Add asset desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/affordance/affordance_annot.json +492 -0
- dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6225,3 +6225,4 @@ dataset/desktop_supplies/electronic_accessories/5a03136ac11e5264bedec67c15f404ee
|
|
| 6225 |
dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6226 |
dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6227 |
dataset/desktop_supplies/electronic_accessories/5c4cd26c91f350c8ba9d6af0d8b17127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6225 |
dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6226 |
dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6227 |
dataset/desktop_supplies/electronic_accessories/5c4cd26c91f350c8ba9d6af0d8b17127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6228 |
+
dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,492 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "charger body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the charger body to pick up and move the adapter",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the charger body while unplugging it from a wall socket",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the charger body while aligning the plug with an outlet",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main housing",
|
| 23 |
+
"contain internal electronics",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"protect internal components",
|
| 26 |
+
"support plug assembly"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large light-blue plastic housing with a smooth matte finish, rounded rectangular block shape with slightly tapered sides, occupying most of the charger and showing black printed branding on the outer faces.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9576147198677063,
|
| 33 |
+
"position": [
|
| 34 |
+
0.097523026925046,
|
| 35 |
+
-0.009822011459618807,
|
| 36 |
+
0.014733059128047898
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.07173113894717946,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.7563604772710989,
|
| 42 |
+
0.019443558467609368,
|
| 43 |
+
0.6499195489917907
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9548693299293518,
|
| 49 |
+
"position": [
|
| 50 |
+
0.09969636873574927,
|
| 51 |
+
-0.011943077202886343,
|
| 52 |
+
0.002067262335913256
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.037453067119434004,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.7136920657601381,
|
| 58 |
+
0.035918995793963404,
|
| 59 |
+
0.6985347011963878
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.952542245388031,
|
| 65 |
+
"position": [
|
| 66 |
+
0.10295545385451987,
|
| 67 |
+
-0.005393998697400093,
|
| 68 |
+
0.0018402347632218152
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.03462059239105355,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.7100628929686487,
|
| 74 |
+
0.015710771176697724,
|
| 75 |
+
0.7031111393517525
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9517797827720642,
|
| 81 |
+
"position": [
|
| 82 |
+
0.1020292125758715,
|
| 83 |
+
-0.006450960878282785,
|
| 84 |
+
0.002996121096657589
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.03906573998388048,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7184950230580518,
|
| 90 |
+
0.030016669112859162,
|
| 91 |
+
0.6937851031664561
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9514591097831726,
|
| 97 |
+
"position": [
|
| 98 |
+
0.09716288076015189,
|
| 99 |
+
-0.0038937926292419434,
|
| 100 |
+
0.01408420762163587
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.6606938819846627,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.01045361514914922,
|
| 106 |
+
-0.7490660114175625,
|
| 107 |
+
-0.047690950685998414
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.9507108926773071,
|
| 113 |
+
"position": [
|
| 114 |
+
0.10151538328500465,
|
| 115 |
+
-0.010960774030536413,
|
| 116 |
+
-0.0027040783024858683
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.04354239758950378,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.7003425101303992,
|
| 122 |
+
0.035107015398765706,
|
| 123 |
+
0.7116122016844572
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.949769914150238,
|
| 129 |
+
"position": [
|
| 130 |
+
0.09674324915977195,
|
| 131 |
+
0.0004684258019551635,
|
| 132 |
+
0.01988420056295581
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6328216215358904,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.0012057561349640145,
|
| 138 |
+
-0.7735136620859081,
|
| 139 |
+
-0.03481315893849354
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.9493927359580994,
|
| 145 |
+
"position": [
|
| 146 |
+
0.09436971769900993,
|
| 147 |
+
-0.03175023617222905,
|
| 148 |
+
0.0021990880195517093
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.11618393442791161,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.7019691913669196,
|
| 154 |
+
0.11156501370550076,
|
| 155 |
+
0.6937534111407415
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_12": {
|
| 160 |
+
"confidence": 0.9484241008758545,
|
| 161 |
+
"position": [
|
| 162 |
+
0.09557108656736091,
|
| 163 |
+
0.004279013490304351,
|
| 164 |
+
0.015418013354064897
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.05270976986873439,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.7443911387223356,
|
| 170 |
+
-0.0653807596161804,
|
| 171 |
+
0.6624415966891426
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_13": {
|
| 176 |
+
"confidence": 0.948240339756012,
|
| 177 |
+
"position": [
|
| 178 |
+
0.10191873536678031,
|
| 179 |
+
-0.00692052161321044,
|
| 180 |
+
0.002590912190498784
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.004331141217721021,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.7150986448347179,
|
| 186 |
+
0.061243381206692926,
|
| 187 |
+
0.6963220645862619
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_14": {
|
| 192 |
+
"confidence": 0.9482335448265076,
|
| 193 |
+
"position": [
|
| 194 |
+
0.09592188970418647,
|
| 195 |
+
0.009636724833399057,
|
| 196 |
+
-0.003809906280366704
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.7239407639176939,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.0265338252586394,
|
| 202 |
+
-0.6893469116326316,
|
| 203 |
+
0.00256161627940712
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_15": {
|
| 208 |
+
"confidence": 0.9478915333747864,
|
| 209 |
+
"position": [
|
| 210 |
+
0.10075321124168113,
|
| 211 |
+
0.007590908091515303,
|
| 212 |
+
0.0013338469725567847
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.014958257664775725,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.7139306380092346,
|
| 218 |
+
-0.0004732231140321952,
|
| 219 |
+
-0.7000564767925838
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"part_name": "plug base",
|
| 227 |
+
"mask_color": "Yellow",
|
| 228 |
+
"graspable": true,
|
| 229 |
+
"grasp_scenarios": [
|
| 230 |
+
{
|
| 231 |
+
"scenario": "pinch the plug base to assist unplugging in tight spaces",
|
| 232 |
+
"confidence": 0.64
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"scenario": "hold the plug base to orient the prongs toward an outlet",
|
| 236 |
+
"confidence": 0.59
|
| 237 |
+
}
|
| 238 |
+
],
|
| 239 |
+
"functional_labels": [
|
| 240 |
+
"mount the prongs",
|
| 241 |
+
"transfer load from prongs to housing",
|
| 242 |
+
"guide outlet alignment",
|
| 243 |
+
"support connection interface"
|
| 244 |
+
],
|
| 245 |
+
"semantic_description": "Small light-blue plastic end section with a smooth hard finish, protruding from one end of the charger body and surrounding the roots of the two round prongs.",
|
| 246 |
+
"id": 3,
|
| 247 |
+
"grasp_group": {
|
| 248 |
+
"grasp_21": {
|
| 249 |
+
"confidence": 0.8378380537033081,
|
| 250 |
+
"position": [
|
| 251 |
+
0.10042452142806724,
|
| 252 |
+
0.013338799122720957,
|
| 253 |
+
-0.006402097846148536
|
| 254 |
+
],
|
| 255 |
+
"orientation": {
|
| 256 |
+
"w": 0.023849682738850294,
|
| 257 |
+
"xyz": [
|
| 258 |
+
-0.6983501276982454,
|
| 259 |
+
-0.009587758896102416,
|
| 260 |
+
0.7152946013052598
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"grasp_23": {
|
| 265 |
+
"confidence": 0.8280215263366699,
|
| 266 |
+
"position": [
|
| 267 |
+
0.0053462719661183655,
|
| 268 |
+
0.11430489225313067,
|
| 269 |
+
-0.011564946005819365
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
+
"w": 0.49507273032987864,
|
| 273 |
+
"xyz": [
|
| 274 |
+
0.44508876642200945,
|
| 275 |
+
0.5056403035407859,
|
| 276 |
+
-0.5487502757391876
|
| 277 |
+
]
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
"grasp_24": {
|
| 281 |
+
"confidence": 0.8022310137748718,
|
| 282 |
+
"position": [
|
| 283 |
+
0.003520815691445023,
|
| 284 |
+
0.11460377974435687,
|
| 285 |
+
-0.0011724016803782433
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.7009119624700414,
|
| 289 |
+
"xyz": [
|
| 290 |
+
0.7105882254757582,
|
| 291 |
+
-0.053639432731602654,
|
| 292 |
+
0.03015967403405118
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_26": {
|
| 297 |
+
"confidence": 0.7863912582397461,
|
| 298 |
+
"position": [
|
| 299 |
+
0.0034389792126603425,
|
| 300 |
+
0.11747928662225604,
|
| 301 |
+
-0.004210301412967965
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.48831852951980104,
|
| 305 |
+
"xyz": [
|
| 306 |
+
0.4799705685973961,
|
| 307 |
+
0.509396484362045,
|
| 308 |
+
-0.5212374590601684
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_29": {
|
| 313 |
+
"confidence": 0.7134808897972107,
|
| 314 |
+
"position": [
|
| 315 |
+
0.02127906383248046,
|
| 316 |
+
0.10353242559358478,
|
| 317 |
+
0.05133990178001113
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.0482721529149587,
|
| 321 |
+
"xyz": [
|
| 322 |
+
-0.08897871411788356,
|
| 323 |
+
-0.8557512763037584,
|
| 324 |
+
0.5073877617674386
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_30": {
|
| 329 |
+
"confidence": 0.7112353444099426,
|
| 330 |
+
"position": [
|
| 331 |
+
0.027491443615872413,
|
| 332 |
+
0.10083309514448047,
|
| 333 |
+
-0.04749909436213784
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.0520295475013105,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.10833486448889847,
|
| 339 |
+
-0.5088666065573644,
|
| 340 |
+
0.8524149576666123
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_32": {
|
| 345 |
+
"confidence": 0.6918132901191711,
|
| 346 |
+
"position": [
|
| 347 |
+
0.010913013305980712,
|
| 348 |
+
0.12008456839248538,
|
| 349 |
+
0.0038723496545571834
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.4622291370504995,
|
| 353 |
+
"xyz": [
|
| 354 |
+
0.5144019904845272,
|
| 355 |
+
0.4999040144366087,
|
| 356 |
+
-0.5213739477546517
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_34": {
|
| 361 |
+
"confidence": 0.7882311940193176,
|
| 362 |
+
"position": [
|
| 363 |
+
-0.021193596709053963,
|
| 364 |
+
0.1089993785135448,
|
| 365 |
+
0.034242033754708245
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.4873645161265246,
|
| 369 |
+
"xyz": [
|
| 370 |
+
0.530601049155595,
|
| 371 |
+
0.6079867642244633,
|
| 372 |
+
-0.33360223258186744
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_35": {
|
| 377 |
+
"confidence": 0.779136061668396,
|
| 378 |
+
"position": [
|
| 379 |
+
0.0035718209692277014,
|
| 380 |
+
0.10820750100538135,
|
| 381 |
+
0.03589159974944778
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.40743520364723596,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.5497378117872678,
|
| 387 |
+
-0.6094826898110016,
|
| 388 |
+
0.4003944854028681
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_36": {
|
| 393 |
+
"confidence": 0.7594829797744751,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.040684445935767144,
|
| 396 |
+
0.107778191100806,
|
| 397 |
+
0.024325955455424264
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.518397088124053,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.40357269377800953,
|
| 403 |
+
0.6688966146537724,
|
| 404 |
+
-0.3478086525174248
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_37": {
|
| 409 |
+
"confidence": 0.7049309015274048,
|
| 410 |
+
"position": [
|
| 411 |
+
0.007848114531952888,
|
| 412 |
+
0.06987551553174853,
|
| 413 |
+
0.08438161740195937
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.05104749104745248,
|
| 417 |
+
"xyz": [
|
| 418 |
+
0.18919670430361854,
|
| 419 |
+
0.937921580061971,
|
| 420 |
+
-0.2861850282465258
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_39": {
|
| 425 |
+
"confidence": 0.6518258452415466,
|
| 426 |
+
"position": [
|
| 427 |
+
0.0027356320642866194,
|
| 428 |
+
0.10627680225297809,
|
| 429 |
+
-0.041568089480279014
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.8486442617445038,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.5244096895525361,
|
| 435 |
+
0.03783985898341713,
|
| 436 |
+
-0.05801327075466489
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
}
|
| 440 |
+
}
|
| 441 |
+
},
|
| 442 |
+
{
|
| 443 |
+
"part_name": "power prongs",
|
| 444 |
+
"mask_color": "Orange",
|
| 445 |
+
"graspable": false,
|
| 446 |
+
"grasp_scenarios": [],
|
| 447 |
+
"functional_labels": [
|
| 448 |
+
"conduct electricity to outlet",
|
| 449 |
+
"plug into wall socket",
|
| 450 |
+
"provide electrical interface",
|
| 451 |
+
"position the charger in the socket"
|
| 452 |
+
],
|
| 453 |
+
"semantic_description": "Two round metal plug pins with smooth reflective silver surfaces and dark tips, projecting in parallel from the plug end of the charger.",
|
| 454 |
+
"id": 4,
|
| 455 |
+
"grasp_group": {}
|
| 456 |
+
},
|
| 457 |
+
{
|
| 458 |
+
"part_name": "front output face",
|
| 459 |
+
"mask_color": "Magenta",
|
| 460 |
+
"graspable": false,
|
| 461 |
+
"grasp_scenarios": [],
|
| 462 |
+
"functional_labels": [
|
| 463 |
+
"support the output port opening",
|
| 464 |
+
"define the output-side face",
|
| 465 |
+
"protect the output interface area",
|
| 466 |
+
"provide connector-side reference"
|
| 467 |
+
],
|
| 468 |
+
"semantic_description": "Thin light-blue front face area around the charger output end, visible as the border surrounding the recessed output port opening.",
|
| 469 |
+
"id": 7,
|
| 470 |
+
"grasp_group": {}
|
| 471 |
+
},
|
| 472 |
+
{
|
| 473 |
+
"part_name": "USB output port",
|
| 474 |
+
"mask_color": "Magenta",
|
| 475 |
+
"graspable": false,
|
| 476 |
+
"grasp_scenarios": [],
|
| 477 |
+
"functional_labels": [
|
| 478 |
+
"accept USB cable",
|
| 479 |
+
"provide charging power output",
|
| 480 |
+
"connect to device cable",
|
| 481 |
+
"define charging interface"
|
| 482 |
+
],
|
| 483 |
+
"semantic_description": "Small recessed charging port on the front end, appearing as a dark opening within the light-blue charger face below the printed '20000EXT' text.",
|
| 484 |
+
"id": 7,
|
| 485 |
+
"grasp_group": {}
|
| 486 |
+
}
|
| 487 |
+
],
|
| 488 |
+
"quality_check": {
|
| 489 |
+
"success": false,
|
| 490 |
+
"message": "Magenta mask marks front face only; USB port is not separately segmented, so duplicated mask/part is incorrect."
|
| 491 |
+
}
|
| 492 |
+
}
|
dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a3ea37e72ecdb5c09ade5b6554e7548ae6fb789c2149b24e9805069da69f401d
|
| 3 |
+
size 3781052
|
dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 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>
|