xinjjj commited on
Commit
baae55a
·
verified ·
1 Parent(s): e80ea61

Add asset desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0

Browse files
.gitattributes CHANGED
@@ -8121,3 +8121,4 @@ dataset/bedroom_supplies/storage/c517a8232853527c9340f70fa687e0dc/affordance/mes
8121
  dataset/desktop_supplies/electronic_accessories/c1c99a417cd75e038b7f58a38ba7fa11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8122
  dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8123
  dataset/desktop_supplies/electronic_accessories/c412c4fb919a5d4eb11f6ee884850a8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8121
  dataset/desktop_supplies/electronic_accessories/c1c99a417cd75e038b7f58a38ba7fa11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8122
  dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8123
  dataset/desktop_supplies/electronic_accessories/c412c4fb919a5d4eb11f6ee884850a8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8124
+ dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/affordance/affordance_annot.json ADDED
@@ -0,0 +1,454 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mouse body shell",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the mouse body from the sides to pick it up",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the mouse body to reposition it on a desk",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the mouse body while pressing side buttons",
18
+ "confidence": 0.78
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal electronics",
24
+ "support hand placement",
25
+ "provide structural housing"
26
+ ],
27
+ "semantic_description": "Large pale pink plastic upper body with a smooth matte finish, rounded low-profile shape, covering most of the top and side surfaces of the mouse.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9824211001396179,
32
+ "position": [
33
+ 0.008754780981689692,
34
+ -0.10007439600303769,
35
+ 0.04263049294240773
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5102798208754074,
39
+ "xyz": [
40
+ -0.8563975370149356,
41
+ -0.07860786369183881,
42
+ -0.004308917256054349
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9817625284194946,
48
+ "position": [
49
+ 0.0005112856160849333,
50
+ -0.012319492641836405,
51
+ 0.10034459386952221
52
+ ],
53
+ "orientation": {
54
+ "w": 0.06403670592644699,
55
+ "xyz": [
56
+ -0.9979176502753706,
57
+ -0.005771892928033387,
58
+ 0.005133109681289481
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9806841015815735,
64
+ "position": [
65
+ 0.007282753940671682,
66
+ -0.09547837870195508,
67
+ 0.04545833473093808
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5050041276283473,
71
+ "xyz": [
72
+ -0.8622807843912058,
73
+ -0.03773980053557635,
74
+ 0.004288053585659411
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9802141785621643,
80
+ "position": [
81
+ -0.00930557120591402,
82
+ 0.06429859204217792,
83
+ 0.08485898678191006
84
+ ],
85
+ "orientation": {
86
+ "w": 0.2535398921380483,
87
+ "xyz": [
88
+ 0.9657791591317905,
89
+ -0.003482060718274227,
90
+ 0.05455285633651727
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9797888398170471,
96
+ "position": [
97
+ -0.007700594142079353,
98
+ 0.10589110059663653,
99
+ 0.0519049980212003
100
+ ],
101
+ "orientation": {
102
+ "w": 0.48685635739772704,
103
+ "xyz": [
104
+ 0.8723406316533989,
105
+ 0.015758172380790747,
106
+ 0.041765890762478795
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9796947836875916,
112
+ "position": [
113
+ 0.0008752504363656044,
114
+ -0.10614755051210523,
115
+ 0.040797601686790586
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5180190243052962,
119
+ "xyz": [
120
+ -0.8534272326222679,
121
+ -0.05258156163660288,
122
+ -0.023525060092219302
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9795331358909607,
128
+ "position": [
129
+ -0.0060106078162789345,
130
+ -0.05018530832603574,
131
+ 0.08122206781990826
132
+ ],
133
+ "orientation": {
134
+ "w": 0.27108066613816584,
135
+ "xyz": [
136
+ -0.9611618794807474,
137
+ -0.02823138231361305,
138
+ -0.04342928656780202
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9785904884338379,
144
+ "position": [
145
+ 0.004505799617618322,
146
+ 0.06198779447004199,
147
+ 0.08647176926024258
148
+ ],
149
+ "orientation": {
150
+ "w": 0.2507187785230739,
151
+ "xyz": [
152
+ 0.9673076606199678,
153
+ 0.03352158744346023,
154
+ -0.018228740414344483
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9785228371620178,
160
+ "position": [
161
+ -0.009686305187642574,
162
+ 0.07668690336868167,
163
+ 0.07852077786810696
164
+ ],
165
+ "orientation": {
166
+ "w": 0.3110486337697875,
167
+ "xyz": [
168
+ 0.9458811343041695,
169
+ -0.05466915891721863,
170
+ 0.0746251315622957
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9782450795173645,
176
+ "position": [
177
+ -0.013085585553199053,
178
+ -0.10446798847988248,
179
+ 0.04187111486680806
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5193869027289322,
183
+ "xyz": [
184
+ -0.8489190990520279,
185
+ -0.04025087984477127,
186
+ -0.08918225838170873
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9778069853782654,
192
+ "position": [
193
+ 0.011713231448084116,
194
+ -0.10397886531427503,
195
+ 0.03760467027314007
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5255650400312532,
199
+ "xyz": [
200
+ -0.8483521488526232,
201
+ -0.06261029663612594,
202
+ 0.01264796383692021
203
+ ]
204
+ }
205
+ },
206
+ "grasp_12": {
207
+ "confidence": 0.9777887463569641,
208
+ "position": [
209
+ -0.011698972899466753,
210
+ 0.09437047643586993,
211
+ 0.0617524937260896
212
+ ],
213
+ "orientation": {
214
+ "w": 0.0787414489991485,
215
+ "xyz": [
216
+ 0.010808940766164904,
217
+ 0.8924598706756186,
218
+ -0.44407018616732924
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.9774606227874756,
224
+ "position": [
225
+ -0.0213322383351624,
226
+ 0.06685787392780185,
227
+ 0.08820723299868405
228
+ ],
229
+ "orientation": {
230
+ "w": 0.23335627038583687,
231
+ "xyz": [
232
+ 0.9671640797558149,
233
+ 0.005622111583017786,
234
+ 0.10053300832586377
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.9774489998817444,
240
+ "position": [
241
+ -0.002109106630086899,
242
+ 0.10695742769166827,
243
+ 0.048765766667202115
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5119255831411061,
247
+ "xyz": [
248
+ 0.8569196463906512,
249
+ -0.04251386688614145,
250
+ 0.04258506871835201
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.9770614504814148,
256
+ "position": [
257
+ 0.012997762765735388,
258
+ -0.05350763024762273,
259
+ 0.08613703702576458
260
+ ],
261
+ "orientation": {
262
+ "w": 0.0797292000431272,
263
+ "xyz": [
264
+ -0.043923171881539456,
265
+ -0.9699708632984146,
266
+ -0.22554497109107957
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.9764814972877502,
272
+ "position": [
273
+ -0.007411489263176918,
274
+ -0.029537972528487444,
275
+ 0.09619927708990872
276
+ ],
277
+ "orientation": {
278
+ "w": 0.07566539905853663,
279
+ "xyz": [
280
+ -0.9965274665644535,
281
+ -0.014344515650727169,
282
+ -0.03165423571483607
283
+ ]
284
+ }
285
+ },
286
+ "grasp_18": {
287
+ "confidence": 0.9762375354766846,
288
+ "position": [
289
+ 0.017031702678650618,
290
+ 0.016044364776462317,
291
+ 0.09705493901856244
292
+ ],
293
+ "orientation": {
294
+ "w": 0.10076292030345464,
295
+ "xyz": [
296
+ 0.06798190136586932,
297
+ -0.9925586211753921,
298
+ -0.007257996211427244
299
+ ]
300
+ }
301
+ },
302
+ "grasp_19": {
303
+ "confidence": 0.9761142730712891,
304
+ "position": [
305
+ 0.024547457229346037,
306
+ -0.0897742141969502,
307
+ 0.05200442601926625
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4687173964411335,
311
+ "xyz": [
312
+ -0.8723135657916232,
313
+ 0.02392442158169089,
314
+ 0.13711552523813778
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "bottom base",
322
+ "mask_color": "Purple",
323
+ "graspable": true,
324
+ "grasp_scenarios": [
325
+ {
326
+ "scenario": "hold the underside to flip or inspect the mouse",
327
+ "confidence": 0.74
328
+ },
329
+ {
330
+ "scenario": "support the mouse from below after lifting it off a surface",
331
+ "confidence": 0.62
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "support sliding on desk",
336
+ "cover underside",
337
+ "mount sensor and feet",
338
+ "provide structural base"
339
+ ],
340
+ "semantic_description": "Broad darker pink underside panel, likely plastic, with a smooth mostly matte hard finish and flat rounded shape covering the bottom of the mouse.",
341
+ "id": 5,
342
+ "grasp_group": {
343
+ "grasp_20": {
344
+ "confidence": 0.9334002733230591,
345
+ "position": [
346
+ 0.00020205252803862095,
347
+ -0.08904119627550244,
348
+ -0.06967211212031543
349
+ ],
350
+ "orientation": {
351
+ "w": 0.8744025540068364,
352
+ "xyz": [
353
+ -0.4520771268551197,
354
+ 0.07600727186506917,
355
+ 0.15896332767142093
356
+ ]
357
+ }
358
+ },
359
+ "grasp_31": {
360
+ "confidence": 0.9851750731468201,
361
+ "position": [
362
+ 0.10310046514496207,
363
+ -0.011272912379354239,
364
+ -0.014757362892851233
365
+ ],
366
+ "orientation": {
367
+ "w": 0.007198552951766636,
368
+ "xyz": [
369
+ -0.658072113396822,
370
+ -0.029193976374199626,
371
+ 0.7523542956269362
372
+ ]
373
+ }
374
+ },
375
+ "grasp_39": {
376
+ "confidence": 0.9837692379951477,
377
+ "position": [
378
+ 0.09715817263349891,
379
+ -0.002140546217560768,
380
+ -0.00925491121597588
381
+ ],
382
+ "orientation": {
383
+ "w": 0.04305243303687831,
384
+ "xyz": [
385
+ -0.6841948598053976,
386
+ -0.03989445491375576,
387
+ 0.7269335005986526
388
+ ]
389
+ }
390
+ }
391
+ }
392
+ },
393
+ {
394
+ "part_name": "scroll wheel",
395
+ "mask_color": "Cyan",
396
+ "graspable": false,
397
+ "grasp_scenarios": [],
398
+ "functional_labels": [
399
+ "scroll content",
400
+ "provide middle-click input",
401
+ "support fine finger control"
402
+ ],
403
+ "semantic_description": "Small centrally mounted darker pink scroll wheel with a ribbed rubber-like texture and semi-matte finish, protruding slightly between the front click panels.",
404
+ "id": 6,
405
+ "grasp_group": {}
406
+ },
407
+ {
408
+ "part_name": "dpi button",
409
+ "mask_color": "Orange",
410
+ "graspable": false,
411
+ "grasp_scenarios": [],
412
+ "functional_labels": [
413
+ "change pointer sensitivity",
414
+ "trigger command input",
415
+ "provide finger-actuated control"
416
+ ],
417
+ "semantic_description": "Small pale pink elongated button on the top center behind the scroll wheel, made of smooth matte plastic with a slightly raised rounded rectangular shape.",
418
+ "id": 4,
419
+ "grasp_group": {}
420
+ },
421
+ {
422
+ "part_name": "side button 1",
423
+ "mask_color": "Red",
424
+ "graspable": false,
425
+ "grasp_scenarios": [],
426
+ "functional_labels": [
427
+ "trigger side command",
428
+ "provide shortcut input",
429
+ "support thumb control"
430
+ ],
431
+ "semantic_description": "Small oblong pale pink side button set into the left flank, with a smooth matte plastic surface and shallow slightly raised profile.",
432
+ "id": 0,
433
+ "grasp_group": {}
434
+ },
435
+ {
436
+ "part_name": "side button 2",
437
+ "mask_color": "Green",
438
+ "graspable": false,
439
+ "grasp_scenarios": [],
440
+ "functional_labels": [
441
+ "trigger side command",
442
+ "provide shortcut input",
443
+ "support thumb control"
444
+ ],
445
+ "semantic_description": "Second small oblong pale pink side button beside the first on the left side, made of smooth matte plastic and aligned for thumb access.",
446
+ "id": 1,
447
+ "grasp_group": {}
448
+ }
449
+ ],
450
+ "quality_check": {
451
+ "success": false,
452
+ "message": "Scroll wheel color/material and shell/base descriptions mismatch visible appearance; side buttons not pale pink."
453
+ }
454
+ }
dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b416dac8fe63ad5a43a9a985693a6c50a6303ea21a40c85d3a3bf52036aff841
3
+ size 3789968
dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/mouse_004.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>