Add asset desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.urdf +1 -0
- dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/affordance/affordance_annot.json +460 -0
- dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -6217,3 +6217,4 @@ dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62
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| 6217 |
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6218 |
dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6219 |
dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6217 |
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6218 |
dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6219 |
dataset/desktop_supplies/electronic_accessories/50530a3bfeb150c18207d3c9be2dd24a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6220 |
+
dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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| 57 |
</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,460 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "scroll wheel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"scroll content",
|
| 10 |
+
"support middle-click input",
|
| 11 |
+
"provide finger traction"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Small dark wheel inset near the front top center, with a matte finish and likely textured or ribbed surface for finger traction.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "upper shell",
|
| 19 |
+
"mask_color": "Yellow",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the mouse around the top shell to pick it up from a desk",
|
| 24 |
+
"confidence": 0.9
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the top shell to reposition or orient the mouse",
|
| 28 |
+
"confidence": 0.86
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"scenario": "stabilize the mouse body during inspection or handling",
|
| 32 |
+
"confidence": 0.74
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"functional_labels": [
|
| 36 |
+
"main grasp surface",
|
| 37 |
+
"cover internal components",
|
| 38 |
+
"support hand contact",
|
| 39 |
+
"define mouse shape"
|
| 40 |
+
],
|
| 41 |
+
"semantic_description": "Large rounded upper cover on the top of the mouse, appearing very dark black to deep blue under the lighting with a smooth matte-to-satin plastic finish, surrounding the wheel opening and forming the domed top surface.",
|
| 42 |
+
"id": 3,
|
| 43 |
+
"grasp_group": {
|
| 44 |
+
"grasp_25": {
|
| 45 |
+
"confidence": 0.8743027448654175,
|
| 46 |
+
"position": [
|
| 47 |
+
-0.05687681399285793,
|
| 48 |
+
0.002311918418854475,
|
| 49 |
+
0.11500073061324656
|
| 50 |
+
],
|
| 51 |
+
"orientation": {
|
| 52 |
+
"w": 0.09589632227449328,
|
| 53 |
+
"xyz": [
|
| 54 |
+
0.6516471704680307,
|
| 55 |
+
0.7506257645846677,
|
| 56 |
+
0.052161500524034995
|
| 57 |
+
]
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
"grasp_26": {
|
| 61 |
+
"confidence": 0.7842006087303162,
|
| 62 |
+
"position": [
|
| 63 |
+
0.02087274007499218,
|
| 64 |
+
0.03203193750232458,
|
| 65 |
+
0.10234850482083857
|
| 66 |
+
],
|
| 67 |
+
"orientation": {
|
| 68 |
+
"w": 0.030289146095485695,
|
| 69 |
+
"xyz": [
|
| 70 |
+
-0.6079723600802949,
|
| 71 |
+
-0.7649564939399798,
|
| 72 |
+
0.21046077873621946
|
| 73 |
+
]
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
"grasp_30": {
|
| 77 |
+
"confidence": 0.8465747833251953,
|
| 78 |
+
"position": [
|
| 79 |
+
-0.048039549961686134,
|
| 80 |
+
-0.02020132075995207,
|
| 81 |
+
0.11458435491658747
|
| 82 |
+
],
|
| 83 |
+
"orientation": {
|
| 84 |
+
"w": 0.05026374933624267,
|
| 85 |
+
"xyz": [
|
| 86 |
+
0.6300505395187338,
|
| 87 |
+
0.7638855081356082,
|
| 88 |
+
0.13034110485652362
|
| 89 |
+
]
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"grasp_31": {
|
| 93 |
+
"confidence": 0.8394267559051514,
|
| 94 |
+
"position": [
|
| 95 |
+
0.044190628454089165,
|
| 96 |
+
0.005800292361527681,
|
| 97 |
+
0.09784940467216074
|
| 98 |
+
],
|
| 99 |
+
"orientation": {
|
| 100 |
+
"w": 0.18212215230905232,
|
| 101 |
+
"xyz": [
|
| 102 |
+
-0.6060070860601433,
|
| 103 |
+
-0.7514854495670195,
|
| 104 |
+
0.18669909579927602
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"grasp_32": {
|
| 109 |
+
"confidence": 0.8388205170631409,
|
| 110 |
+
"position": [
|
| 111 |
+
0.04675501026213169,
|
| 112 |
+
0.006709573790431023,
|
| 113 |
+
0.09641395346261561
|
| 114 |
+
],
|
| 115 |
+
"orientation": {
|
| 116 |
+
"w": 0.19833130433037133,
|
| 117 |
+
"xyz": [
|
| 118 |
+
-0.5630922760787993,
|
| 119 |
+
-0.7801028786248835,
|
| 120 |
+
0.1871664529347643
|
| 121 |
+
]
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
"grasp_33": {
|
| 125 |
+
"confidence": 0.828813374042511,
|
| 126 |
+
"position": [
|
| 127 |
+
-0.028118178248405457,
|
| 128 |
+
0.0022524504456669092,
|
| 129 |
+
0.11014380143024027
|
| 130 |
+
],
|
| 131 |
+
"orientation": {
|
| 132 |
+
"w": 0.07075111301408726,
|
| 133 |
+
"xyz": [
|
| 134 |
+
-0.7509162259333148,
|
| 135 |
+
0.6532854018774162,
|
| 136 |
+
-0.06585806959817501
|
| 137 |
+
]
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"grasp_34": {
|
| 141 |
+
"confidence": 0.776761531829834,
|
| 142 |
+
"position": [
|
| 143 |
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| 427 |
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{
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"part_name": "cable",
|
| 429 |
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|
| 430 |
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"graspable": true,
|
| 431 |
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"grasp_scenarios": [
|
| 432 |
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{
|
| 433 |
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"scenario": "grasp the cable near the mouse to drag or retrieve the mouse",
|
| 434 |
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"confidence": 0.58
|
| 435 |
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},
|
| 436 |
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{
|
| 437 |
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"scenario": "hold the cable to route or untangle it during setup",
|
| 438 |
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"confidence": 0.8
|
| 439 |
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},
|
| 440 |
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{
|
| 441 |
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"scenario": "pull the cable lightly to reposition the mouse when direct body access is blocked",
|
| 442 |
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|
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}
|
| 444 |
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],
|
| 445 |
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"functional_labels": [
|
| 446 |
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|
| 447 |
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|
| 448 |
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"enable wired use",
|
| 449 |
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"allow cable routing"
|
| 450 |
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],
|
| 451 |
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"semantic_description": "Thin dark cable extending from the front of the mouse, appearing as a flexible smooth plastic-sheathed cord with a slight curve.",
|
| 452 |
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"id": 6,
|
| 453 |
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"grasp_group": {}
|
| 454 |
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}
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| 455 |
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],
|
| 456 |
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"quality_check": {
|
| 457 |
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"success": false,
|
| 458 |
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"message": "Semantic descriptions use wrong visible colors; mouse body appears blue with black lower shell, not black/deep blue overall."
|
| 459 |
+
}
|
| 460 |
+
}
|
dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:776dc66b001f8bbe5f86e3c4076ae012a2e2cd86d6e4fe6db4e7049cd8710488
|
| 3 |
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size 1370936
|