Add asset desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/affordance_annot.json +605 -0
- dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8136,4 +8136,4 @@ dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0
|
|
| 8136 |
dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8137 |
dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8138 |
dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8139 |
-
dataset/desktop_supplies/electronic_accessories/
|
|
|
|
| 8136 |
dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8137 |
dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8138 |
dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8139 |
+
dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,605 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "charger body",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the charger",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while inserting or removing the charger from a wall outlet",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the charger body while aligning a cable with the ports",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"house internal electronics",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support plug insertion and removal",
|
| 25 |
+
"protect internal components"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large black plastic housing with a matte smooth hard surface, rounded rectangular block shape, occupying most of the charger and showing printed brand and wattage text on the sides.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_41": {
|
| 31 |
+
"confidence": 0.9849539995193481,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.05488346196943894,
|
| 34 |
+
0.09881325997412205,
|
| 35 |
+
0.010444866526086116
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5813803006190971,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.36438678855383794,
|
| 41 |
+
0.651229374014222,
|
| 42 |
+
-0.32422140089838886
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_46": {
|
| 47 |
+
"confidence": 0.9836376905441284,
|
| 48 |
+
"position": [
|
| 49 |
+
0.002428162086289376,
|
| 50 |
+
0.11392810381948948,
|
| 51 |
+
0.014861723440844798
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.46301169137488163,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5380481746876413,
|
| 57 |
+
0.5292492072896947,
|
| 58 |
+
-0.46477910016339913
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_47": {
|
| 63 |
+
"confidence": 0.98356032371521,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.053281277942005545,
|
| 66 |
+
0.10130956210196018,
|
| 67 |
+
0.01432170535917976
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.3107720693155855,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.62745066050233,
|
| 73 |
+
-0.40828276482754666,
|
| 74 |
+
0.5856889733581069
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_48": {
|
| 79 |
+
"confidence": 0.9835435152053833,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.05887182109290734,
|
| 82 |
+
0.09578114934265614,
|
| 83 |
+
0.008628212879557395
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5850881329761602,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.3703440425375561,
|
| 89 |
+
0.6459990656383128,
|
| 90 |
+
-0.321251263035398
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_50": {
|
| 95 |
+
"confidence": 0.9826687574386597,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.0019830582314170897,
|
| 98 |
+
0.10919536836445332,
|
| 99 |
+
0.014543733592290664
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.4675900125211948,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5104101149391971,
|
| 105 |
+
-0.5461513033137892,
|
| 106 |
+
0.47176249177614177
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_54": {
|
| 111 |
+
"confidence": 0.9817419648170471,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.005609076528344303,
|
| 114 |
+
0.10987396724522114,
|
| 115 |
+
0.008090978521067882
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4958960991449958,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.5561881282359193,
|
| 121 |
+
0.4873602629719248,
|
| 122 |
+
-0.4552162111987417
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_56": {
|
| 127 |
+
"confidence": 0.981391191482544,
|
| 128 |
+
"position": [
|
| 129 |
+
0.04812837712233886,
|
| 130 |
+
0.10368191637098789,
|
| 131 |
+
0.01013759713168838
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.35786074037448296,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.6217278028978664,
|
| 137 |
+
0.39919314417923357,
|
| 138 |
+
-0.5709948014147906
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_57": {
|
| 143 |
+
"confidence": 0.9811567068099976,
|
| 144 |
+
"position": [
|
| 145 |
+
0.0017497022054158151,
|
| 146 |
+
0.1109642181545496,
|
| 147 |
+
0.01207619163687923
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.4807021478240992,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.5255512598044244,
|
| 153 |
+
0.5211048787643716,
|
| 154 |
+
-0.4702882347276503
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"part_name": "front port panel",
|
| 162 |
+
"mask_color": "Pink",
|
| 163 |
+
"graspable": false,
|
| 164 |
+
"grasp_scenarios": [],
|
| 165 |
+
"functional_labels": [
|
| 166 |
+
"mount charging ports",
|
| 167 |
+
"provide cable connection face",
|
| 168 |
+
"indicate port locations",
|
| 169 |
+
"protect port openings"
|
| 170 |
+
],
|
| 171 |
+
"semantic_description": "Small black front face panel with a slightly recessed smooth hard finish at one end of the charger, carrying the visible USB port openings and tiny printed labels.",
|
| 172 |
+
"id": 8,
|
| 173 |
+
"grasp_group": {}
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"part_name": "USB-C port",
|
| 177 |
+
"mask_color": "Cyan",
|
| 178 |
+
"graspable": false,
|
| 179 |
+
"grasp_scenarios": [],
|
| 180 |
+
"functional_labels": [
|
| 181 |
+
"accept USB-C cable",
|
| 182 |
+
"provide power output",
|
| 183 |
+
"enable charging connection",
|
| 184 |
+
"define cable insertion point"
|
| 185 |
+
],
|
| 186 |
+
"semantic_description": "Small oval charging port opening on the front panel with a dark interior and smooth hard plastic edges, positioned beside the USB-A port.",
|
| 187 |
+
"id": 6,
|
| 188 |
+
"grasp_group": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"part_name": "USB-A port",
|
| 192 |
+
"mask_color": "Magenta",
|
| 193 |
+
"graspable": false,
|
| 194 |
+
"grasp_scenarios": [],
|
| 195 |
+
"functional_labels": [
|
| 196 |
+
"accept USB-A cable",
|
| 197 |
+
"provide power output",
|
| 198 |
+
"enable device charging",
|
| 199 |
+
"define cable insertion point"
|
| 200 |
+
],
|
| 201 |
+
"semantic_description": "Small rectangular port opening with an orange interior set on the front panel, appearing as a hard smooth plastic-lined connector socket for cable insertion.",
|
| 202 |
+
"id": 7,
|
| 203 |
+
"grasp_group": {}
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"part_name": "AC prong base",
|
| 207 |
+
"mask_color": "Orange",
|
| 208 |
+
"graspable": true,
|
| 209 |
+
"grasp_scenarios": [
|
| 210 |
+
{
|
| 211 |
+
"scenario": "grasp the plug base to orient the charger before outlet insertion",
|
| 212 |
+
"confidence": 0.52
|
| 213 |
+
},
|
| 214 |
+
{
|
| 215 |
+
"scenario": "pinch the plug base to assist removal when body access is constrained",
|
| 216 |
+
"confidence": 0.38
|
| 217 |
+
}
|
| 218 |
+
],
|
| 219 |
+
"functional_labels": [
|
| 220 |
+
"support metal prongs",
|
| 221 |
+
"space prongs from housing",
|
| 222 |
+
"transfer insertion force",
|
| 223 |
+
"join plug assembly to body"
|
| 224 |
+
],
|
| 225 |
+
"semantic_description": "Compact black plastic block at the rear of the charger with a matte hard smooth finish, attached between the main body and the two wall prongs.",
|
| 226 |
+
"id": 4,
|
| 227 |
+
"grasp_group": {
|
| 228 |
+
"grasp_29": {
|
| 229 |
+
"confidence": 0.9191035032272339,
|
| 230 |
+
"position": [
|
| 231 |
+
-0.00036753551103174686,
|
| 232 |
+
-0.07449760846793652,
|
| 233 |
+
0.0773933744385431
|
| 234 |
+
],
|
| 235 |
+
"orientation": {
|
| 236 |
+
"w": 0.018892314011465544,
|
| 237 |
+
"xyz": [
|
| 238 |
+
0.02003294369397033,
|
| 239 |
+
0.9581926158109828,
|
| 240 |
+
0.28479584379613515
|
| 241 |
+
]
|
| 242 |
+
}
|
| 243 |
+
},
|
| 244 |
+
"grasp_38": {
|
| 245 |
+
"confidence": 0.9588531255722046,
|
| 246 |
+
"position": [
|
| 247 |
+
0.002066598681267351,
|
| 248 |
+
-0.01603830885142088,
|
| 249 |
+
-0.099053197507601
|
| 250 |
+
],
|
| 251 |
+
"orientation": {
|
| 252 |
+
"w": 0.9995007415814869,
|
| 253 |
+
"xyz": [
|
| 254 |
+
0.024982051615499764,
|
| 255 |
+
-0.00125565261552818,
|
| 256 |
+
-0.019302538994814523
|
| 257 |
+
]
|
| 258 |
+
}
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"part_name": "left AC prong",
|
| 264 |
+
"mask_color": "Red",
|
| 265 |
+
"graspable": false,
|
| 266 |
+
"grasp_scenarios": [],
|
| 267 |
+
"functional_labels": [
|
| 268 |
+
"connect to wall outlet",
|
| 269 |
+
"conduct electrical power",
|
| 270 |
+
"position charger in socket"
|
| 271 |
+
],
|
| 272 |
+
"semantic_description": "Thin flat silver metal blade with a smooth reflective hard finish and a rounded tip hole, protruding from the plug base as one of the two outlet prongs.",
|
| 273 |
+
"id": 0,
|
| 274 |
+
"grasp_group": {}
|
| 275 |
+
},
|
| 276 |
+
{
|
| 277 |
+
"part_name": "right AC prong",
|
| 278 |
+
"mask_color": "Green",
|
| 279 |
+
"graspable": false,
|
| 280 |
+
"grasp_scenarios": [],
|
| 281 |
+
"functional_labels": [
|
| 282 |
+
"connect to wall outlet",
|
| 283 |
+
"conduct electrical power",
|
| 284 |
+
"position charger in socket"
|
| 285 |
+
],
|
| 286 |
+
"semantic_description": "Thin flat silver metal blade with a smooth reflective hard finish and a rounded tip hole, protruding parallel to the other prong from the plug base.",
|
| 287 |
+
"id": 1,
|
| 288 |
+
"grasp_group": {}
|
| 289 |
+
},
|
| 290 |
+
{
|
| 291 |
+
"part_name": "side accent panel",
|
| 292 |
+
"mask_color": "Yellow",
|
| 293 |
+
"graspable": false,
|
| 294 |
+
"grasp_scenarios": [],
|
| 295 |
+
"functional_labels": [
|
| 296 |
+
"cover side section",
|
| 297 |
+
"provide visual accent",
|
| 298 |
+
"protect side surface"
|
| 299 |
+
],
|
| 300 |
+
"semantic_description": "Rectangular orange side insert panel on one side of the charger body, with a slightly textured or ribbed hard finish, contrasting with the black housing.",
|
| 301 |
+
"id": 3,
|
| 302 |
+
"grasp_group": {}
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"part_name": "top face of charger body near prongs",
|
| 306 |
+
"mask_color": "Blue",
|
| 307 |
+
"graspable": true,
|
| 308 |
+
"grasp_scenarios": [
|
| 309 |
+
{
|
| 310 |
+
"scenario": "press a gripper on this broad face together with the opposite side to hold the charger body",
|
| 311 |
+
"confidence": 0.7
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"scenario": "use this face to stabilize the charger against a fixture during cable insertion",
|
| 315 |
+
"confidence": 0.56
|
| 316 |
+
}
|
| 317 |
+
],
|
| 318 |
+
"functional_labels": [
|
| 319 |
+
"provide support surface",
|
| 320 |
+
"form outer enclosure",
|
| 321 |
+
"aid stable handling"
|
| 322 |
+
],
|
| 323 |
+
"semantic_description": "Broad black outer face of the charger body near the AC prong assembly, with a matte smooth hard plastic finish, gently rounded corners, and a flat rectangular area on the main housing.",
|
| 324 |
+
"id": 2,
|
| 325 |
+
"grasp_group": {
|
| 326 |
+
"grasp_0": {
|
| 327 |
+
"confidence": 0.9789980053901672,
|
| 328 |
+
"position": [
|
| 329 |
+
-0.009372955712024122,
|
| 330 |
+
-0.10613015852868557,
|
| 331 |
+
0.054504389907378936
|
| 332 |
+
],
|
| 333 |
+
"orientation": {
|
| 334 |
+
"w": 0.5036791485562893,
|
| 335 |
+
"xyz": [
|
| 336 |
+
-0.8627215249120965,
|
| 337 |
+
-0.009798396901392725,
|
| 338 |
+
-0.04385062349751777
|
| 339 |
+
]
|
| 340 |
+
}
|
| 341 |
+
},
|
| 342 |
+
"grasp_1": {
|
| 343 |
+
"confidence": 0.9713841080665588,
|
| 344 |
+
"position": [
|
| 345 |
+
0.00014962040586397052,
|
| 346 |
+
-0.10869773291051388,
|
| 347 |
+
0.05491464122678735
|
| 348 |
+
],
|
| 349 |
+
"orientation": {
|
| 350 |
+
"w": 0.5014273614585596,
|
| 351 |
+
"xyz": [
|
| 352 |
+
-0.865014917366132,
|
| 353 |
+
-0.01454814989303399,
|
| 354 |
+
-0.010399290815289355
|
| 355 |
+
]
|
| 356 |
+
}
|
| 357 |
+
},
|
| 358 |
+
"grasp_2": {
|
| 359 |
+
"confidence": 0.9711179137229919,
|
| 360 |
+
"position": [
|
| 361 |
+
0.0028326475876383483,
|
| 362 |
+
-0.11376029066741467,
|
| 363 |
+
-0.040626597558002686
|
| 364 |
+
],
|
| 365 |
+
"orientation": {
|
| 366 |
+
"w": 0.02005473934196203,
|
| 367 |
+
"xyz": [
|
| 368 |
+
-0.0025906505575866872,
|
| 369 |
+
-0.5220280943982003,
|
| 370 |
+
-0.8526885507725538
|
| 371 |
+
]
|
| 372 |
+
}
|
| 373 |
+
},
|
| 374 |
+
"grasp_3": {
|
| 375 |
+
"confidence": 0.9691886901855469,
|
| 376 |
+
"position": [
|
| 377 |
+
0.0006053449469618499,
|
| 378 |
+
-0.10831144265830517,
|
| 379 |
+
0.05508367627408006
|
| 380 |
+
],
|
| 381 |
+
"orientation": {
|
| 382 |
+
"w": 0.5062370109707943,
|
| 383 |
+
"xyz": [
|
| 384 |
+
-0.8619651593938885,
|
| 385 |
+
-0.02237364373414008,
|
| 386 |
+
-0.015478138792550906
|
| 387 |
+
]
|
| 388 |
+
}
|
| 389 |
+
},
|
| 390 |
+
"grasp_4": {
|
| 391 |
+
"confidence": 0.9641531705856323,
|
| 392 |
+
"position": [
|
| 393 |
+
0.004363226180430502,
|
| 394 |
+
-0.08143722079694271,
|
| 395 |
+
0.08566298245932558
|
| 396 |
+
],
|
| 397 |
+
"orientation": {
|
| 398 |
+
"w": 0.31366511768952354,
|
| 399 |
+
"xyz": [
|
| 400 |
+
-0.9492964028710528,
|
| 401 |
+
0.013980088644131194,
|
| 402 |
+
0.01597155478967049
|
| 403 |
+
]
|
| 404 |
+
}
|
| 405 |
+
},
|
| 406 |
+
"grasp_5": {
|
| 407 |
+
"confidence": 0.9611099362373352,
|
| 408 |
+
"position": [
|
| 409 |
+
0.01803848095005378,
|
| 410 |
+
-0.07403997890651226,
|
| 411 |
+
0.0858193924977968
|
| 412 |
+
],
|
| 413 |
+
"orientation": {
|
| 414 |
+
"w": 0.2877954647685962,
|
| 415 |
+
"xyz": [
|
| 416 |
+
-0.9538954424426548,
|
| 417 |
+
-0.0393264457184731,
|
| 418 |
+
0.0755690810643598
|
| 419 |
+
]
|
| 420 |
+
}
|
| 421 |
+
},
|
| 422 |
+
"grasp_6": {
|
| 423 |
+
"confidence": 0.9604626893997192,
|
| 424 |
+
"position": [
|
| 425 |
+
0.004285058414097875,
|
| 426 |
+
-0.12367255799472332,
|
| 427 |
+
-0.0024006843705137726
|
| 428 |
+
],
|
| 429 |
+
"orientation": {
|
| 430 |
+
"w": 0.7432481953062827,
|
| 431 |
+
"xyz": [
|
| 432 |
+
-0.6687017298891016,
|
| 433 |
+
-0.020492604562354244,
|
| 434 |
+
-0.00041203825993375143
|
| 435 |
+
]
|
| 436 |
+
}
|
| 437 |
+
},
|
| 438 |
+
"grasp_7": {
|
| 439 |
+
"confidence": 0.9598404169082642,
|
| 440 |
+
"position": [
|
| 441 |
+
-0.0033989321091212332,
|
| 442 |
+
-0.12122181616723537,
|
| 443 |
+
-0.005171323162358021
|
| 444 |
+
],
|
| 445 |
+
"orientation": {
|
| 446 |
+
"w": 0.030605025072602016,
|
| 447 |
+
"xyz": [
|
| 448 |
+
0.0011983370373288605,
|
| 449 |
+
0.6709790186216081,
|
| 450 |
+
0.7408434740201433
|
| 451 |
+
]
|
| 452 |
+
}
|
| 453 |
+
},
|
| 454 |
+
"grasp_8": {
|
| 455 |
+
"confidence": 0.9489565491676331,
|
| 456 |
+
"position": [
|
| 457 |
+
0.0010608870652504265,
|
| 458 |
+
-0.12057596258819103,
|
| 459 |
+
0.0008956102283264045
|
| 460 |
+
],
|
| 461 |
+
"orientation": {
|
| 462 |
+
"w": 0.7397577748149211,
|
| 463 |
+
"xyz": [
|
| 464 |
+
-0.6719366838425969,
|
| 465 |
+
-0.028344873070222376,
|
| 466 |
+
-0.02135639665589233
|
| 467 |
+
]
|
| 468 |
+
}
|
| 469 |
+
},
|
| 470 |
+
"grasp_9": {
|
| 471 |
+
"confidence": 0.9271533489227295,
|
| 472 |
+
"position": [
|
| 473 |
+
0.028375775960739702,
|
| 474 |
+
-0.07248961739242077,
|
| 475 |
+
0.08542852013852098
|
| 476 |
+
],
|
| 477 |
+
"orientation": {
|
| 478 |
+
"w": 0.27363170942082915,
|
| 479 |
+
"xyz": [
|
| 480 |
+
-0.9524461412421575,
|
| 481 |
+
-0.07508243708453649,
|
| 482 |
+
0.11106152922504622
|
| 483 |
+
]
|
| 484 |
+
}
|
| 485 |
+
},
|
| 486 |
+
"grasp_10": {
|
| 487 |
+
"confidence": 0.9197555184364319,
|
| 488 |
+
"position": [
|
| 489 |
+
0.003115709114354104,
|
| 490 |
+
-0.1174918320029974,
|
| 491 |
+
-0.005375779201131081
|
| 492 |
+
],
|
| 493 |
+
"orientation": {
|
| 494 |
+
"w": 0.7486944957959878,
|
| 495 |
+
"xyz": [
|
| 496 |
+
-0.6626748517038604,
|
| 497 |
+
-0.016860493537323995,
|
| 498 |
+
-0.0058580407762626845
|
| 499 |
+
]
|
| 500 |
+
}
|
| 501 |
+
},
|
| 502 |
+
"grasp_11": {
|
| 503 |
+
"confidence": 0.9146090149879456,
|
| 504 |
+
"position": [
|
| 505 |
+
0.024581441131886095,
|
| 506 |
+
-0.06705223955214024,
|
| 507 |
+
0.09225626945044496
|
| 508 |
+
],
|
| 509 |
+
"orientation": {
|
| 510 |
+
"w": 0.23487195445213588,
|
| 511 |
+
"xyz": [
|
| 512 |
+
-0.9626323748216107,
|
| 513 |
+
-0.07579843038089717,
|
| 514 |
+
0.11148396256382474
|
| 515 |
+
]
|
| 516 |
+
}
|
| 517 |
+
},
|
| 518 |
+
"grasp_12": {
|
| 519 |
+
"confidence": 0.8922048211097717,
|
| 520 |
+
"position": [
|
| 521 |
+
0.0019424515194259584,
|
| 522 |
+
-0.11670077405869961,
|
| 523 |
+
-0.005994849339913344
|
| 524 |
+
],
|
| 525 |
+
"orientation": {
|
| 526 |
+
"w": 0.7519965403880614,
|
| 527 |
+
"xyz": [
|
| 528 |
+
-0.6590650651131849,
|
| 529 |
+
-0.00864287362966587,
|
| 530 |
+
-0.007729419587688909
|
| 531 |
+
]
|
| 532 |
+
}
|
| 533 |
+
},
|
| 534 |
+
"grasp_13": {
|
| 535 |
+
"confidence": 0.8914962410926819,
|
| 536 |
+
"position": [
|
| 537 |
+
-0.007886776758823544,
|
| 538 |
+
-0.10578327439725399,
|
| 539 |
+
-0.04601017475579283
|
| 540 |
+
],
|
| 541 |
+
"orientation": {
|
| 542 |
+
"w": 0.8785523813993498,
|
| 543 |
+
"xyz": [
|
| 544 |
+
-0.4761219803620575,
|
| 545 |
+
0.031283204652217345,
|
| 546 |
+
-0.021792981905439626
|
| 547 |
+
]
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"grasp_17": {
|
| 551 |
+
"confidence": 0.9709290862083435,
|
| 552 |
+
"position": [
|
| 553 |
+
0.008933407661970705,
|
| 554 |
+
-0.07433119975030422,
|
| 555 |
+
0.08479677050854662
|
| 556 |
+
],
|
| 557 |
+
"orientation": {
|
| 558 |
+
"w": 0.292745452311822,
|
| 559 |
+
"xyz": [
|
| 560 |
+
-0.9555402454541919,
|
| 561 |
+
-0.0166378877722978,
|
| 562 |
+
0.031082473494976073
|
| 563 |
+
]
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
"grasp_18": {
|
| 567 |
+
"confidence": 0.9703933596611023,
|
| 568 |
+
"position": [
|
| 569 |
+
-0.0026202332810498774,
|
| 570 |
+
-0.10687265358865261,
|
| 571 |
+
0.04908388018156984
|
| 572 |
+
],
|
| 573 |
+
"orientation": {
|
| 574 |
+
"w": 0.5158745130052792,
|
| 575 |
+
"xyz": [
|
| 576 |
+
-0.8563272489168139,
|
| 577 |
+
-0.01343118627459583,
|
| 578 |
+
-0.01991815326239805
|
| 579 |
+
]
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"grasp_19": {
|
| 583 |
+
"confidence": 0.9690127968788147,
|
| 584 |
+
"position": [
|
| 585 |
+
0.0006415860843844712,
|
| 586 |
+
-0.10686557553708553,
|
| 587 |
+
0.05331329911496141
|
| 588 |
+
],
|
| 589 |
+
"orientation": {
|
| 590 |
+
"w": 0.5017007084373453,
|
| 591 |
+
"xyz": [
|
| 592 |
+
-0.8629858867515815,
|
| 593 |
+
-0.04996681912428702,
|
| 594 |
+
-0.032481924321896644
|
| 595 |
+
]
|
| 596 |
+
}
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
],
|
| 601 |
+
"quality_check": {
|
| 602 |
+
"success": false,
|
| 603 |
+
"message": "Several mask-color/part mappings are wrong: ports and side panel mislabeled, and a body face was split as a separate part."
|
| 604 |
+
}
|
| 605 |
+
}
|
dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:15c05bfe7cf4dc6ea4ed7cb5ddec1b44e20a3f3d61022202398a5d5f29b8439d
|
| 3 |
+
size 3783248
|
dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.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>
|