xinjjj commited on
Commit
9dd932f
·
verified ·
1 Parent(s): e0fadc2

Add asset desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14

Browse files
.gitattributes CHANGED
@@ -6245,3 +6245,4 @@ dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62
6245
  dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6246
  dataset/desktop_supplies/electronic_accessories/8264b7edcc425a218ba33530f7fb4dbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6247
  dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6245
  dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6246
  dataset/desktop_supplies/electronic_accessories/8264b7edcc425a218ba33530f7fb4dbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6247
  dataset/desktop_supplies/electronic_accessories/8441adbf505d5533acce8415e7261620/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6248
+ dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/affordance/affordance_annot.json ADDED
@@ -0,0 +1,324 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "remote body",
5
+ "mask_color": "Gray",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the remote body from the sides to pick up and hold the device",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the remote body to stabilize it while pressing buttons",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the body to reposition or place the remote on a surface",
18
+ "confidence": 0.95
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal electronics",
24
+ "support the controls",
25
+ "provide structural body",
26
+ "protect internal components"
27
+ ],
28
+ "semantic_description": "Elongated light gray plastic housing with a matte smooth hard surface, rounded rectangular shape, medium handheld size, and printed Panasonic branding on the front face.",
29
+ "id": 15,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9877034425735474,
33
+ "position": [
34
+ 0.11525714246090502,
35
+ -0.07641973823774606,
36
+ -0.0024893734807847068
37
+ ],
38
+ "orientation": {
39
+ "w": 0.0055492075987059125,
40
+ "xyz": [
41
+ -0.6989040782990595,
42
+ -0.007172729078863904,
43
+ 0.71515791793808
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9868359565734863,
49
+ "position": [
50
+ 0.11145545390900224,
51
+ -0.05461635917890817,
52
+ -0.0018438367842463776
53
+ ],
54
+ "orientation": {
55
+ "w": 0.009531071675350519,
56
+ "xyz": [
57
+ 0.7060458586471151,
58
+ 0.026930565589687427,
59
+ -0.7075896754454495
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9867080450057983,
65
+ "position": [
66
+ 0.10697402653750032,
67
+ -0.0739934864686802,
68
+ -0.0011421874369261786
69
+ ],
70
+ "orientation": {
71
+ "w": 0.006716721766784985,
72
+ "xyz": [
73
+ -0.703856407360479,
74
+ -0.009624297918344182,
75
+ 0.7102453212488525
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9866920113563538,
81
+ "position": [
82
+ 0.10855467466171831,
83
+ -0.04077963635791093,
84
+ -0.007235192155349068
85
+ ],
86
+ "orientation": {
87
+ "w": 0.07255439050374869,
88
+ "xyz": [
89
+ 0.696369439926389,
90
+ 0.055996559065803364,
91
+ -0.7118074521442066
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9866160154342651,
97
+ "position": [
98
+ 0.11130915430840105,
99
+ 0.05410921841394156,
100
+ 0.000273298668616917
101
+ ],
102
+ "orientation": {
103
+ "w": 0.01196291935460659,
104
+ "xyz": [
105
+ 0.6979092363086288,
106
+ 0.00453666045074963,
107
+ -0.7160719273561672
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9864227175712585,
113
+ "position": [
114
+ -0.11020035448018461,
115
+ 0.04512403055559844,
116
+ 0.0031529139523627236
117
+ ],
118
+ "orientation": {
119
+ "w": 0.02917431356005713,
120
+ "xyz": [
121
+ -0.7050107193174072,
122
+ -0.01536344296385772,
123
+ -0.7084297493020378
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9859002232551575,
129
+ "position": [
130
+ 0.11261946556624025,
131
+ -0.07188856333959848,
132
+ -0.00440883582632523
133
+ ],
134
+ "orientation": {
135
+ "w": 0.026881513271145085,
136
+ "xyz": [
137
+ -0.6959501033873162,
138
+ 0.005316908991134794,
139
+ 0.7175671176400278
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9855599403381348,
145
+ "position": [
146
+ 0.117001025355421,
147
+ -0.06908704817760736,
148
+ 0.0005523032014025375
149
+ ],
150
+ "orientation": {
151
+ "w": 0.0014439379290478265,
152
+ "xyz": [
153
+ -0.7107380565466069,
154
+ -0.006873617827977352,
155
+ 0.7034216967065804
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9855000376701355,
161
+ "position": [
162
+ 0.11287589219864458,
163
+ -0.06939452618826181,
164
+ 0.005051868574810214
165
+ ],
166
+ "orientation": {
167
+ "w": 0.007367143810390535,
168
+ "xyz": [
169
+ 0.7139160017598604,
170
+ 0.0003727072422704536,
171
+ -0.7001924940418911
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9850767254829407,
177
+ "position": [
178
+ 0.11121785489376634,
179
+ -0.051005170796997845,
180
+ -0.00035456880868878216
181
+ ],
182
+ "orientation": {
183
+ "w": 0.08547659472711275,
184
+ "xyz": [
185
+ 0.7075477309920274,
186
+ 0.08990775856825128,
187
+ -0.6956914223067034
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.984411358833313,
193
+ "position": [
194
+ -0.110143730067648,
195
+ 0.02748508646618575,
196
+ -0.008681007122504525
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7249864897611922,
200
+ "xyz": [
201
+ -0.10019228386454422,
202
+ 0.6753804319056439,
203
+ 0.09064970003644639
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9842703938484192,
209
+ "position": [
210
+ 0.10769057867582887,
211
+ -0.07273497164715081,
212
+ -0.002660326354089193
213
+ ],
214
+ "orientation": {
215
+ "w": 0.023648158684378515,
216
+ "xyz": [
217
+ -0.7037346206404348,
218
+ 0.006766323395040463,
219
+ 0.710037016760828
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9842087626457214,
225
+ "position": [
226
+ 0.11459511367138475,
227
+ -0.08834331959951669,
228
+ -0.0015885173779679462
229
+ ],
230
+ "orientation": {
231
+ "w": 0.0082344835997877,
232
+ "xyz": [
233
+ -0.7103411169652444,
234
+ -0.003320891143773985,
235
+ 0.703801578934308
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9837342500686646,
241
+ "position": [
242
+ 0.10681580600794405,
243
+ 0.05196570500265807,
244
+ -0.0007193354394985363
245
+ ],
246
+ "orientation": {
247
+ "w": 0.71445861096768,
248
+ "xyz": [
249
+ 0.0005344683320033383,
250
+ -0.699674914984917,
251
+ 0.0019028658872261303
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9837328791618347,
257
+ "position": [
258
+ 0.11495776323135942,
259
+ -0.058220264618285,
260
+ 0.002044683278654702
261
+ ],
262
+ "orientation": {
263
+ "w": 0.023250465026834866,
264
+ "xyz": [
265
+ -0.7164586357336759,
266
+ 8.754025096258111e-05,
267
+ 0.6972420178785701
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9837095737457275,
273
+ "position": [
274
+ -0.11381083878222853,
275
+ 0.03719579696189612,
276
+ 0.0011652234970824793
277
+ ],
278
+ "orientation": {
279
+ "w": 0.04334981018809328,
280
+ "xyz": [
281
+ -0.7020653315308545,
282
+ -0.027696153007154778,
283
+ -0.7102520590098503
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9836879968643188,
289
+ "position": [
290
+ 0.11002378014381975,
291
+ -0.06577111512888223,
292
+ -0.0013078462070552632
293
+ ],
294
+ "orientation": {
295
+ "w": 0.04947520339700789,
296
+ "xyz": [
297
+ -0.708592858502355,
298
+ 0.020581307858398956,
299
+ 0.7035799705045077
300
+ ]
301
+ }
302
+ }
303
+ }
304
+ },
305
+ {
306
+ "part_name": "top dark gray control panel and selected small front buttons",
307
+ "mask_color": "Navy",
308
+ "graspable": false,
309
+ "grasp_scenarios": [],
310
+ "functional_labels": [
311
+ "provide pressable input controls",
312
+ "group top-end controls including power-related buttons",
313
+ "offer additional small front-face buttons for device operation"
314
+ ],
315
+ "semantic_description": "Dark gray panel at one end of the remote with two small rounded buttons, plus several separate small dark gray buttons on the front face; all are small matte plastic control surfaces.",
316
+ "id": 13,
317
+ "grasp_group": {}
318
+ }
319
+ ],
320
+ "quality_check": {
321
+ "success": false,
322
+ "message": "Navy mask omits large central button cluster; part name and description mismatch actual segmented controls."
323
+ }
324
+ }
dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c85f98e1949ed31bfc40c1cf282982d9d5c27a1ccab0f4b1883d2d37c0645a97
3
+ size 3828948
dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14/tv_remote_030.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>NO: {"summary":"Misses most functional parts; only partial buttons are segmented and many distinct buttons are merged with body. Not fixable by merging.","merge_groups":[]}</PartSegChecker>
 
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>NO: {"summary":"Misses most functional parts; only partial buttons are segmented and many distinct buttons are merged with body. Not fixable by merging.","merge_groups":[]}</PartSegChecker>