Add asset livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb
Browse files- .gitattributes +1 -1
- dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/affordance/affordance_annot.json +670 -0
- dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/affordance/mesh_part_seg.glb +3 -0
- dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/candle_holder_037.urdf +4 -3
.gitattributes
CHANGED
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@@ -7743,4 +7743,4 @@ dataset/livingroom_supplies/ornaments/a7235f3257bb504487f4b901a96d2444/affordanc
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| 7743 |
dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7744 |
dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7745 |
dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7746 |
-
dataset/livingroom_supplies/ornaments/
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| 7743 |
dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7744 |
dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7745 |
dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7746 |
+
dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,670 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wick",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"provide ignition point",
|
| 10 |
+
"support flame",
|
| 11 |
+
"enable candle burning"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Small short off-white wick protruding from the center of the candle top, with a fibrous matte appearance.",
|
| 14 |
+
"id": 1,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "candle",
|
| 19 |
+
"mask_color": "Pink",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the small candle top lightly to steady the object during careful repositioning",
|
| 24 |
+
"confidence": 0.33
|
| 25 |
+
}
|
| 26 |
+
],
|
| 27 |
+
"functional_labels": [
|
| 28 |
+
"hold burnable wax",
|
| 29 |
+
"provide illumination when lit",
|
| 30 |
+
"fit into the holder top"
|
| 31 |
+
],
|
| 32 |
+
"semantic_description": "Short cylindrical pale cream candle seated at the top opening, with a smooth matte wax surface and simple unmarked shape.",
|
| 33 |
+
"id": 8,
|
| 34 |
+
"grasp_group": {
|
| 35 |
+
"grasp_0": {
|
| 36 |
+
"confidence": 0.9520261287689209,
|
| 37 |
+
"position": [
|
| 38 |
+
-0.044381529558449984,
|
| 39 |
+
-0.013047430315054953,
|
| 40 |
+
0.16529821790754795
|
| 41 |
+
],
|
| 42 |
+
"orientation": {
|
| 43 |
+
"w": 0.1669190662084476,
|
| 44 |
+
"xyz": [
|
| 45 |
+
0.5998844203666927,
|
| 46 |
+
0.7553008798291557,
|
| 47 |
+
0.20444385162366782
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"grasp_1": {
|
| 52 |
+
"confidence": 0.9496318697929382,
|
| 53 |
+
"position": [
|
| 54 |
+
-0.08530997158959508,
|
| 55 |
+
-0.018096667365171015,
|
| 56 |
+
0.12936093099415302
|
| 57 |
+
],
|
| 58 |
+
"orientation": {
|
| 59 |
+
"w": 0.3101806543849137,
|
| 60 |
+
"xyz": [
|
| 61 |
+
0.5503206223636132,
|
| 62 |
+
0.6786158740525039,
|
| 63 |
+
0.374720789029149
|
| 64 |
+
]
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"semantic_description": "Flat circular underside base at the bottom, light beige to cream in color with a smooth matte finish, forming the contact surface beneath the paper-covered body.",
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"success": true,
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"message": "YES"
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}
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| 670 |
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}
|
dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5c09e15696a4f2d1d4e982018814bcdee8db74803dc910e420ebf8a7aec9ccb8
|
| 3 |
+
size 3817344
|
dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/candle_holder_037.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
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| 57 |
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<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
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<part_count>4</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|