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EmbodiedGenData

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Add asset desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52

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Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/affordance_annot.json +584 -0
  3. dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/magnifier_021.urdf +3 -2
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+ ]
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+ }
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+ },
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+ "grasp_39": {
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+ "confidence": 0.92707759141922,
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+ "position": [
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+ 0.06546907790470868,
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+ 0.09829296870157123,
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+ -0.0036430990949156694
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+ ],
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+ "orientation": {
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+ "w": 0.33966026083425715,
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+ "xyz": [
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+ 0.6077755176406888,
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+ 0.3355749303538188,
531
+ -0.634530766381448
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+ ]
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+ }
534
+ }
535
+ }
536
+ },
537
+ {
538
+ "part_name": "magnifying lens",
539
+ "mask_color": "Red",
540
+ "graspable": false,
541
+ "grasp_scenarios": [],
542
+ "functional_labels": [
543
+ "magnify viewed objects",
544
+ "transmit light",
545
+ "enable close inspection"
546
+ ],
547
+ "semantic_description": "Circular clear lens with a smooth glossy transparent surface, set centrally in the head and recessed within the surrounding ring.",
548
+ "id": 0,
549
+ "grasp_group": {}
550
+ },
551
+ {
552
+ "part_name": "visible lens area",
553
+ "mask_color": "Yellow",
554
+ "graspable": false,
555
+ "grasp_scenarios": [],
556
+ "functional_labels": [
557
+ "provide viewing aperture",
558
+ "transmit light through the lens assembly",
559
+ "form the visible inner lens region"
560
+ ],
561
+ "semantic_description": "Light-colored to white inner circular area visible between the dark outer ring and central lens region, smooth and glossy, appearing as part of the lens opening at the head.",
562
+ "id": 3,
563
+ "grasp_group": {}
564
+ },
565
+ {
566
+ "part_name": "fastener cap",
567
+ "mask_color": "Cyan",
568
+ "graspable": false,
569
+ "grasp_scenarios": [],
570
+ "functional_labels": [
571
+ "cover fastener",
572
+ "indicate assembly point",
573
+ "secure handle-to-head connection"
574
+ ],
575
+ "semantic_description": "Small circular dark cap or screw cover on the upper handle near the head, with a hard smooth surface and tiny size relative to the rest of the magnifier.",
576
+ "id": 6,
577
+ "grasp_group": {}
578
+ }
579
+ ],
580
+ "quality_check": {
581
+ "success": false,
582
+ "message": "Yellow part misidentified; no separate visible lens area exists. It is the white inner lens/body region, not an aperture ring."
583
+ }
584
+ }
dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:e7017614908991e5a097ac67b7f72fc066e4cff86c77a11920f675f792c6972e
3
+ size 3767048
dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/magnifier_021.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>7</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
- <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>5</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
+ <PartSegChecker>YES</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>