Add asset desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/affordance_annot.json +435 -0
- dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/magnifier_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -6553,3 +6553,4 @@ dataset/desktop_supplies/office_tools/35f82bb6276f571f9948db6fd68d9805/affordanc
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| 6553 |
dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6554 |
dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6555 |
dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6553 |
dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6554 |
dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6555 |
dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6556 |
+
dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,435 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and carry the magnifier",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the lens toward a target",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the magnifier by clamping the handle during inspection",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"support lifting",
|
| 24 |
+
"orient the lens",
|
| 25 |
+
"keep hand away from viewing area",
|
| 26 |
+
"connect lens head to user grip"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long light beige or off-white handle with a smooth matte hard surface, slightly tapered and rounded, extending from the lens frame as the main gripping section.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9580572247505188,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.07589742355048656,
|
| 35 |
+
0.0019214163767173886,
|
| 36 |
+
0.09073003457160667
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.16538477828059597,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.6772363061250394,
|
| 42 |
+
0.7032956073403502,
|
| 43 |
+
0.13919105386108002
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_5": {
|
| 48 |
+
"confidence": 0.9409582614898682,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.08262543193995953,
|
| 51 |
+
0.019918608129955828,
|
| 52 |
+
0.08625310735078529
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.08452363617416767,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6982808498364339,
|
| 58 |
+
0.6640431044842343,
|
| 59 |
+
-0.25358699703759285
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_9": {
|
| 64 |
+
"confidence": 0.9148734211921692,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.1349730398505926,
|
| 67 |
+
-0.05052293778862804,
|
| 68 |
+
0.018370535981375724
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.13264885800393986,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.7189096086080229,
|
| 74 |
+
-0.2539853820469984,
|
| 75 |
+
-0.6332966767856515
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_15": {
|
| 80 |
+
"confidence": 0.8934530019760132,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.12998530827462673,
|
| 83 |
+
0.0519344067433849,
|
| 84 |
+
0.019462621596176177
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6353561762599851,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.2382462058849567,
|
| 90 |
+
0.7185615330661578,
|
| 91 |
+
-0.15241587144167912
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_16": {
|
| 96 |
+
"confidence": 0.8922698497772217,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.13093978725373745,
|
| 99 |
+
0.052834388450719416,
|
| 100 |
+
0.03107186855049804
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5972585459303034,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.3082005401467954,
|
| 106 |
+
0.7286374391708738,
|
| 107 |
+
-0.13184133875592646
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
}
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"part_name": "lens",
|
| 115 |
+
"mask_color": "Magenta",
|
| 116 |
+
"graspable": false,
|
| 117 |
+
"grasp_scenarios": [],
|
| 118 |
+
"functional_labels": [
|
| 119 |
+
"magnify viewed objects",
|
| 120 |
+
"provide viewing window",
|
| 121 |
+
"support visual inspection",
|
| 122 |
+
"transmit light through the optic"
|
| 123 |
+
],
|
| 124 |
+
"semantic_description": "Large circular translucent clear to pale gray glass or plastic lens with a smooth glossy surface, set centrally in the head and forming the main viewing area of the magnifier.",
|
| 125 |
+
"id": 7,
|
| 126 |
+
"grasp_group": {}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "lens frame",
|
| 130 |
+
"mask_color": "Yellow",
|
| 131 |
+
"graspable": true,
|
| 132 |
+
"grasp_scenarios": [
|
| 133 |
+
{
|
| 134 |
+
"scenario": "grasp the rim to reposition the magnifier when the handle is obstructed",
|
| 135 |
+
"confidence": 0.42
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "hold the head by the frame for short-distance placement or retrieval",
|
| 139 |
+
"confidence": 0.36
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"hold the lens",
|
| 144 |
+
"protect lens edge",
|
| 145 |
+
"provide structural support",
|
| 146 |
+
"define viewing head"
|
| 147 |
+
],
|
| 148 |
+
"semantic_description": "Round light beige or off-white rigid frame with a smooth matte finish surrounding the lens as a protective rim at the head.",
|
| 149 |
+
"id": 3,
|
| 150 |
+
"grasp_group": {
|
| 151 |
+
"grasp_40": {
|
| 152 |
+
"confidence": 0.9845238327980042,
|
| 153 |
+
"position": [
|
| 154 |
+
0.013053640024736524,
|
| 155 |
+
0.09742306603584439,
|
| 156 |
+
0.0038521530223079026
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.49391439988999464,
|
| 160 |
+
"xyz": [
|
| 161 |
+
0.49195780343289475,
|
| 162 |
+
0.5416200417805263,
|
| 163 |
+
-0.4697593166340067
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_44": {
|
| 168 |
+
"confidence": 0.5495377779006958,
|
| 169 |
+
"position": [
|
| 170 |
+
0.1472837571054697,
|
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dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3787132
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dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/magnifier_019.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
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|
| 60 |
</affordance>
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| 61 |
<quality>
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| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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