xinjjj commited on
Commit
bfcd694
·
verified ·
1 Parent(s): 670af11

Add asset desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7

Browse files
.gitattributes CHANGED
@@ -6277,4 +6277,4 @@ dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5
6277
  dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6278
  dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6279
  dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6280
- dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6277
  dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6278
  dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6279
  dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6280
+ dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,394 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mouse body shell",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the mouse body from both sides to pick it up off a desk",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body to reposition or place the mouse",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the mouse while actuating buttons or wheel",
18
+ "confidence": 0.76
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal electronics",
24
+ "provide hand support",
25
+ "define overall mouse shape",
26
+ "protect internal components"
27
+ ],
28
+ "semantic_description": "Large dark gray to black plastic outer body with a mostly matte smooth finish and rounded ergonomic shape, covering most of the top and sides of the mouse.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_10": {
32
+ "confidence": 0.9724978804588318,
33
+ "position": [
34
+ 0.1543513024225831,
35
+ 0.010364794346969575,
36
+ -0.009307358122896403
37
+ ],
38
+ "orientation": {
39
+ "w": 0.728564772087067,
40
+ "xyz": [
41
+ 0.015748011502038053,
42
+ -0.6847939523124643,
43
+ -0.0016173693846034491
44
+ ]
45
+ }
46
+ }
47
+ }
48
+ },
49
+ {
50
+ "part_name": "scroll wheel",
51
+ "mask_color": "Orange",
52
+ "graspable": false,
53
+ "grasp_scenarios": [],
54
+ "functional_labels": [
55
+ "scroll through content",
56
+ "middle-click input",
57
+ "provide tactile wheel control",
58
+ "support finger indexing"
59
+ ],
60
+ "semantic_description": "Small dark wheel set between the main buttons near the front top of the mouse, with a rubberized or textured surface.",
61
+ "id": 4,
62
+ "grasp_group": {}
63
+ },
64
+ {
65
+ "part_name": "thumb grip pad",
66
+ "mask_color": "Cyan",
67
+ "graspable": true,
68
+ "grasp_scenarios": [
69
+ {
70
+ "scenario": "pinch the side grip area with fingers on the opposite side to lift the mouse",
71
+ "confidence": 0.63
72
+ },
73
+ {
74
+ "scenario": "hold the side grip area to stabilize the mouse during manipulation",
75
+ "confidence": 0.58
76
+ }
77
+ ],
78
+ "functional_labels": [
79
+ "improve side traction",
80
+ "support thumb placement",
81
+ "stabilize hand position",
82
+ "increase grip comfort"
83
+ ],
84
+ "semantic_description": "Medium-sized black textured side insert on the lower side flank, likely rubber or textured plastic, with a matte rough surface and an elongated tapered shape for thumb contact.",
85
+ "id": 6,
86
+ "grasp_group": {
87
+ "grasp_20": {
88
+ "confidence": 0.767028272151947,
89
+ "position": [
90
+ -0.048048778437078,
91
+ -0.0013459135661832988,
92
+ -0.09956087142927572
93
+ ],
94
+ "orientation": {
95
+ "w": 0.7052789897822674,
96
+ "xyz": [
97
+ 0.07832163417135002,
98
+ 0.08430587325788086,
99
+ 0.6995282609921201
100
+ ]
101
+ }
102
+ },
103
+ "grasp_21": {
104
+ "confidence": 0.745034396648407,
105
+ "position": [
106
+ -0.04134372901171446,
107
+ 0.0020233457325957716,
108
+ -0.09845627070171759
109
+ ],
110
+ "orientation": {
111
+ "w": 0.706238611927338,
112
+ "xyz": [
113
+ 0.0765419168909222,
114
+ 0.0705614852455354,
115
+ 0.7002781124535841
116
+ ]
117
+ }
118
+ },
119
+ "grasp_22": {
120
+ "confidence": 0.7347253561019897,
121
+ "position": [
122
+ -0.03273358475416899,
123
+ 0.001079223060514778,
124
+ -0.09604895830852911
125
+ ],
126
+ "orientation": {
127
+ "w": 0.6972868549139296,
128
+ "xyz": [
129
+ 0.04987791838707487,
130
+ 0.04992908478296265,
131
+ 0.7133094151308731
132
+ ]
133
+ }
134
+ },
135
+ "grasp_23": {
136
+ "confidence": 0.7280638813972473,
137
+ "position": [
138
+ -0.03646524902433157,
139
+ 0.005340518604498357,
140
+ -0.09783421427709982
141
+ ],
142
+ "orientation": {
143
+ "w": 0.7054304106233074,
144
+ "xyz": [
145
+ 0.06846023404946726,
146
+ 0.03934810675221845,
147
+ 0.7043669914304189
148
+ ]
149
+ }
150
+ },
151
+ "grasp_24": {
152
+ "confidence": 0.7259466052055359,
153
+ "position": [
154
+ -0.039965695701539516,
155
+ -0.006350947369355708,
156
+ -0.09812067419989035
157
+ ],
158
+ "orientation": {
159
+ "w": 0.7056417420113328,
160
+ "xyz": [
161
+ 0.0381036037561326,
162
+ 0.07024490552890672,
163
+ 0.7040479391058839
164
+ ]
165
+ }
166
+ },
167
+ "grasp_25": {
168
+ "confidence": 0.7220895290374756,
169
+ "position": [
170
+ -0.024570311419665813,
171
+ 0.0024681661161594093,
172
+ -0.10161880374653265
173
+ ],
174
+ "orientation": {
175
+ "w": 0.7328035939877193,
176
+ "xyz": [
177
+ -0.02208021277895183,
178
+ 0.028492768788230816,
179
+ -0.6794847452070568
180
+ ]
181
+ }
182
+ },
183
+ "grasp_26": {
184
+ "confidence": 0.718579113483429,
185
+ "position": [
186
+ -0.027990530245006084,
187
+ -0.0008790885767666623,
188
+ -0.09485623211367056
189
+ ],
190
+ "orientation": {
191
+ "w": 0.6976995821441733,
192
+ "xyz": [
193
+ 0.0406198401697317,
194
+ 0.04692057007188166,
195
+ 0.7136972619847721
196
+ ]
197
+ }
198
+ },
199
+ "grasp_28": {
200
+ "confidence": 0.7018390893936157,
201
+ "position": [
202
+ -0.027265782468020916,
203
+ 0.0021232282160781324,
204
+ -0.10064128757221624
205
+ ],
206
+ "orientation": {
207
+ "w": 0.7316743862025948,
208
+ "xyz": [
209
+ -0.03178506817419178,
210
+ 0.051593403032182183,
211
+ -0.6789553908614151
212
+ ]
213
+ }
214
+ },
215
+ "grasp_29": {
216
+ "confidence": 0.7002590298652649,
217
+ "position": [
218
+ -0.02063868846744299,
219
+ -0.0006066928472137079,
220
+ -0.09971395105822012
221
+ ],
222
+ "orientation": {
223
+ "w": 0.7021015733476619,
224
+ "xyz": [
225
+ 0.025615313118373662,
226
+ 0.0332720677503342,
227
+ 0.7108376790408639
228
+ ]
229
+ }
230
+ },
231
+ "grasp_31": {
232
+ "confidence": 0.697596549987793,
233
+ "position": [
234
+ -0.016437184996902943,
235
+ -0.0009394690277986228,
236
+ -0.09872437984449789
237
+ ],
238
+ "orientation": {
239
+ "w": 0.69954647932917,
240
+ "xyz": [
241
+ 0.019322124122547416,
242
+ 0.030807653778924693,
243
+ 0.7136611711773272
244
+ ]
245
+ }
246
+ },
247
+ "grasp_32": {
248
+ "confidence": 0.6975953578948975,
249
+ "position": [
250
+ -0.024059261195361614,
251
+ 0.004725746519397944,
252
+ -0.09882198990089819
253
+ ],
254
+ "orientation": {
255
+ "w": 0.7046147127000238,
256
+ "xyz": [
257
+ 0.04705290830649287,
258
+ 0.019352995392042605,
259
+ 0.7077637967824572
260
+ ]
261
+ }
262
+ },
263
+ "grasp_34": {
264
+ "confidence": 0.6938388347625732,
265
+ "position": [
266
+ -0.00013555027544498444,
267
+ 0.007785597059410065,
268
+ -0.09771845460636541
269
+ ],
270
+ "orientation": {
271
+ "w": 0.7326063138995185,
272
+ "xyz": [
273
+ 0.08000243435410398,
274
+ -0.026632664216000412,
275
+ -0.6754097278902157
276
+ ]
277
+ }
278
+ },
279
+ "grasp_35": {
280
+ "confidence": 0.689943790435791,
281
+ "position": [
282
+ -0.03941457252949476,
283
+ 0.0036888874019496143,
284
+ -0.09953174710972235
285
+ ],
286
+ "orientation": {
287
+ "w": 0.7219598223197257,
288
+ "xyz": [
289
+ -0.055417422107925024,
290
+ 0.09577510782153198,
291
+ -0.6830300527830069
292
+ ]
293
+ }
294
+ },
295
+ "grasp_36": {
296
+ "confidence": 0.6876018047332764,
297
+ "position": [
298
+ -0.016466028057038784,
299
+ -0.001094337465474382,
300
+ -0.10010577709181234
301
+ ],
302
+ "orientation": {
303
+ "w": 0.736695352449356,
304
+ "xyz": [
305
+ -0.018974701634102992,
306
+ 0.025071335956763363,
307
+ -0.6754934096575325
308
+ ]
309
+ }
310
+ },
311
+ "grasp_37": {
312
+ "confidence": 0.686560869216919,
313
+ "position": [
314
+ -0.031161661259829998,
315
+ 0.0016404701746068895,
316
+ -0.09717393637401983
317
+ ],
318
+ "orientation": {
319
+ "w": 0.7277792953935364,
320
+ "xyz": [
321
+ -0.03439468941355287,
322
+ 0.05922408054533401,
323
+ -0.6823831847431422
324
+ ]
325
+ }
326
+ },
327
+ "grasp_39": {
328
+ "confidence": 0.6776635646820068,
329
+ "position": [
330
+ -0.0121544124558568,
331
+ -0.00284809764707461,
332
+ -0.09930896729929373
333
+ ],
334
+ "orientation": {
335
+ "w": 0.7267114222234592,
336
+ "xyz": [
337
+ -0.021264483152578135,
338
+ 0.002172671644702917,
339
+ -0.6866102315463524
340
+ ]
341
+ }
342
+ }
343
+ }
344
+ },
345
+ {
346
+ "part_name": "side button",
347
+ "mask_color": "Lime Green",
348
+ "graspable": false,
349
+ "grasp_scenarios": [],
350
+ "functional_labels": [
351
+ "trigger side input",
352
+ "support shortcut commands",
353
+ "provide thumb-operated control",
354
+ "enable navigation actions"
355
+ ],
356
+ "semantic_description": "Small elongated side button on the upper side near the thumb area, appearing dark gray or black plastic with green illumination visible on or around it, with a smooth hard-plastic surface and rounded shape.",
357
+ "id": 9,
358
+ "grasp_group": {}
359
+ },
360
+ {
361
+ "part_name": "top DPI button",
362
+ "mask_color": "Teal",
363
+ "graspable": false,
364
+ "grasp_scenarios": [],
365
+ "functional_labels": [
366
+ "change sensitivity setting",
367
+ "provide extra top input",
368
+ "support mode switching",
369
+ "adjust cursor control"
370
+ ],
371
+ "semantic_description": "Small dark top button behind the scroll wheel, made of hard plastic with a smooth matte surface and a low-profile rounded rectangular form.",
372
+ "id": 10,
373
+ "grasp_group": {}
374
+ },
375
+ {
376
+ "part_name": "scroll wheel slot insert",
377
+ "mask_color": "Maroon",
378
+ "graspable": false,
379
+ "grasp_scenarios": [],
380
+ "functional_labels": [
381
+ "frame the wheel opening",
382
+ "separate wheel from the shell",
383
+ "support wheel housing"
384
+ ],
385
+ "semantic_description": "Narrow dark insert visible in the center slot around or directly behind the scroll wheel opening on the top front area of the mouse.",
386
+ "id": 12,
387
+ "grasp_group": {}
388
+ }
389
+ ],
390
+ "quality_check": {
391
+ "success": false,
392
+ "message": "Several part descriptions mismatch visible parts/colors; side button and body shell descriptions are inaccurate, and a slot insert is not a clear physical part."
393
+ }
394
+ }
dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:87784c92c6c616375dbd925a0f56cf9c988357abdeb2a5c3f3f38822732b0874
3
+ size 3787096
dataset/desktop_supplies/electronic_accessories/b9175ce4461b5e7ea8426c2863c359e7/mouse_032.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>YES</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>YES</PartSegChecker>