Add asset bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/affordance_annot.json +636 -0
- dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -5933,3 +5933,4 @@ dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/affo
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| 5933 |
dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5934 |
dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5935 |
dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5933 |
dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5934 |
dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5935 |
dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5936 |
+
dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,636 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "flashlight body tube",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up and carry the flashlight",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body tube to aim the flashlight beam",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the flashlight by clamping the mid-body during manipulation",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"house batteries",
|
| 24 |
+
"support the flashlight structure",
|
| 25 |
+
"enable aiming and carrying"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark gray cylindrical body tube made of hard metal or plastic with a matte smooth finish, slight grip grooves near the ends, and a medium-sized central position behind the head.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9908497333526611,
|
| 32 |
+
"position": [
|
| 33 |
+
0.10511709097772837,
|
| 34 |
+
-0.06990624964237213,
|
| 35 |
+
-0.0014270745450630784
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.015392128154802922,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.698791129676008,
|
| 41 |
+
-0.0201095796932369,
|
| 42 |
+
0.7148773631061179
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9904870390892029,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10578256193548441,
|
| 50 |
+
-0.06766947731375694,
|
| 51 |
+
-0.001314861816354096
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.006196057742420979,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7077521962834283,
|
| 57 |
+
-0.02487774691834066,
|
| 58 |
+
0.7059954215380596
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9902486205101013,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09107982460409403,
|
| 66 |
+
-0.053703296929597855,
|
| 67 |
+
-0.04565942252520472
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.003390499355440569,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.5219812510370536,
|
| 73 |
+
-0.021755305478621922,
|
| 74 |
+
0.8526727301628951
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9895691275596619,
|
| 80 |
+
"position": [
|
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dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:c782314028b2c1f43b7384a329d9f72207ccecf295c4ce8f867762e9e24a5c1e
|
| 3 |
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size 3782828
|
dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
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