Add asset desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/affordance_annot.json +427 -0
- dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/usb_drive_006.urdf +4 -3
.gitattributes
CHANGED
|
@@ -6214,3 +6214,4 @@ dataset/desktop_supplies/electronic_accessories/4d3c815af1875470badf7f44c2397ab8
|
|
| 6214 |
dataset/desktop_supplies/electronic_accessories/4d8c390213ef5b64849ccfc73a1a2d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6215 |
dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6216 |
dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6214 |
dataset/desktop_supplies/electronic_accessories/4d8c390213ef5b64849ccfc73a1a2d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6215 |
dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6216 |
dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6217 |
+
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,427 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lanyard loop",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "hook or pinch the loop to pull the USB drive from a port or pocket",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the loop to carry or reorient the USB drive",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide an attachment point",
|
| 19 |
+
"enable pulling",
|
| 20 |
+
"support carrying",
|
| 21 |
+
"aid retrieval"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small teardrop-shaped loop at the tail end, metallic gold in color, with a smooth rigid-looking surface and rounded cross-section.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_3": {
|
| 27 |
+
"confidence": 0.7485384941101074,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.10304473839642014,
|
| 30 |
+
0.02081107161939144,
|
| 31 |
+
0.030150084916385822
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.1029395172631127,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.8027039093582253,
|
| 37 |
+
-0.02390464124197711,
|
| 38 |
+
0.5869399098832454
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_17": {
|
| 43 |
+
"confidence": 0.6357731223106384,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.05530359722615685,
|
| 46 |
+
0.059504518285393715,
|
| 47 |
+
0.0680519856250612
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.2865569614595266,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.8926574183834118,
|
| 53 |
+
-0.11331933729387067,
|
| 54 |
+
0.32894766915031354
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "lanyard chain",
|
| 62 |
+
"mask_color": "Pink",
|
| 63 |
+
"graspable": true,
|
| 64 |
+
"grasp_scenarios": [
|
| 65 |
+
{
|
| 66 |
+
"scenario": "pinch the chain to drag or retrieve the USB drive",
|
| 67 |
+
"confidence": 0.43
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"scenario": "hold the chain lightly to stabilize the drive while unplugging",
|
| 71 |
+
"confidence": 0.28
|
| 72 |
+
}
|
| 73 |
+
],
|
| 74 |
+
"functional_labels": [
|
| 75 |
+
"connect loop to drive",
|
| 76 |
+
"provide flexible extension",
|
| 77 |
+
"enable dangling attachment",
|
| 78 |
+
"assist retrieval"
|
| 79 |
+
],
|
| 80 |
+
"semantic_description": "Short metallic gold chain made of small linked segments with a reflective appearance, connecting the rear hardware to the loop.",
|
| 81 |
+
"id": 8,
|
| 82 |
+
"grasp_group": {
|
| 83 |
+
"grasp_23": {
|
| 84 |
+
"confidence": 0.6561907529830933,
|
| 85 |
+
"position": [
|
| 86 |
+
-0.09151363126875367,
|
| 87 |
+
0.0599841121584177,
|
| 88 |
+
-0.0025356447586091235
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.681546134494158,
|
| 92 |
+
"xyz": [
|
| 93 |
+
0.1346428017703208,
|
| 94 |
+
0.6789366798665425,
|
| 95 |
+
-0.2375103518150425
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_32": {
|
| 100 |
+
"confidence": 0.7961419224739075,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.05884008236171212,
|
| 103 |
+
0.09069428034126759,
|
| 104 |
+
0.011151931408676319
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.3100450556119802,
|
| 108 |
+
"xyz": [
|
| 109 |
+
0.6368241489676681,
|
| 110 |
+
-0.36565785494223835,
|
| 111 |
+
0.6038388857147323
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_37": {
|
| 116 |
+
"confidence": 0.6665000915527344,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.057077975347056054,
|
| 119 |
+
0.09513402916491032,
|
| 120 |
+
0.01648926099005621
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.40434302517807935,
|
| 124 |
+
"xyz": [
|
| 125 |
+
0.692373473948719,
|
| 126 |
+
-0.2810084831522217,
|
| 127 |
+
0.5274086868439977
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"part_name": "small connector ring",
|
| 135 |
+
"mask_color": "Navy",
|
| 136 |
+
"graspable": false,
|
| 137 |
+
"grasp_scenarios": [],
|
| 138 |
+
"functional_labels": [
|
| 139 |
+
"join chain segments",
|
| 140 |
+
"connect lanyard hardware",
|
| 141 |
+
"allow slight articulation"
|
| 142 |
+
],
|
| 143 |
+
"semantic_description": "Tiny metallic gold linking ring between parts of the lanyard hardware, small and rigid with a smooth finish.",
|
| 144 |
+
"id": 13,
|
| 145 |
+
"grasp_group": {}
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"part_name": "main casing",
|
| 149 |
+
"mask_color": "Teal",
|
| 150 |
+
"graspable": true,
|
| 151 |
+
"grasp_scenarios": [
|
| 152 |
+
{
|
| 153 |
+
"scenario": "grasp the body to pick up and orient the USB drive",
|
| 154 |
+
"confidence": 0.95
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"scenario": "hold the body while inserting or removing the USB connector",
|
| 158 |
+
"confidence": 0.93
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"scenario": "stabilize the drive during manipulation",
|
| 162 |
+
"confidence": 0.8
|
| 163 |
+
}
|
| 164 |
+
],
|
| 165 |
+
"functional_labels": [
|
| 166 |
+
"house internal electronics",
|
| 167 |
+
"provide main grasp surface",
|
| 168 |
+
"protect internal components",
|
| 169 |
+
"support insertion handling"
|
| 170 |
+
],
|
| 171 |
+
"semantic_description": "Rectangular main body with rounded edges, mostly metallic gold, featuring a darker gold-brown textured central panel on the broad face and a circular emblem inset on the side.",
|
| 172 |
+
"id": 10,
|
| 173 |
+
"grasp_group": {
|
| 174 |
+
"grasp_61": {
|
| 175 |
+
"confidence": 0.9122774004936218,
|
| 176 |
+
"position": [
|
| 177 |
+
0.050351286903605796,
|
| 178 |
+
0.08179261721670628,
|
| 179 |
+
-0.01470086614426691
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.6947505034911317,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.3791822762078306,
|
| 185 |
+
-0.5295725550858799,
|
| 186 |
+
0.30511546700959064
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_62": {
|
| 191 |
+
"confidence": 0.8959251642227173,
|
| 192 |
+
"position": [
|
| 193 |
+
0.048487632200703956,
|
| 194 |
+
0.08222341723740101,
|
| 195 |
+
0.020373699415358715
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.5152796797677712,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.3213211082481029,
|
| 201 |
+
-0.705417053346754,
|
| 202 |
+
0.36554941917641887
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_63": {
|
| 207 |
+
"confidence": 0.8889225125312805,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.046606229021563195,
|
| 210 |
+
-0.088267607614398,
|
| 211 |
+
-0.005624316472676583
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.3570697239532055,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.596558369873463,
|
| 217 |
+
-0.35988601725587266,
|
| 218 |
+
-0.6221747167424948
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_66": {
|
| 223 |
+
"confidence": 0.8576446771621704,
|
| 224 |
+
"position": [
|
| 225 |
+
0.08044555284141097,
|
| 226 |
+
0.050915276631712914,
|
| 227 |
+
0.03685177785519045
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5251834264121075,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.21124532266650936,
|
| 233 |
+
-0.8053794141426818,
|
| 234 |
+
0.1758459028489178
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_75": {
|
| 239 |
+
"confidence": 0.8002254366874695,
|
| 240 |
+
"position": [
|
| 241 |
+
0.0013638826931128278,
|
| 242 |
+
-0.0985428299754858,
|
| 243 |
+
0.0440722025668947
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.519583164736278,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.8427276344037271,
|
| 249 |
+
-0.11079896327113814,
|
| 250 |
+
-0.0869888433822018
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_77": {
|
| 255 |
+
"confidence": 0.7895611524581909,
|
| 256 |
+
"position": [
|
| 257 |
+
0.07295039542077575,
|
| 258 |
+
-0.06630541570484638,
|
| 259 |
+
0.0077288431784836575
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.6169527558859972,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.24124734512061538,
|
| 265 |
+
-0.6928445255598052,
|
| 266 |
+
-0.2848429021034862
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "logo medallion",
|
| 274 |
+
"mask_color": "Gray",
|
| 275 |
+
"graspable": false,
|
| 276 |
+
"grasp_scenarios": [],
|
| 277 |
+
"functional_labels": [
|
| 278 |
+
"brand marking",
|
| 279 |
+
"provide visual identification",
|
| 280 |
+
"decorate the casing"
|
| 281 |
+
],
|
| 282 |
+
"semantic_description": "Small circular emblem on the side face of the casing, gold-toned with a slightly reflective finish and embossed logo details.",
|
| 283 |
+
"id": 15,
|
| 284 |
+
"grasp_group": {}
|
| 285 |
+
},
|
| 286 |
+
{
|
| 287 |
+
"part_name": "rear end cap",
|
| 288 |
+
"mask_color": "Lime Green",
|
| 289 |
+
"graspable": true,
|
| 290 |
+
"grasp_scenarios": [
|
| 291 |
+
{
|
| 292 |
+
"scenario": "grasp the rear cap area to help pull the USB drive out of a port",
|
| 293 |
+
"confidence": 0.65
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"scenario": "hold the rear end to orient the drive before insertion",
|
| 297 |
+
"confidence": 0.55
|
| 298 |
+
}
|
| 299 |
+
],
|
| 300 |
+
"functional_labels": [
|
| 301 |
+
"finish the housing end",
|
| 302 |
+
"support lanyard attachment",
|
| 303 |
+
"provide a pulling surface",
|
| 304 |
+
"cover the tail-side end"
|
| 305 |
+
],
|
| 306 |
+
"semantic_description": "Rounded gold end cap at the tail of the housing, smooth and slightly protruding, forming the mounting area for the lanyard hardware.",
|
| 307 |
+
"id": 9,
|
| 308 |
+
"grasp_group": {
|
| 309 |
+
"grasp_40": {
|
| 310 |
+
"confidence": 0.771141529083252,
|
| 311 |
+
"position": [
|
| 312 |
+
-0.09344921760202851,
|
| 313 |
+
0.007902106270194054,
|
| 314 |
+
0.034067734304699115
|
| 315 |
+
],
|
| 316 |
+
"orientation": {
|
| 317 |
+
"w": 0.06725733853046129,
|
| 318 |
+
"xyz": [
|
| 319 |
+
-0.8004916392266002,
|
| 320 |
+
0.09114458375197942,
|
| 321 |
+
-0.5885424800256882
|
| 322 |
+
]
|
| 323 |
+
}
|
| 324 |
+
},
|
| 325 |
+
"grasp_50": {
|
| 326 |
+
"confidence": 0.8329558372497559,
|
| 327 |
+
"position": [
|
| 328 |
+
0.0031288190657505766,
|
| 329 |
+
0.10417616553604603,
|
| 330 |
+
-0.011685799647239037
|
| 331 |
+
],
|
| 332 |
+
"orientation": {
|
| 333 |
+
"w": 0.544498108757763,
|
| 334 |
+
"xyz": [
|
| 335 |
+
0.48214080244131896,
|
| 336 |
+
0.46902417309773303,
|
| 337 |
+
-0.5010772208257409
|
| 338 |
+
]
|
| 339 |
+
}
|
| 340 |
+
},
|
| 341 |
+
"grasp_52": {
|
| 342 |
+
"confidence": 0.8266658782958984,
|
| 343 |
+
"position": [
|
| 344 |
+
0.006009787917719223,
|
| 345 |
+
0.10424582846462727,
|
| 346 |
+
0.004354378368589096
|
| 347 |
+
],
|
| 348 |
+
"orientation": {
|
| 349 |
+
"w": 0.5487521912107538,
|
| 350 |
+
"xyz": [
|
| 351 |
+
0.5642703398122799,
|
| 352 |
+
0.4421540050756081,
|
| 353 |
+
-0.4300812156385459
|
| 354 |
+
]
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
"grasp_53": {
|
| 358 |
+
"confidence": 0.8239831328392029,
|
| 359 |
+
"position": [
|
| 360 |
+
-0.020066804587258957,
|
| 361 |
+
-0.10993633978068829,
|
| 362 |
+
-0.005501606807229109
|
| 363 |
+
],
|
| 364 |
+
"orientation": {
|
| 365 |
+
"w": 0.5900266293210864,
|
| 366 |
+
"xyz": [
|
| 367 |
+
-0.4585715543094873,
|
| 368 |
+
0.52507440360918,
|
| 369 |
+
0.40728071025355767
|
| 370 |
+
]
|
| 371 |
+
}
|
| 372 |
+
},
|
| 373 |
+
"grasp_54": {
|
| 374 |
+
"confidence": 0.8075475692749023,
|
| 375 |
+
"position": [
|
| 376 |
+
0.007148402874008752,
|
| 377 |
+
0.10753622837364674,
|
| 378 |
+
-0.0031046812218846753
|
| 379 |
+
],
|
| 380 |
+
"orientation": {
|
| 381 |
+
"w": 0.49355667859520436,
|
| 382 |
+
"xyz": [
|
| 383 |
+
0.48282556739315285,
|
| 384 |
+
0.5005600557995493,
|
| 385 |
+
-0.5222268731341798
|
| 386 |
+
]
|
| 387 |
+
}
|
| 388 |
+
},
|
| 389 |
+
"grasp_59": {
|
| 390 |
+
"confidence": 0.7840472459793091,
|
| 391 |
+
"position": [
|
| 392 |
+
-0.04087622217775788,
|
| 393 |
+
-0.10183062218129635,
|
| 394 |
+
0.01570161913696211
|
| 395 |
+
],
|
| 396 |
+
"orientation": {
|
| 397 |
+
"w": 0.5379556070120763,
|
| 398 |
+
"xyz": [
|
| 399 |
+
-0.3923776346096526,
|
| 400 |
+
0.6580950034618166,
|
| 401 |
+
0.35150323350005525
|
| 402 |
+
]
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
{
|
| 408 |
+
"part_name": "usb connector",
|
| 409 |
+
"mask_color": "Green",
|
| 410 |
+
"graspable": false,
|
| 411 |
+
"grasp_scenarios": [],
|
| 412 |
+
"functional_labels": [
|
| 413 |
+
"connect to USB port",
|
| 414 |
+
"transfer data",
|
| 415 |
+
"provide electrical interface",
|
| 416 |
+
"enable power delivery"
|
| 417 |
+
],
|
| 418 |
+
"semantic_description": "Rectangular USB plug protruding from one end, metallic gold on the outside with a dark hollow opening visible at the tip.",
|
| 419 |
+
"id": 1,
|
| 420 |
+
"grasp_group": {}
|
| 421 |
+
}
|
| 422 |
+
],
|
| 423 |
+
"quality_check": {
|
| 424 |
+
"success": false,
|
| 425 |
+
"message": "Several semantic colors/materials are wrong; body says metallic gold though object is light beige/tan with brown textured insert."
|
| 426 |
+
}
|
| 427 |
+
}
|
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bfd63e63a013edfcfc7fef36e662a1421f44616bac433f613d912c62ed530bc8
|
| 3 |
+
size 3808380
|
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/usb_drive_006.urdf
CHANGED
|
@@ -45,16 +45,17 @@
|
|
| 45 |
</link>
|
| 46 |
<custom_data>
|
| 47 |
<affordance>
|
| 48 |
-
<part_count>
|
| 49 |
<visual_seg>
|
| 50 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 51 |
<geometry>
|
| 52 |
-
<mesh filename="
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
-
<PartSegChecker>NO:
|
| 58 |
</quality>
|
| 59 |
</custom_data>
|
| 60 |
</robot>
|
|
|
|
| 45 |
</link>
|
| 46 |
<custom_data>
|
| 47 |
<affordance>
|
| 48 |
+
<part_count>7</part_count>
|
| 49 |
<visual_seg>
|
| 50 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 51 |
<geometry>
|
| 52 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
+
<PartSegChecker>NO: {"summary":"Main body is split into several colors; chain/loop are over-fragmented but partly fixable by merging.","merge_groups":[{"colors":["Teal","Lime Green"],"target_part":"drive body","reason":"same outer casing surfaces, split by arbitrary boundaries"},{"colors":["Pink","Navy"],"target_part":"keychain chain","reason":"same chain links and connector"},{"colors":["Red","Pink"],"target_part":"keyring assembly","reason":"loop and attached ring act as one carry part"}]}</PartSegChecker>
|
| 59 |
</quality>
|
| 60 |
</custom_data>
|
| 61 |
</robot>
|