Add asset desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/affordance/affordance_annot.json +767 -0
- dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.urdf +4 -3
.gitattributes
CHANGED
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@@ -6563,3 +6563,4 @@ dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/affordanc
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| 6563 |
dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6564 |
dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6565 |
dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6563 |
dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6564 |
dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6565 |
dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6566 |
+
dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,767 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cover",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top cover to pick up or reposition the compact folding magnifier",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top cover while opening or closing the magnifier around the hinge",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the object by clamping the cover edge during inspection",
|
| 18 |
+
"confidence": 0.67
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the lower lens when folded",
|
| 23 |
+
"protect the optical surfaces",
|
| 24 |
+
"provide an outer gripping surface",
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],
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},
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{
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|
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"connect the lens to the lower housing"
|
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],
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"semantic_description": "A narrow dark gray ring around the perimeter of the large lower circular lens, integrated into the lower housing.",
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| 679 |
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"id": 5,
|
| 680 |
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"grasp_group": {}
|
| 681 |
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},
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{
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|
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|
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|
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"enable opening rotation",
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"align the two halves",
|
| 691 |
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"support repeated folding"
|
| 692 |
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],
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| 693 |
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| 694 |
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|
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|
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|
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|
| 702 |
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"terminate the hinge assembly",
|
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"retain hinge alignment",
|
| 705 |
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"support the rotational joint"
|
| 706 |
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],
|
| 707 |
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"semantic_description": "A tiny rounded metallic end piece visible at one end of the hinge assembly on the folding side.",
|
| 708 |
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"id": 6,
|
| 709 |
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|
| 710 |
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},
|
| 711 |
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{
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| 712 |
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"part_name": "hinge sleeve",
|
| 713 |
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"mask_color": "Magenta",
|
| 714 |
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"graspable": false,
|
| 715 |
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"grasp_scenarios": [],
|
| 716 |
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"functional_labels": [
|
| 717 |
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"guide hinge rotation",
|
| 718 |
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"connect hinge segments",
|
| 719 |
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"help align the folding joint"
|
| 720 |
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],
|
| 721 |
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"semantic_description": "A short central cylindrical metallic hinge section positioned between adjacent hinge segments on the folding side.",
|
| 722 |
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"id": 7,
|
| 723 |
+
"grasp_group": {}
|
| 724 |
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},
|
| 725 |
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{
|
| 726 |
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"part_name": "latch tab",
|
| 727 |
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"mask_color": "Yellow",
|
| 728 |
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"graspable": true,
|
| 729 |
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"grasp_scenarios": [
|
| 730 |
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{
|
| 731 |
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"scenario": "pinch or hook the small tab at the front edge to open the folded magnifier",
|
| 732 |
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"confidence": 0.78
|
| 733 |
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},
|
| 734 |
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{
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| 735 |
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"scenario": "use the tab as a contact point to help separate the covers",
|
| 736 |
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"confidence": 0.66
|
| 737 |
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}
|
| 738 |
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],
|
| 739 |
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|
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"assist opening",
|
| 741 |
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"provide a fingernail catch point",
|
| 742 |
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"help secure closure alignment"
|
| 743 |
+
],
|
| 744 |
+
"semantic_description": "A small protruding tab at the edge opposite the hinge, integrated into the lower front edge and matching the light gray body color in the RGB image.",
|
| 745 |
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"id": 3,
|
| 746 |
+
"grasp_group": {}
|
| 747 |
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},
|
| 748 |
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{
|
| 749 |
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"part_name": "top cover latch insert",
|
| 750 |
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"mask_color": "Deep Sky Blue",
|
| 751 |
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"graspable": false,
|
| 752 |
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"grasp_scenarios": [],
|
| 753 |
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"functional_labels": [
|
| 754 |
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"provide the mating contact for the closure",
|
| 755 |
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"mark the latch location on the top cover",
|
| 756 |
+
"help the covers stay shut when folded"
|
| 757 |
+
],
|
| 758 |
+
"semantic_description": "A small narrow rectangular insert on the outer edge of the top cover near the side opposite the hinge, visible as a darker gray detail set into the light gray cover.",
|
| 759 |
+
"id": 22,
|
| 760 |
+
"grasp_group": {}
|
| 761 |
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}
|
| 762 |
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],
|
| 763 |
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"quality_check": {
|
| 764 |
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"success": true,
|
| 765 |
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"message": "YES"
|
| 766 |
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}
|
| 767 |
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}
|
dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3da58967e94d95338e986f7754b2b67f7cae1f025bbae4d5d6bfac90f7d6b2f5
|
| 3 |
+
size 3797620
|
dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
-
<mesh filename="
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
-
<PartSegChecker>
|
| 60 |
</quality>
|
| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>23</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 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>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|