xinjjj commited on
Commit
3bd90b6
·
verified ·
1 Parent(s): bd20f5c

Add asset bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5

Browse files
.gitattributes CHANGED
@@ -5929,3 +5929,4 @@ dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/affo
5929
  dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5930
  dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5931
  dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5929
  dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5930
  dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5931
  dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5932
+ dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,690 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flashlight body tube",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the central body tube to pick up and carry the flashlight",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body tube to aim and reposition the flashlight",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the flashlight by the body while operating the side switch",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "houses internal components",
24
+ "supports aiming and handling",
25
+ "connects head and tail sections"
26
+ ],
27
+ "semantic_description": "Long black cylindrical body section with a slightly tapered waist, rough knurled texture for grip, matte to low-gloss finish, and a visible white printed logo on the side.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9902012944221497,
32
+ "position": [
33
+ 0.008281529881060123,
34
+ 0.05725879290548619,
35
+ 0.07826404579100199
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2100790517775666,
39
+ "xyz": [
40
+ 0.6695580028238733,
41
+ 0.6775604711329225,
42
+ -0.22016057961605293
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9897066354751587,
48
+ "position": [
49
+ 0.00469826627522707,
50
+ 0.06316687235084828,
51
+ 0.07312304832157679
52
+ ],
53
+ "orientation": {
54
+ "w": 0.24973315148484518,
55
+ "xyz": [
56
+ 0.6531219937871604,
57
+ 0.67107275350133,
58
+ -0.24642721803622897
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9896106719970703,
64
+ "position": [
65
+ 0.0160334762185812,
66
+ 0.07719533213821705,
67
+ 0.05788460306939669
68
+ ],
69
+ "orientation": {
70
+ "w": 0.26337521163849936,
71
+ "xyz": [
72
+ 0.6339847654649761,
73
+ 0.6206270101468414,
74
+ -0.3788389226688403
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9889467358589172,
80
+ "position": [
81
+ -0.0018587829545140266,
82
+ 0.05093492635933217,
83
+ 0.08517949588713236
84
+ ],
85
+ "orientation": {
86
+ "w": 0.19120769323680872,
87
+ "xyz": [
88
+ 0.6754100381010578,
89
+ 0.6858672772663766,
90
+ -0.19195566273124987
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9888812899589539,
96
+ "position": [
97
+ -0.0009470335207879543,
98
+ 0.028866816996014677,
99
+ 0.09451232411083765
100
+ ],
101
+ "orientation": {
102
+ "w": 0.08835351503174536,
103
+ "xyz": [
104
+ 0.7061356504990535,
105
+ 0.6938467409705258,
106
+ -0.11019437154589508
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9884418845176697,
112
+ "position": [
113
+ 0.008860480040311813,
114
+ 0.05832150274363812,
115
+ 0.081438835040899
116
+ ],
117
+ "orientation": {
118
+ "w": 0.22487018464435907,
119
+ "xyz": [
120
+ 0.675267588841727,
121
+ -0.6668080469922247,
122
+ 0.22093915901059027
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9879993200302124,
128
+ "position": [
129
+ 0.02051658369600773,
130
+ 0.0699233196064597,
131
+ 0.06436292387661524
132
+ ],
133
+ "orientation": {
134
+ "w": 0.20413064085089178,
135
+ "xyz": [
136
+ 0.6862910232992464,
137
+ 0.5753245824783196,
138
+ -0.3953946605618551
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9879330992698669,
144
+ "position": [
145
+ 0.0074217598885297775,
146
+ 0.06732330539671239,
147
+ 0.07301830805954523
148
+ ],
149
+ "orientation": {
150
+ "w": 0.29101323767444115,
151
+ "xyz": [
152
+ 0.6490380547440969,
153
+ -0.6627213253711899,
154
+ 0.23422498562384686
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9878998398780823,
160
+ "position": [
161
+ -0.0012917178682982922,
162
+ 0.021778824491775595,
163
+ 0.09460613437113352
164
+ ],
165
+ "orientation": {
166
+ "w": 0.10047115703269308,
167
+ "xyz": [
168
+ 0.7024998059841452,
169
+ 0.7019522686710248,
170
+ -0.06051926721591918
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9876952171325684,
176
+ "position": [
177
+ 0.014842098578810692,
178
+ -0.0011866275599459186,
179
+ 0.09853937782463618
180
+ ],
181
+ "orientation": {
182
+ "w": 0.0525259694134727,
183
+ "xyz": [
184
+ -0.7331775542608173,
185
+ -0.67749175476472,
186
+ 0.0263935350251078
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9870399832725525,
192
+ "position": [
193
+ 0.031184472143650055,
194
+ 0.03903358870593365,
195
+ 0.08441294290241785
196
+ ],
197
+ "orientation": {
198
+ "w": 0.08348661621180971,
199
+ "xyz": [
200
+ 0.7162267332989676,
201
+ 0.6396504655549049,
202
+ -0.26626402937082083
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9865164756774902,
208
+ "position": [
209
+ 0.000850452110171318,
210
+ 0.01650190980581101,
211
+ 0.10020460493979044
212
+ ],
213
+ "orientation": {
214
+ "w": 0.05793301855084276,
215
+ "xyz": [
216
+ 0.7108399978732456,
217
+ 0.6982085644672023,
218
+ -0.06208915597590529
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.9864031076431274,
224
+ "position": [
225
+ -0.007063273573294282,
226
+ 0.03322086551634129,
227
+ 0.09629903294262476
228
+ ],
229
+ "orientation": {
230
+ "w": 0.10626595676675482,
231
+ "xyz": [
232
+ 0.7083646452307331,
233
+ 0.6870990076619728,
234
+ -0.12174575758323698
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9863530397415161,
240
+ "position": [
241
+ -0.0038673406234011054,
242
+ -0.09953834048064891,
243
+ 0.009025032893987373
244
+ ],
245
+ "orientation": {
246
+ "w": 0.47630725908326244,
247
+ "xyz": [
248
+ -0.5130999382454384,
249
+ -0.5265554408570858,
250
+ -0.4822854092971473
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9859880805015564,
256
+ "position": [
257
+ 0.004310254938900471,
258
+ 0.03563662686792668,
259
+ 0.09627621181425638
260
+ ],
261
+ "orientation": {
262
+ "w": 0.14506088451276417,
263
+ "xyz": [
264
+ 0.6964476709948351,
265
+ -0.6917001379768717,
266
+ 0.12437403456116167
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.985708475112915,
272
+ "position": [
273
+ -0.005515974618901964,
274
+ -0.013695971356355585,
275
+ 0.09470393814262934
276
+ ],
277
+ "orientation": {
278
+ "w": 0.07968736888529358,
279
+ "xyz": [
280
+ -0.7101959368998205,
281
+ 0.6989359007658035,
282
+ 0.02757283213273679
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9857024550437927,
288
+ "position": [
289
+ 0.04151875898241997,
290
+ 0.07990019836870488,
291
+ 0.045233964250655845
292
+ ],
293
+ "orientation": {
294
+ "w": 0.19031192742884612,
295
+ "xyz": [
296
+ 0.6746044765197335,
297
+ 0.5138276513209475,
298
+ -0.49464261368775336
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.9851905703544617,
304
+ "position": [
305
+ 0.008525495417416096,
306
+ -0.10128989002259914,
307
+ 0.0006175897142384201
308
+ ],
309
+ "orientation": {
310
+ "w": 0.46868799666648986,
311
+ "xyz": [
312
+ -0.5374758254682953,
313
+ 0.4731260862307134,
314
+ 0.5173035910816149
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.9850554466247559,
320
+ "position": [
321
+ 0.019018106162548065,
322
+ -0.10048629275115672,
323
+ -0.013722199684707448
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5032900015643426,
327
+ "xyz": [
328
+ -0.5242414268388177,
329
+ 0.389977861099604,
330
+ 0.5654974523050859
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.985028862953186,
336
+ "position": [
337
+ -0.0027272053994238377,
338
+ -0.09303585371526424,
339
+ 0.03867213733610697
340
+ ],
341
+ "orientation": {
342
+ "w": 0.3898339994704609,
343
+ "xyz": [
344
+ -0.5881314574289328,
345
+ 0.6013497585154022,
346
+ 0.37484571435839026
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "flashlight end assemblies and side switch region",
354
+ "mask_color": "Blue",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the wider front head to orient, place, or retrieve the flashlight",
359
+ "confidence": 0.76
360
+ },
361
+ {
362
+ "scenario": "pinch the tail end to pull or slightly reposition the flashlight",
363
+ "confidence": 0.57
364
+ },
365
+ {
366
+ "scenario": "press the side switch while another gripper stabilizes the body",
367
+ "confidence": 0.72
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "front head surrounds and protects the lens/light emitter",
372
+ "rear end closes the battery compartment",
373
+ "side switch provides on-off or mode control",
374
+ "end regions provide contact surfaces for placement"
375
+ ],
376
+ "semantic_description": "Black components grouped in one mask: a wider front head around the white lens, a smaller rear tail end, and a small raised side switch near the head, all with a matte finish.",
377
+ "id": 2,
378
+ "grasp_group": {
379
+ "grasp_1": {
380
+ "confidence": 0.9700852036476135,
381
+ "position": [
382
+ -0.09911780431866646,
383
+ -0.07340061596187297,
384
+ 0.04394567690906115
385
+ ],
386
+ "orientation": {
387
+ "w": 0.195635164659024,
388
+ "xyz": [
389
+ -0.6843141931337373,
390
+ -0.48935421886755903,
391
+ -0.5039577520993992
392
+ ]
393
+ }
394
+ },
395
+ "grasp_2": {
396
+ "confidence": 0.9692665934562683,
397
+ "position": [
398
+ -0.13005543872714043,
399
+ -0.05335180765541736,
400
+ 0.021664493979187682
401
+ ],
402
+ "orientation": {
403
+ "w": 0.0774788418228498,
404
+ "xyz": [
405
+ -0.704460490016072,
406
+ -0.2856278976272554,
407
+ -0.6450962340404262
408
+ ]
409
+ }
410
+ },
411
+ "grasp_3": {
412
+ "confidence": 0.9690111875534058,
413
+ "position": [
414
+ -0.08936061337590218,
415
+ -0.08214447578939144,
416
+ 0.039123664872022346
417
+ ],
418
+ "orientation": {
419
+ "w": 0.23011724808984527,
420
+ "xyz": [
421
+ -0.6754801905597121,
422
+ -0.4658826059398895,
423
+ -0.5231882660913078
424
+ ]
425
+ }
426
+ },
427
+ "grasp_4": {
428
+ "confidence": 0.968455970287323,
429
+ "position": [
430
+ -0.03583262115716934,
431
+ -0.03552104091795627,
432
+ 0.0920834124844987
433
+ ],
434
+ "orientation": {
435
+ "w": 0.13455930166359237,
436
+ "xyz": [
437
+ -0.7041087580336626,
438
+ -0.6864671104736052,
439
+ -0.12201457877696127
440
+ ]
441
+ }
442
+ },
443
+ "grasp_5": {
444
+ "confidence": 0.9675683975219727,
445
+ "position": [
446
+ -0.05304945260286331,
447
+ 0.0737104124709731,
448
+ 0.07116985626635142
449
+ ],
450
+ "orientation": {
451
+ "w": 0.2834479100604463,
452
+ "xyz": [
453
+ 0.6519736085198338,
454
+ 0.6560899597661695,
455
+ -0.25324624532264595
456
+ ]
457
+ }
458
+ },
459
+ "grasp_6": {
460
+ "confidence": 0.9671598672866821,
461
+ "position": [
462
+ -0.05646708607673645,
463
+ 0.06764327803102788,
464
+ 0.07474634356913157
465
+ ],
466
+ "orientation": {
467
+ "w": 0.2779378215212203,
468
+ "xyz": [
469
+ 0.653555920622391,
470
+ 0.6673783943509257,
471
+ -0.22410110383716866
472
+ ]
473
+ }
474
+ },
475
+ "grasp_7": {
476
+ "confidence": 0.9664267301559448,
477
+ "position": [
478
+ -0.06638194248080254,
479
+ 0.026708355857408606,
480
+ 0.09449421919998713
481
+ ],
482
+ "orientation": {
483
+ "w": 0.16452927518930463,
484
+ "xyz": [
485
+ 0.6778156163260947,
486
+ 0.7157363779894276,
487
+ -0.03489333880175168
488
+ ]
489
+ }
490
+ },
491
+ "grasp_8": {
492
+ "confidence": 0.9657802581787109,
493
+ "position": [
494
+ -0.09805860742926598,
495
+ -0.07958244463952724,
496
+ 0.04157775201019831
497
+ ],
498
+ "orientation": {
499
+ "w": 0.19749583438858997,
500
+ "xyz": [
501
+ -0.6712051017842261,
502
+ -0.49577718464354725,
503
+ -0.514474576558356
504
+ ]
505
+ }
506
+ },
507
+ "grasp_9": {
508
+ "confidence": 0.9652405381202698,
509
+ "position": [
510
+ -0.06364018097519875,
511
+ 0.02265706354228314,
512
+ 0.09442910112557001
513
+ ],
514
+ "orientation": {
515
+ "w": 0.1366866556006345,
516
+ "xyz": [
517
+ 0.6933483729062864,
518
+ 0.7064425524897159,
519
+ -0.039034753755266584
520
+ ]
521
+ }
522
+ },
523
+ "grasp_10": {
524
+ "confidence": 0.9650490880012512,
525
+ "position": [
526
+ -0.09320234879851341,
527
+ -0.08303069254907314,
528
+ 0.03592696718988009
529
+ ],
530
+ "orientation": {
531
+ "w": 0.22544000631752473,
532
+ "xyz": [
533
+ -0.6714677997438645,
534
+ -0.4721382918638858,
535
+ -0.5247792210201742
536
+ ]
537
+ }
538
+ },
539
+ "grasp_11": {
540
+ "confidence": 0.9649129509925842,
541
+ "position": [
542
+ -0.09075216576457024,
543
+ -0.05281937799009029,
544
+ 0.0723130882543046
545
+ ],
546
+ "orientation": {
547
+ "w": 0.3836865507395523,
548
+ "xyz": [
549
+ -0.5949122362061344,
550
+ 0.7050330806703151,
551
+ 0.04233694786266823
552
+ ]
553
+ }
554
+ },
555
+ "grasp_12": {
556
+ "confidence": 0.9649067521095276,
557
+ "position": [
558
+ -0.04461828991770744,
559
+ 0.09808489748684224,
560
+ -0.02240995757165365
561
+ ],
562
+ "orientation": {
563
+ "w": 0.5583419001838893,
564
+ "xyz": [
565
+ 0.447724106127522,
566
+ -0.4250792907096834,
567
+ 0.5541705909745734
568
+ ]
569
+ }
570
+ },
571
+ "grasp_13": {
572
+ "confidence": 0.9648865461349487,
573
+ "position": [
574
+ -0.09067729488015175,
575
+ -0.008785253638052382,
576
+ 0.09070999480900355
577
+ ],
578
+ "orientation": {
579
+ "w": 0.2170064933140553,
580
+ "xyz": [
581
+ -0.6764890706968002,
582
+ 0.6863032707375814,
583
+ -0.15575153181337947
584
+ ]
585
+ }
586
+ },
587
+ "grasp_14": {
588
+ "confidence": 0.9641406536102295,
589
+ "position": [
590
+ -0.0971766896545887,
591
+ -0.07992240718158428,
592
+ 0.042530156002612785
593
+ ],
594
+ "orientation": {
595
+ "w": 0.1980088348665775,
596
+ "xyz": [
597
+ -0.674972995209542,
598
+ -0.4949930901805377,
599
+ -0.5100841084822799
600
+ ]
601
+ }
602
+ },
603
+ "grasp_15": {
604
+ "confidence": 0.963936448097229,
605
+ "position": [
606
+ -0.0388510636985302,
607
+ 0.037222173748887144,
608
+ 0.09879570759949274
609
+ ],
610
+ "orientation": {
611
+ "w": 0.11604255246279548,
612
+ "xyz": [
613
+ 0.7054652332191202,
614
+ 0.6891163952598476,
615
+ -0.11820120355176293
616
+ ]
617
+ }
618
+ },
619
+ "grasp_16": {
620
+ "confidence": 0.9638968110084534,
621
+ "position": [
622
+ -0.035462504252791405,
623
+ -0.012647054405533709,
624
+ 0.09629974074778147
625
+ ],
626
+ "orientation": {
627
+ "w": 0.05556290748326905,
628
+ "xyz": [
629
+ -0.7013517556693752,
630
+ -0.7092081634972031,
631
+ -0.04519135935568582
632
+ ]
633
+ }
634
+ },
635
+ "grasp_17": {
636
+ "confidence": 0.963803231716156,
637
+ "position": [
638
+ -0.03937174007296562,
639
+ -0.09041091731342021,
640
+ 0.04644713856396265
641
+ ],
642
+ "orientation": {
643
+ "w": 0.3642059471291875,
644
+ "xyz": [
645
+ -0.606548939839884,
646
+ -0.6046172215501271,
647
+ -0.36591040851532214
648
+ ]
649
+ }
650
+ },
651
+ "grasp_18": {
652
+ "confidence": 0.9635009169578552,
653
+ "position": [
654
+ -0.03838830068707466,
655
+ 0.09645806321350392,
656
+ -0.00714391955989413
657
+ ],
658
+ "orientation": {
659
+ "w": 0.5249864715409496,
660
+ "xyz": [
661
+ 0.47836290985995844,
662
+ -0.4667007981595843,
663
+ 0.5270184969870648
664
+ ]
665
+ }
666
+ },
667
+ "grasp_19": {
668
+ "confidence": 0.9627408981323242,
669
+ "position": [
670
+ -0.051466550678014755,
671
+ 0.06682028689829167,
672
+ 0.07763689316925593
673
+ ],
674
+ "orientation": {
675
+ "w": 0.23769563029757138,
676
+ "xyz": [
677
+ 0.651342197973933,
678
+ -0.6716891326772273,
679
+ 0.260936462609657
680
+ ]
681
+ }
682
+ }
683
+ }
684
+ }
685
+ ],
686
+ "quality_check": {
687
+ "success": false,
688
+ "message": "Blue mask merges distinct head, tail, and switch; part_name and functions are overly combined and semantically imprecise."
689
+ }
690
+ }
dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e24a5ca3548a002ab271cf1af18edf4e03c3690323efc8e08b6a8266617edff7
3
+ size 3781172
dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.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>