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Add asset bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf

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  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/affordance/affordance_annot.json +673 -0
  3. dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/flashlight_024.urdf +1 -0
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dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/affordance/affordance_annot.json ADDED
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+ "semantic_description": "Rounded blue rear end cap, likely plastic, with a smooth hard slightly matte finish and compact circular form at the back of the flashlight.",
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+ "id": 5,
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+ "grasp_group": {
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+ "grasp_62": {
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+ "confidence": 0.9500517249107361,
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+ "position": [
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+ ],
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+ "xyz": [
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+ 0.011136843514192862,
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+ ]
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+ }
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+ },
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+ "grasp_64": {
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+ "position": [
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+ -0.07954586658161134,
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+ 0.022672457853332162
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+ ],
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+ ]
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+ }
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+ },
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+ "grasp_66": {
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+ "confidence": 0.7936097979545593,
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+ "orientation": {
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+ }
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+ },
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+ "grasp_71": {
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+ ],
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+ "orientation": {
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+ }
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "lens and reflector",
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+ "mask_color": "Pink",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
583
+ "emit light",
584
+ "focus beam",
585
+ "protect internal LED"
586
+ ],
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+ "semantic_description": "Front-facing clear cover and reflective silver cone inside the head, smooth and glossy with a circular recessed shape that forms the flashlight's light-emitting end.",
588
+ "id": 8,
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+ "grasp_group": {}
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+ },
591
+ {
592
+ "part_name": "power button",
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+ "mask_color": "Cyan",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "switch on and off",
598
+ "control flashlight operation",
599
+ "indicate control location"
600
+ ],
601
+ "semantic_description": "Small round gray side button set into the body near the head, likely rubber or plastic, with a slightly matte surface and shallow protruding circular shape.",
602
+ "id": 6,
603
+ "grasp_group": {}
604
+ },
605
+ {
606
+ "part_name": "top clip",
607
+ "mask_color": "Blue",
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+ "graspable": false,
609
+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "clip to pocket or strap",
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+ "provide attachment point",
613
+ "help retain flashlight during carrying"
614
+ ],
615
+ "semantic_description": "Small rectangular gray clip mounted on top near the head, with a hard matte finish and compact block-like shape attached above the main side button.",
616
+ "id": 2,
617
+ "grasp_group": {}
618
+ },
619
+ {
620
+ "part_name": "lanyard ring",
621
+ "mask_color": "Red",
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+ "graspable": true,
623
+ "grasp_scenarios": [
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+ {
625
+ "scenario": "hook or delicately pinch the ring to hang or retrieve the flashlight",
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+ "confidence": 0.34
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+ },
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+ {
629
+ "scenario": "pull the flashlight slightly using the rear ring",
630
+ "confidence": 0.29
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+ }
632
+ ],
633
+ "functional_labels": [
634
+ "attach lanyard",
635
+ "hang the flashlight",
636
+ "provide retrieval loop"
637
+ ],
638
+ "semantic_description": "Thin black ring attached at the rear, likely metal or hard plastic, with a smooth hard finish and small circular loop shape protruding from the tail.",
639
+ "id": 0,
640
+ "grasp_group": {}
641
+ },
642
+ {
643
+ "part_name": "tail spacer ring",
644
+ "mask_color": "Lavender",
645
+ "graspable": false,
646
+ "grasp_scenarios": [],
647
+ "functional_labels": [
648
+ "separate tail components",
649
+ "provide seal or fit transition",
650
+ "finish the tail joint"
651
+ ],
652
+ "semantic_description": "Narrow light-colored band between the rear cap and body, likely plastic or rubber, with a smooth finish and thin ring shape encircling the tail joint.",
653
+ "id": null
654
+ },
655
+ {
656
+ "part_name": "brand text marking",
657
+ "mask_color": "Yellow",
658
+ "graspable": false,
659
+ "grasp_scenarios": [],
660
+ "functional_labels": [
661
+ "display branding",
662
+ "provide product marking"
663
+ ],
664
+ "semantic_description": "Small white printed brand text on the side of the blue body, appearing as compact lettering on the outer surface.",
665
+ "id": 3,
666
+ "grasp_group": {}
667
+ }
668
+ ],
669
+ "quality_check": {
670
+ "success": false,
671
+ "message": "Several part identities and descriptions mismatch masks: orange includes head/body, blue is clip not top clip, purple tail cap excludes rear ring, button color wrong."
672
+ }
673
+ }
dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/affordance/mesh_part_seg.glb ADDED
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+ size 3785348
dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/flashlight_024.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
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  </visual_seg>
 
60
  </affordance>
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  <quality>
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  <PartSegChecker>YES</PartSegChecker>
 
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  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
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+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
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  </affordance>
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  <quality>
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  <PartSegChecker>YES</PartSegChecker>