Add asset bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/affordance/affordance_annot.json +599 -0
- dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/flashlight_023.urdf +1 -0
.gitattributes
CHANGED
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@@ -5938,3 +5938,4 @@ dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/affo
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| 5938 |
dataset/bedroom_supplies/small_electronics/dcae01195ce651659426d641183dfcb0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5939 |
dataset/bedroom_supplies/small_electronics/dc9c8b200e3c5bdbb13fa0a46a49ac3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5940 |
dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5938 |
dataset/bedroom_supplies/small_electronics/dcae01195ce651659426d641183dfcb0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5939 |
dataset/bedroom_supplies/small_electronics/dc9c8b200e3c5bdbb13fa0a46a49ac3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5940 |
dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5941 |
+
dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,599 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "flashlight body",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and carry the flashlight",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to aim the light beam during use",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the flashlight body while pressing the side switch",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house internal components",
|
| 24 |
+
"support aiming",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"mount pocket clip"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long white pen-like plastic body with a mostly matte smooth surface, slight ribbing near one end, and an integrated metal pocket clip running along one side; it makes up most of the flashlight.",
|
| 29 |
+
"id": 5,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9861912727355957,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.002691558445803821,
|
| 35 |
+
0.05407274165190756,
|
| 36 |
+
0.08271739957854152
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.1918985989482764,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.6704922593556495,
|
| 42 |
+
-0.6772996909179015,
|
| 43 |
+
0.23426520558623148
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9851168394088745,
|
| 49 |
+
"position": [
|
| 50 |
+
0.037289084400981665,
|
| 51 |
+
0.03600344085134566,
|
| 52 |
+
0.08366581378504634
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.28085235607495523,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.6427899893367548,
|
| 58 |
+
-0.7127010898971282,
|
| 59 |
+
-0.000374372871663255
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9842793345451355,
|
| 65 |
+
"position": [
|
| 66 |
+
0.020567284431308508,
|
| 67 |
+
-0.03318361914716661,
|
| 68 |
+
0.09431005595251918
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.11806465731268886,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.6815288862392725,
|
| 74 |
+
-0.7116516839515724,
|
| 75 |
+
-0.12300810804164528
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9837064743041992,
|
| 81 |
+
"position": [
|
| 82 |
+
0.020272921305149794,
|
| 83 |
+
-0.0020089398603886366,
|
| 84 |
+
0.09987741289660335
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.04621392186605357,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.7103359830418237,
|
| 90 |
+
0.6993334082105569,
|
| 91 |
+
0.06496036316378923
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
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| 508 |
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-0.0062449120450764894,
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],
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| 511 |
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| 520 |
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| 521 |
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"confidence": 0.8819774389266968,
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"position": [
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],
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| 533 |
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| 534 |
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}
|
| 535 |
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},
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| 536 |
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"grasp_37": {
|
| 537 |
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"confidence": 0.8713663220405579,
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| 538 |
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| 551 |
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},
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| 552 |
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"grasp_38": {
|
| 553 |
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|
| 554 |
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"position": [
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| 555 |
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|
| 556 |
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|
| 558 |
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],
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| 559 |
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"orientation": {
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]
|
| 566 |
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}
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| 567 |
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}
|
| 568 |
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}
|
| 569 |
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},
|
| 570 |
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{
|
| 571 |
+
"part_name": "side switch",
|
| 572 |
+
"mask_color": "Green",
|
| 573 |
+
"graspable": false,
|
| 574 |
+
"grasp_scenarios": [
|
| 575 |
+
{
|
| 576 |
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"scenario": "press the side switch with a fingertip or tool to turn the flashlight on or off",
|
| 577 |
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"confidence": 0.96
|
| 578 |
+
},
|
| 579 |
+
{
|
| 580 |
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"scenario": "press and hold the side switch to change lighting mode if supported",
|
| 581 |
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"confidence": 0.62
|
| 582 |
+
}
|
| 583 |
+
],
|
| 584 |
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"functional_labels": [
|
| 585 |
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"turn the flashlight on and off",
|
| 586 |
+
"control illumination",
|
| 587 |
+
"provide user input",
|
| 588 |
+
"indicate control location"
|
| 589 |
+
],
|
| 590 |
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"semantic_description": "Small olive-green rectangular side button set into the white body, appearing slightly matte and positioned near the head for thumb or fingertip access.",
|
| 591 |
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"id": 1,
|
| 592 |
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"grasp_group": {}
|
| 593 |
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}
|
| 594 |
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],
|
| 595 |
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"quality_check": {
|
| 596 |
+
"success": true,
|
| 597 |
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"message": "YES"
|
| 598 |
+
}
|
| 599 |
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}
|
dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c2ae648a2a9e312fa0356e8cfe5decff2c387ef8755a4507c9a244dc91c3c385
|
| 3 |
+
size 3780452
|
dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/flashlight_023.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|