Add asset bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022
Browse files- .gitattributes +2 -1
- dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/affordance/affordance_annot.json +446 -0
- dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/alarm_clock_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -5921,4 +5921,5 @@ dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/affo
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| 5921 |
dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5922 |
dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5923 |
dataset/bedroom_supplies/small_electronics/8a3b6d37ae4d5018ac94f2adf66f3171/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5924 |
-
dataset/bedroom_supplies/small_electronics/
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| 5921 |
dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5922 |
dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5923 |
dataset/bedroom_supplies/small_electronics/8a3b6d37ae4d5018ac94f2adf66f3171/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5924 |
+
dataset/bedroom_supplies/small_electronics/8f4d6f59c0975583a670702dd9f521ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5925 |
+
dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,446 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clock housing",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rounded clock housing from the sides to pick up or reposition the clock",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing while stabilizing the clock during adjustment or placement",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"enclose the clock mechanism",
|
| 19 |
+
"protect the dial assembly",
|
| 20 |
+
"provide the main body structure",
|
| 21 |
+
"support the front dial"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded circular housing made of dark brown wood with visible grain and a smooth satin finish, forming the main body above the base.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9421846270561218,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.022832251619547606,
|
| 30 |
+
-0.03196764556923881,
|
| 31 |
+
0.1576102760154754
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.07147668475789529,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.08024566286759738,
|
| 37 |
+
0.9939995975375834,
|
| 38 |
+
0.0204087535651468
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_22": {
|
| 43 |
+
"confidence": 0.9335694909095764,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
+
-0.1275394000695087,
|
| 47 |
+
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|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5078169994912151,
|
| 51 |
+
"xyz": [
|
| 52 |
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-0.846888051103942,
|
| 53 |
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0.035746917753300744,
|
| 54 |
+
-0.15370322636901487
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_23": {
|
| 59 |
+
"confidence": 0.9332979321479797,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.01699798321351409,
|
| 62 |
+
-0.1361395456478931,
|
| 63 |
+
0.07779440400190651
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.07216952544356742,
|
| 67 |
+
"xyz": [
|
| 68 |
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0.013683238494532114,
|
| 69 |
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0.8522379715575424,
|
| 70 |
+
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|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_24": {
|
| 75 |
+
"confidence": 0.9286187887191772,
|
| 76 |
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"position": [
|
| 77 |
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-0.026827163528651,
|
| 78 |
+
0.08713061729213223,
|
| 79 |
+
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|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.104218037237949,
|
| 83 |
+
"xyz": [
|
| 84 |
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-0.02221262617675478,
|
| 85 |
+
0.9580499650671128,
|
| 86 |
+
-0.2660553784224356
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_25": {
|
| 91 |
+
"confidence": 0.9233947992324829,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.013979227747768164,
|
| 94 |
+
-0.11161470046499744,
|
| 95 |
+
0.11487471428699791
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.049544618727081616,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.006358748823400685,
|
| 101 |
+
0.9341051839034994,
|
| 102 |
+
0.35348607111624375
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_27": {
|
| 107 |
+
"confidence": 0.9138564467430115,
|
| 108 |
+
"position": [
|
| 109 |
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-0.026102626230567694,
|
| 110 |
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-0.019065307511482388,
|
| 111 |
+
0.1620796408969909
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.10339923477208915,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.05230518179134165,
|
| 117 |
+
0.9930970654326066,
|
| 118 |
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0.018192988634810194
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_28": {
|
| 123 |
+
"confidence": 0.9135115742683411,
|
| 124 |
+
"position": [
|
| 125 |
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-0.04549902258440852,
|
| 126 |
+
-0.12184390804031864,
|
| 127 |
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0.07701462623663247
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
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"w": 0.4789841776989382,
|
| 131 |
+
"xyz": [
|
| 132 |
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-0.8570353085068166,
|
| 133 |
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0.07143731379693341,
|
| 134 |
+
-0.17595836917912155
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_29": {
|
| 139 |
+
"confidence": 0.9131672978401184,
|
| 140 |
+
"position": [
|
| 141 |
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-0.0014496417716145515,
|
| 142 |
+
0.1348645351245068,
|
| 143 |
+
0.02495138836093247
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
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"w": 0.5571148926383238,
|
| 147 |
+
"xyz": [
|
| 148 |
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0.8293165656198266,
|
| 149 |
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-0.011554898596417007,
|
| 150 |
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0.041515234644061844
|
| 151 |
+
]
|
| 152 |
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}
|
| 153 |
+
},
|
| 154 |
+
"grasp_31": {
|
| 155 |
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"confidence": 0.9076510071754456,
|
| 156 |
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"position": [
|
| 157 |
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-0.030918146949261427,
|
| 158 |
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-0.1099595986888744,
|
| 159 |
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0.1073589336592704
|
| 160 |
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],
|
| 161 |
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],
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"frame the clock face",
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],
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"semantic_description": "Thin pale pinkish-white ring with a smooth slightly reflective finish surrounding the dial at the front rim.",
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},
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{
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"indicate time",
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"provide hour minute and second references"
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],
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"semantic_description": "Three slim light yellow-green hands centered on the dial, including thicker hour and minute hands and a thinner second hand.",
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},
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],
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},
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{
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"stabilize the base",
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"reduce slipping",
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],
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"semantic_description": "Small round pad on the underside near the rear-left corner of the base, with a compact low-profile circular shape.",
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},
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{
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"part_name": "bottom plug",
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"cover an opening or fastener",
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"finish the underside surface",
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"protect an internal attachment point"
|
| 436 |
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],
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"semantic_description": "Small round light wood or tan plug-like insert on the underside of the base near one edge, flush with the surface.",
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| 438 |
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}
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],
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"quality_check": {
|
| 443 |
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"success": false,
|
| 444 |
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"message": "Several semantic descriptions use wrong colors/materials; underside parts misidentified or incomplete versus masks."
|
| 445 |
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}
|
| 446 |
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}
|
dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f9fec4a48aa875ec9490f9d0a924e73c60d46ff0f22560883ce5594436a37a25
|
| 3 |
+
size 3783412
|
dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/alarm_clock_012.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>
|