Add asset desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/affordance_annot.json +558 -0
- dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.urdf +1 -0
.gitattributes
CHANGED
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@@ -6243,4 +6243,5 @@ dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509
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| 6243 |
dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6244 |
dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6245 |
dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6246 |
-
dataset/desktop_supplies/electronic_accessories/
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| 6243 |
dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6244 |
dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6245 |
dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6246 |
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dataset/desktop_supplies/electronic_accessories/8264b7edcc425a218ba33530f7fb4dbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6247 |
+
dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,558 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "case body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the earbud case",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while opening the lid to access the earbuds",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to place the case into a pocket, charger area, or storage bin",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain and support internal components",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support the lid and hinge",
|
| 25 |
+
"protect stored earbuds"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Rounded white glossy plastic lower shell forming the larger main base of the compact case, with smooth curved sides, seam lines near the lid joint, and a small circular pairing button visible on some views.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9925750494003296,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.058672875340562314,
|
| 34 |
+
0.10228703799657524,
|
| 35 |
+
-0.0027672064607031643
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6158777949034927,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.3349308725900309,
|
| 41 |
+
0.6135556933607788,
|
| 42 |
+
-0.36340784729483483
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9922947883605957,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.06140130030689761,
|
| 50 |
+
0.10052668931894004,
|
| 51 |
+
-0.0029928251751698554
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6197777970081715,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.3441186284592966,
|
| 57 |
+
0.614372082374314,
|
| 58 |
+
-0.34641708428141865
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9919549822807312,
|
| 64 |
+
"position": [
|
| 65 |
+
0.03877497074427083,
|
| 66 |
+
0.10511664929799736,
|
| 67 |
+
0.0006435220711864531
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.37666534566992577,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6009160439425688,
|
| 73 |
+
0.3710598146273322,
|
| 74 |
+
-0.5994478621802714
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.9911829233169556,
|
| 80 |
+
"position": [
|
| 81 |
+
0.10458315146388486,
|
| 82 |
+
0.0213478512596339,
|
| 83 |
+
-0.001809213834349066
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.029362229526998136,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6992872073662849,
|
| 89 |
+
0.0022342746243285694,
|
| 90 |
+
-0.7142340436495377
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_8": {
|
| 95 |
+
"confidence": 0.9904228448867798,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.04662420990644023,
|
| 98 |
+
0.10585566493682563,
|
| 99 |
+
-0.004761846095789224
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6206598865211813,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.34076275993923605,
|
| 105 |
+
0.5963468450615002,
|
| 106 |
+
-0.3781963604892362
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_9": {
|
| 111 |
+
"confidence": 0.990039050579071,
|
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| 523 |
+
0.006544163217768073,
|
| 524 |
+
-0.0003503028128761798
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.0034023897376442265,
|
| 528 |
+
"xyz": [
|
| 529 |
+
-0.7117766526172317,
|
| 530 |
+
-2.1520304235411736e-05,
|
| 531 |
+
0.7023976224831334
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_39": {
|
| 536 |
+
"confidence": 0.9919799566268921,
|
| 537 |
+
"position": [
|
| 538 |
+
0.007296196941751987,
|
| 539 |
+
-0.11844679084606469,
|
| 540 |
+
-0.0025318244588561356
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.548449737080604,
|
| 544 |
+
"xyz": [
|
| 545 |
+
-0.5090795336956407,
|
| 546 |
+
-0.487600084440194,
|
| 547 |
+
-0.4497633510218024
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
}
|
| 551 |
+
}
|
| 552 |
+
}
|
| 553 |
+
],
|
| 554 |
+
"quality_check": {
|
| 555 |
+
"success": false,
|
| 556 |
+
"message": "Red/green parts are swapped; lid and case body identities/descriptions do not match masks or visible features."
|
| 557 |
+
}
|
| 558 |
+
}
|
dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f7d4391f4bb574223ec651f5dd87fd054ee61479969eaf7bb6f9091ad2a07fd
|
| 3 |
+
size 3780656
|
dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/earbud_case_001.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>
|