Add asset desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9/affordance/affordance_annot.json +687 -0
- dataset/desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9/tv_remote_017.urdf +4 -3
.gitattributes
CHANGED
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@@ -6261,3 +6261,4 @@ dataset/desktop_supplies/electronic_accessories/9513616d0b515483b6fe61c31f865ee9
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| 6261 |
dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6262 |
dataset/desktop_supplies/electronic_accessories/979ca8e9baf2534f8cf19b54cc4f3b48/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6263 |
dataset/desktop_supplies/electronic_accessories/9a64aaafd38e5fef875901a5e736a597/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6261 |
dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6262 |
dataset/desktop_supplies/electronic_accessories/979ca8e9baf2534f8cf19b54cc4f3b48/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6263 |
dataset/desktop_supplies/electronic_accessories/9a64aaafd38e5fef875901a5e736a597/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6264 |
+
dataset/desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,687 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "remote front housing",
|
| 5 |
+
"mask_color": "Violet",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the remote body around the front shell to pick up the remote from a table",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the front housing to stabilize the remote while another tool presses buttons",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"enclose internal electronics",
|
| 20 |
+
"support button panel",
|
| 21 |
+
"provide overall structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large elongated dark gray to black plastic front shell with a mostly matte hard smooth surface, rounded corners, and printed white TOSHIBA text near one end, forming most of the remote's front exterior.",
|
| 24 |
+
"id": 20,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.7788148522377014,
|
| 28 |
+
"position": [
|
| 29 |
+
0.003057381800317671,
|
| 30 |
+
0.18000825063791126,
|
| 31 |
+
0.010604654788039625
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6914923069257009,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.7216862771329704,
|
| 37 |
+
-0.017874556100268002,
|
| 38 |
+
0.026226076808100546
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.7765191793441772,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.00465414746577153,
|
| 46 |
+
0.18133893923368305,
|
| 47 |
+
0.006414911127649248
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7101809235079929,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.7025174541939531,
|
| 53 |
+
0.038928132749740496,
|
| 54 |
+
-0.02443118742099607
|
| 55 |
+
]
|
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{
|
| 468 |
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"part_name": "navigation ring",
|
| 469 |
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"mask_color": "Red",
|
| 470 |
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"graspable": false,
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| 471 |
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"grasp_scenarios": [],
|
| 472 |
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"functional_labels": [
|
| 473 |
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"navigate menus",
|
| 474 |
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"provide directional input"
|
| 475 |
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],
|
| 476 |
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"semantic_description": "Medium-sized light-colored polygonal ring-shaped control on the center front, with a hard smooth surface and surrounding directional geometry distinct from the smaller keys.",
|
| 477 |
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"id": 0,
|
| 478 |
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"grasp_group": {}
|
| 479 |
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},
|
| 480 |
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{
|
| 481 |
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"part_name": "center select button",
|
| 482 |
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"mask_color": "Pink",
|
| 483 |
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"graspable": false,
|
| 484 |
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|
| 485 |
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"functional_labels": [
|
| 486 |
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"confirm selection",
|
| 487 |
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"activate highlighted command",
|
| 488 |
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"serve as central input"
|
| 489 |
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],
|
| 490 |
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"semantic_description": "Small light beige to off-white central button inside the navigation ring, smooth and slightly recessed at the middle of the front control cluster.",
|
| 491 |
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"id": 8,
|
| 492 |
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]
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},
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],
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}
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},
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"confidence": 0.7848575711250305,
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| 527 |
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],
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0.01985905421983508
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}
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},
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],
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},
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]
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| 588 |
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"grasp_16": {
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|
| 603 |
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}
|
| 604 |
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},
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"grasp_17": {
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| 606 |
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|
| 607 |
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|
| 609 |
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|
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],
|
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"orientation": {
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| 613 |
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| 614 |
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| 615 |
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0.48146381932008886,
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| 617 |
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|
| 618 |
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]
|
| 619 |
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}
|
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},
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"grasp_18": {
|
| 622 |
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| 623 |
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"position": [
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| 625 |
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|
| 626 |
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|
| 627 |
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],
|
| 628 |
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"orientation": {
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| 629 |
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"w": 0.731507807056168,
|
| 630 |
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| 631 |
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|
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|
| 633 |
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|
| 634 |
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]
|
| 635 |
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}
|
| 636 |
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},
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"grasp_19": {
|
| 638 |
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"confidence": 0.7010797262191772,
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| 639 |
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"position": [
|
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|
| 641 |
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0.17182113544549793,
|
| 642 |
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-0.012567573809064925
|
| 643 |
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],
|
| 644 |
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"orientation": {
|
| 645 |
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"w": 0.732613604538573,
|
| 646 |
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"xyz": [
|
| 647 |
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0.6796251028385663,
|
| 648 |
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0.001169487015948767,
|
| 649 |
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0.037224431987436676
|
| 650 |
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]
|
| 651 |
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}
|
| 652 |
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}
|
| 653 |
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}
|
| 654 |
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},
|
| 655 |
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{
|
| 656 |
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"part_name": "function buttons",
|
| 657 |
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"mask_color": "Green",
|
| 658 |
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"graspable": false,
|
| 659 |
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"grasp_scenarios": [],
|
| 660 |
+
"functional_labels": [
|
| 661 |
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"trigger device functions",
|
| 662 |
+
"provide quick control inputs",
|
| 663 |
+
"supplement navigation controls"
|
| 664 |
+
],
|
| 665 |
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"semantic_description": "Several small light beige to off-white rectangular buttons with smooth slightly matte surfaces, placed beside and below the navigation area as secondary control keys.",
|
| 666 |
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"id": 1,
|
| 667 |
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"grasp_group": {}
|
| 668 |
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},
|
| 669 |
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{
|
| 670 |
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"part_name": "indicator window",
|
| 671 |
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"mask_color": "Navy",
|
| 672 |
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"graspable": false,
|
| 673 |
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"grasp_scenarios": [],
|
| 674 |
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"functional_labels": [
|
| 675 |
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"emit or pass infrared signal",
|
| 676 |
+
"mark the pointing end of the remote"
|
| 677 |
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],
|
| 678 |
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"semantic_description": "Small dark glossy window near one end of the remote with a translucent black appearance and a visible orange-red element inside, contrasting with the matte body.",
|
| 679 |
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"id": 13,
|
| 680 |
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"grasp_group": {}
|
| 681 |
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}
|
| 682 |
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],
|
| 683 |
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"quality_check": {
|
| 684 |
+
"success": false,
|
| 685 |
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"message": "Mask colors and part identities mismatched: pink is back housing, not center button; navy window absent; red covers side buttons, not navigation ring."
|
| 686 |
+
}
|
| 687 |
+
}
|
dataset/desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9/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 sha256:7264d7420dbf07fbac101ea6bef1d148f25ad4076d79edd18dbd491f5bcedb38
|
| 3 |
+
size 3806292
|
dataset/desktop_supplies/electronic_accessories/9b7fbbea29c752e2b42e3d8a5d7374c9/tv_remote_017.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>7</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|