Add asset bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/affordance/affordance_annot.json +402 -0
- dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/de74d8bac02d56bc87561153781dd436.urdf +1 -0
.gitattributes
CHANGED
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@@ -5890,3 +5890,4 @@ dataset/bedroom_supplies/lighting_fixtures/7c90c8a94a9a5811be2c1eecd9afa7b3/affo
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| 5890 |
dataset/bedroom_supplies/lighting_fixtures/8cd95dbecb515a27babac094c0136b3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5891 |
dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5892 |
dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5890 |
dataset/bedroom_supplies/lighting_fixtures/8cd95dbecb515a27babac094c0136b3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5891 |
dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5892 |
dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5893 |
+
dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,402 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lampshade",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lampshade sides to lift and reposition the lamp carefully",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lampshade to stabilize the lamp during adjustment or transport",
|
| 14 |
+
"confidence": 0.52
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"diffuse light",
|
| 19 |
+
"cover the bulb",
|
| 20 |
+
"reduce glare",
|
| 21 |
+
"direct illumination downward",
|
| 22 |
+
"provide partial protection for internal bulb"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Large tapered off-white shade with a matte fabric-like surface and smooth texture, positioned at the top and covering the bulb, with a wide lower opening and plain unmarked exterior.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {}
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"part_name": "base of lamp",
|
| 30 |
+
"mask_color": "Green",
|
| 31 |
+
"graspable": true,
|
| 32 |
+
"grasp_scenarios": [
|
| 33 |
+
{
|
| 34 |
+
"scenario": "grasp the base to pick up and carry the lamp securely",
|
| 35 |
+
"confidence": 0.91
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"scenario": "hold the base to stabilize the lamp while placing it on a surface",
|
| 39 |
+
"confidence": 0.89
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"functional_labels": [
|
| 43 |
+
"support the lamp",
|
| 44 |
+
"stabilize on a table",
|
| 45 |
+
"provide a resting surface",
|
| 46 |
+
"anchor the vertical structure"
|
| 47 |
+
],
|
| 48 |
+
"semantic_description": "Small round dark brown base, likely wood, with a glossy smooth hard finish, squat cylindrical shape, and bottom placement providing stable support.",
|
| 49 |
+
"id": 1,
|
| 50 |
+
"grasp_group": {}
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"part_name": "stem of lamp",
|
| 54 |
+
"mask_color": "Blue",
|
| 55 |
+
"graspable": true,
|
| 56 |
+
"grasp_scenarios": [
|
| 57 |
+
{
|
| 58 |
+
"scenario": "grasp the stem to lift the lamp when the base is obstructed",
|
| 59 |
+
"confidence": 0.73
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"scenario": "hold the stem to reposition or rotate the lamp",
|
| 63 |
+
"confidence": 0.76
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"functional_labels": [
|
| 67 |
+
"connect shade to base",
|
| 68 |
+
"support the upper assembly",
|
| 69 |
+
"provide a central structure",
|
| 70 |
+
"maintain vertical alignment"
|
| 71 |
+
],
|
| 72 |
+
"semantic_description": "Thin straight black rod, likely metal, with a smooth slightly glossy hard finish, centered between shade and base as the narrow vertical support.",
|
| 73 |
+
"id": 2,
|
| 74 |
+
"grasp_group": {
|
| 75 |
+
"grasp_40": {
|
| 76 |
+
"confidence": 0.9694026112556458,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.00883196375798434,
|
| 79 |
+
-0.09484081773553044,
|
| 80 |
+
-0.013150766491889954
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.0949859078195309,
|
| 84 |
+
"xyz": [
|
| 85 |
+
0.04225242222586991,
|
| 86 |
+
0.8078839299181279,
|
| 87 |
+
0.5800999619994716
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_41": {
|
| 92 |
+
"confidence": 0.9621239900588989,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.012909134733490646,
|
| 95 |
+
-0.10369551985058933,
|
| 96 |
+
-0.0408945307135582
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.11063063391530345,
|
| 100 |
+
"xyz": [
|
| 101 |
+
0.06338490659306663,
|
| 102 |
+
0.6754615735481607,
|
| 103 |
+
0.7262884269458857
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_42": {
|
| 108 |
+
"confidence": 0.9609017372131348,
|
| 109 |
+
"position": [
|
| 110 |
+
0.037778914091177285,
|
| 111 |
+
-0.09095508663449436,
|
| 112 |
+
-0.04996481537818909
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.1651724292637469,
|
| 116 |
+
"xyz": [
|
| 117 |
+
0.10201464810618176,
|
| 118 |
+
-0.6798768347277949,
|
| 119 |
+
-0.7071623362307976
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_43": {
|
| 124 |
+
"confidence": 0.9600747227668762,
|
| 125 |
+
"position": [
|
| 126 |
+
0.03231422614771873,
|
| 127 |
+
-0.09351663349661976,
|
| 128 |
+
-0.022199302911758423
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.677220699971254,
|
| 132 |
+
"xyz": [
|
| 133 |
+
-0.7181690995122504,
|
| 134 |
+
-0.13346448901164298,
|
| 135 |
+
0.08827512791873497
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_44": {
|
| 140 |
+
"confidence": 0.9580562114715576,
|
| 141 |
+
"position": [
|
| 142 |
+
0.05881244328338653,
|
| 143 |
+
-0.08535539417061955,
|
| 144 |
+
-0.05232056975364685
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.25103555220561885,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.16946630155023984,
|
| 150 |
+
-0.6736797819450332,
|
| 151 |
+
-0.6741052407200203
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_45": {
|
| 156 |
+
"confidence": 0.9579774141311646,
|
| 157 |
+
"position": [
|
| 158 |
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0.057588432100601494,
|
| 159 |
+
-0.0801740592578426,
|
| 160 |
+
-0.04926587641239166
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.2220482793908148,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.19742234614509438,
|
| 166 |
+
-0.7343244378182103,
|
| 167 |
+
-0.6103168020668565
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_46": {
|
| 172 |
+
"confidence": 0.9558882117271423,
|
| 173 |
+
"position": [
|
| 174 |
+
0.040709667024202645,
|
| 175 |
+
0.08389954210724682,
|
| 176 |
+
-0.043176211416721344
|
| 177 |
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],
|
| 178 |
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"orientation": {
|
| 179 |
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"w": 0.16792978231159222,
|
| 180 |
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"xyz": [
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
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dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 2005596
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dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/de74d8bac02d56bc87561153781dd436.urdf
CHANGED
|
@@ -52,6 +52,7 @@
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|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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