xinjjj commited on
Commit
e7ec432
·
verified ·
1 Parent(s): 5e81b3a

Add asset desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a

Browse files
.gitattributes CHANGED
@@ -8136,3 +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
 
 
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/db0fd39f15f557cba6f7b0110943b15a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,320 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "front housing",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the remote body from the sides/front-back faces to pick it up",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the front body to stabilize the remote while pressing buttons",
14
+ "confidence": 0.8
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "enclose internal electronics",
20
+ "support control interface",
21
+ "provide structural body"
22
+ ],
23
+ "semantic_description": "Large elongated dark gray to black plastic front shell with a smooth matte finish, rounded corners, TCL logo, and the main face surrounding the controls.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_1": {
27
+ "confidence": 0.6221270561218262,
28
+ "position": [
29
+ 0.009476411942159757,
30
+ 0.12142875092104077,
31
+ 0.09355302408221178
32
+ ],
33
+ "orientation": {
34
+ "w": 0.260570161670912,
35
+ "xyz": [
36
+ 0.964223156268674,
37
+ 0.030368292893643456,
38
+ -0.03814003865751668
39
+ ]
40
+ }
41
+ },
42
+ "grasp_2": {
43
+ "confidence": 0.4946647584438324,
44
+ "position": [
45
+ 0.00038201166898943484,
46
+ 0.15457689063623548,
47
+ 0.05943501248839311
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5024229395811373,
51
+ "xyz": [
52
+ 0.8616737983573695,
53
+ -0.053266624486592806,
54
+ 0.047456524554974296
55
+ ]
56
+ }
57
+ },
58
+ "grasp_3": {
59
+ "confidence": 0.4517471194267273,
60
+ "position": [
61
+ 0.006465514510637149,
62
+ 0.1597720612771809,
63
+ 0.05628626674297266
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5091152549531884,
67
+ "xyz": [
68
+ 0.8606522886018861,
69
+ -0.00559274771635232,
70
+ -0.006929391839611954
71
+ ]
72
+ }
73
+ },
74
+ "grasp_5": {
75
+ "confidence": 0.45652535557746887,
76
+ "position": [
77
+ -0.0002595140540506691,
78
+ 0.15559909539297223,
79
+ 0.05830623090150766
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5102431317059203,
83
+ "xyz": [
84
+ 0.8599032781858712,
85
+ -0.00035502627732464376,
86
+ 0.014770669195046292
87
+ ]
88
+ }
89
+ },
90
+ "grasp_6": {
91
+ "confidence": 0.39368879795074463,
92
+ "position": [
93
+ 0.002609485381981358,
94
+ 0.056779124308377504,
95
+ -0.08587836220976897
96
+ ],
97
+ "orientation": {
98
+ "w": 0.11940978212082828,
99
+ "xyz": [
100
+ 0.011038753561487437,
101
+ -0.0464477624825792,
102
+ -0.9916965539992697
103
+ ]
104
+ }
105
+ }
106
+ }
107
+ },
108
+ {
109
+ "part_name": "navigation ring",
110
+ "mask_color": "Cyan",
111
+ "graspable": false,
112
+ "grasp_scenarios": [],
113
+ "functional_labels": [
114
+ "press directional commands",
115
+ "central navigation control",
116
+ "provide tactile target area"
117
+ ],
118
+ "semantic_description": "Large circular light gray to white plastic control ring near the upper middle, with a smooth hard surface and a recessed dark center button area.",
119
+ "id": 6,
120
+ "grasp_group": {}
121
+ },
122
+ {
123
+ "part_name": "button cluster",
124
+ "mask_color": "Magenta",
125
+ "graspable": false,
126
+ "grasp_scenarios": [],
127
+ "functional_labels": [
128
+ "press commands",
129
+ "trigger media and menu functions",
130
+ "provide discrete input controls"
131
+ ],
132
+ "semantic_description": "Several small round black buttons with a slightly matte finish, raised on the front face around the navigation ring.",
133
+ "id": 7,
134
+ "grasp_group": {}
135
+ },
136
+ {
137
+ "part_name": "back housing",
138
+ "mask_color": "Brown",
139
+ "graspable": true,
140
+ "grasp_scenarios": [
141
+ {
142
+ "scenario": "grasp the remote body around the back shell to lift or reposition it",
143
+ "confidence": 0.97
144
+ },
145
+ {
146
+ "scenario": "hold the back side against the palm or fingers while actuating front buttons",
147
+ "confidence": 0.74
148
+ }
149
+ ],
150
+ "functional_labels": [
151
+ "main grasp surface",
152
+ "cover rear side",
153
+ "protect internal components",
154
+ "provide structural support"
155
+ ],
156
+ "semantic_description": "Large elongated dark gray to black plastic rear shell with a smooth matte finish, gently curved profile, and rounded ends covering the backside of the remote.",
157
+ "id": 11,
158
+ "grasp_group": {
159
+ "grasp_7": {
160
+ "confidence": 0.5473533868789673,
161
+ "position": [
162
+ -0.0059253360668662935,
163
+ 0.17347077326849103,
164
+ -0.010429591202409938
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7255613023969484,
168
+ "xyz": [
169
+ 0.6861891897822585,
170
+ -0.018094086614526605,
171
+ 0.04876265291796138
172
+ ]
173
+ }
174
+ },
175
+ "grasp_8": {
176
+ "confidence": 0.5085969567298889,
177
+ "position": [
178
+ 0.004014346370240673,
179
+ 0.17223145859315991,
180
+ 0.004983464459655806
181
+ ],
182
+ "orientation": {
183
+ "w": 0.04919159381445704,
184
+ "xyz": [
185
+ 0.03729246976597796,
186
+ 0.7301557380453026,
187
+ -0.6804866324890343
188
+ ]
189
+ }
190
+ },
191
+ "grasp_9": {
192
+ "confidence": 0.4753721058368683,
193
+ "position": [
194
+ -0.0013293993251863867,
195
+ 0.16995317535474896,
196
+ 0.0007270318164955825
197
+ ],
198
+ "orientation": {
199
+ "w": 0.06294314584202922,
200
+ "xyz": [
201
+ 0.02076617036314933,
202
+ 0.7087262308001879,
203
+ -0.7023631940354759
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.43875280022621155,
209
+ "position": [
210
+ 0.006505144148832187,
211
+ 0.1680868943221867,
212
+ 0.0030028312176000327
213
+ ],
214
+ "orientation": {
215
+ "w": 0.038157687886459006,
216
+ "xyz": [
217
+ 0.027128930268925912,
218
+ 0.7163837715857208,
219
+ -0.6961338260753035
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.39980053901672363,
225
+ "position": [
226
+ 0.01245093610486947,
227
+ 0.18243629531934857,
228
+ -0.006236536690266803
229
+ ],
230
+ "orientation": {
231
+ "w": 0.006885399096325196,
232
+ "xyz": [
233
+ 0.02123181641938091,
234
+ 0.6966899261170861,
235
+ -0.7170250679702818
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.37858226895332336,
241
+ "position": [
242
+ 0.004880616295849904,
243
+ 0.16626886324957013,
244
+ -0.059066997171612456
245
+ ],
246
+ "orientation": {
247
+ "w": 0.8916830208641878,
248
+ "xyz": [
249
+ 0.4526411557663262,
250
+ 0.001476307563701873,
251
+ 0.0038980668308597733
252
+ ]
253
+ }
254
+ },
255
+ "grasp_22": {
256
+ "confidence": 0.3938862979412079,
257
+ "position": [
258
+ 0.000252299418207258,
259
+ 0.15023914771154523,
260
+ 0.04975062489393167
261
+ ],
262
+ "orientation": {
263
+ "w": 0.04219108721195129,
264
+ "xyz": [
265
+ 0.014266016675888862,
266
+ 0.8750890017858282,
267
+ -0.4819083231088247
268
+ ]
269
+ }
270
+ },
271
+ "grasp_25": {
272
+ "confidence": 0.3196684420108795,
273
+ "position": [
274
+ 0.004873358033364639,
275
+ -0.17090827925130725,
276
+ 0.05067051082733087
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4884431071417848,
280
+ "xyz": [
281
+ -0.8715009761067255,
282
+ -0.038688740797806265,
283
+ -0.020311599301483137
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "small front LED indicator",
291
+ "mask_color": "Navy",
292
+ "graspable": false,
293
+ "grasp_scenarios": [],
294
+ "functional_labels": [
295
+ "indicate operating status",
296
+ "provide visual feedback"
297
+ ],
298
+ "semantic_description": "Tiny red indicator light on the front face near the lower end of the remote, appearing as a very small dot-like element.",
299
+ "id": 13,
300
+ "grasp_group": {}
301
+ },
302
+ {
303
+ "part_name": "top power button",
304
+ "mask_color": "Gray",
305
+ "graspable": false,
306
+ "grasp_scenarios": [],
307
+ "functional_labels": [
308
+ "power control",
309
+ "turn the remote or connected device on or off"
310
+ ],
311
+ "semantic_description": "Very small dark round button near the top edge on the front face, slightly raised and positioned at the signal end of the remote.",
312
+ "id": 15,
313
+ "grasp_group": {}
314
+ }
315
+ ],
316
+ "quality_check": {
317
+ "success": false,
318
+ "message": "Power button color and LED location are incorrect; button cluster description also mismatches visible colors."
319
+ }
320
+ }
dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3f601f7b845a824c0cac624f86494b862c673301005e17f8eb5a5f252d9db8e
3
+ size 3829468
dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a/tv_remote_035.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>