011782958259573206
|
| 554 |
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],
|
| 555 |
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"orientation": {
|
| 556 |
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"w": 0.5689404643223422,
|
| 557 |
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"xyz": [
|
| 558 |
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0.313643846846243,
|
| 559 |
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0.6696410096430955,
|
| 560 |
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-0.35988220794635506
|
| 561 |
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]
|
| 562 |
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}
|
| 563 |
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}
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
{
|
| 567 |
+
"part_name": "lanyard hole",
|
| 568 |
+
"mask_color": "Navy",
|
| 569 |
+
"graspable": false,
|
| 570 |
+
"grasp_scenarios": [],
|
| 571 |
+
"functional_labels": [
|
| 572 |
+
"attach keyring",
|
| 573 |
+
"attach lanyard",
|
| 574 |
+
"provide hanging point",
|
| 575 |
+
"aid carrying"
|
| 576 |
+
],
|
| 577 |
+
"semantic_description": "Small elongated oval opening through the rear housing section, recessed into the white plastic near the back end and used as an attachment point.",
|
| 578 |
+
"id": 13,
|
| 579 |
+
"grasp_group": {}
|
| 580 |
+
},
|
| 581 |
+
{
|
| 582 |
+
"part_name": "logo embossing",
|
| 583 |
+
"mask_color": "Brown",
|
| 584 |
+
"graspable": false,
|
| 585 |
+
"grasp_scenarios": [],
|
| 586 |
+
"functional_labels": [
|
| 587 |
+
"brand marking",
|
| 588 |
+
"identify product",
|
| 589 |
+
"provide slight tactile cue"
|
| 590 |
+
],
|
| 591 |
+
"semantic_description": "Shallow embossed oval logo on the body surface, white like the surrounding plastic with subtle relief and a matte smooth texture, centered on the broad face.",
|
| 592 |
+
"id": 11,
|
| 593 |
+
"grasp_group": {}
|
| 594 |
+
},
|
| 595 |
+
{
|
| 596 |
+
"part_name": "connector opening",
|
| 597 |
+
"mask_color": "Maroon",
|
| 598 |
+
"graspable": false,
|
| 599 |
+
"grasp_scenarios": [],
|
| 600 |
+
"functional_labels": [
|
| 601 |
+
"expose internal contact cavity",
|
| 602 |
+
"define insertion face",
|
| 603 |
+
"indicate connector orientation"
|
| 604 |
+
],
|
| 605 |
+
"semantic_description": "Thin dark rectangular recess at the tip of the metal USB connector, visible on the plug face as the connector cavity.",
|
| 606 |
+
"id": 12,
|
| 607 |
+
"grasp_group": {}
|
| 608 |
+
}
|
| 609 |
+
],
|
| 610 |
+
"quality_check": {
|
| 611 |
+
"success": true,
|
| 612 |
+
"message": "YES"
|
| 613 |
+
}
|
| 614 |
+
}
|
dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8c289d262c42c8a68fbf7c97e87f34bf59bb996387c37ce1c40e35539d9b480a
|
| 3 |
+
size 3375784
|
dataset/desktop_supplies/electronic_accessories/ab137e9445175a489552ca6e2b3362a2/usb_drive_002.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|