Add asset bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb
Browse files- .gitattributes +2 -1
- dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/affordance_annot.json +443 -0
- dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/flashlight_040.urdf +1 -0
.gitattributes
CHANGED
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@@ -5931,4 +5931,5 @@ dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/affo
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| 5931 |
dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5932 |
dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5933 |
dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5934 |
-
dataset/bedroom_supplies/small_electronics/
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| 5931 |
dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5932 |
dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5933 |
dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5934 |
+
dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5935 |
+
dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,443 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "flashlight body",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up and carry the flashlight",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the flashlight while pressing the switch",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to orient the beam direction",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"house batteries and internal electronics",
|
| 24 |
+
"support handling",
|
| 25 |
+
"enable aiming and carrying"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long yellow plastic body with a mostly matte hard surface, slight molded grip texture and shallow contours, forming the central handle and rear section of the flashlight with small white printed markings.",
|
| 28 |
+
"id": 6,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9801390171051025,
|
| 32 |
+
"position": [
|
| 33 |
+
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|
| 34 |
+
0.08643435323028825,
|
| 35 |
+
0.04415737692033872
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3782024040243755,
|
| 39 |
+
"xyz": [
|
| 40 |
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|
| 41 |
+
-0.5875702899765568,
|
| 42 |
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|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9790782332420349,
|
| 48 |
+
"position": [
|
| 49 |
+
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|
| 50 |
+
-0.044725604268023744,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.17928503726572637,
|
| 55 |
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"xyz": [
|
| 56 |
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-0.6773120860443101,
|
| 57 |
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-0.6976565281806216,
|
| 58 |
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-0.1496014110825624
|
| 59 |
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]
|
| 60 |
+
}
|
| 61 |
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},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9790464639663696,
|
| 64 |
+
"position": [
|
| 65 |
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|
| 66 |
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-0.0677093154808972,
|
| 67 |
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-0.07106767367804423
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.6544406615374583,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_4": {
|
| 79 |
+
"confidence": 0.9789656400680542,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.236109653908927,
|
| 87 |
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"xyz": [
|
| 88 |
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-0.6711267853825679,
|
| 89 |
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-0.6823845490465451,
|
| 90 |
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-0.16790591560636225
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_8": {
|
| 95 |
+
"confidence": 0.9782724380493164,
|
| 96 |
+
"position": [
|
| 97 |
+
0.025317203253507614,
|
| 98 |
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-0.07449957347125746,
|
| 99 |
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-0.06493294012034312
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6554022082703689,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.28374885465924055,
|
| 105 |
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-0.27836589632777164,
|
| 106 |
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|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
+
"grasp_9": {
|
| 111 |
+
"confidence": 0.977601945400238,
|
| 112 |
+
"position": [
|
| 113 |
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0.013547779992222786,
|
| 114 |
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0.08889536195783876,
|
| 115 |
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0.036496626620646566
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.40405922491161606,
|
| 119 |
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"xyz": [
|
| 120 |
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0.5657553759202626,
|
| 121 |
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0.5984422405569879,
|
| 122 |
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-0.39815057716682717
|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
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"grasp_10": {
|
| 127 |
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"confidence": 0.9775886535644531,
|
| 128 |
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"position": [
|
| 129 |
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0.03143255040049553,
|
| 130 |
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0.02460436345427297,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.07948405922694661,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_11": {
|
| 143 |
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"confidence": 0.9775116443634033,
|
| 144 |
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"position": [
|
| 145 |
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0.023724395781755447,
|
| 146 |
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0.09215393298654817,
|
| 147 |
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0.03734721470391378
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.40475683469833096,
|
| 151 |
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"xyz": [
|
| 152 |
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0.584382022729998,
|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_12": {
|
| 159 |
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"confidence": 0.9775009155273438,
|
| 160 |
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"position": [
|
| 161 |
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0.017725683748722076,
|
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dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3801336
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dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/flashlight_040.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
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|
| 60 |
</affordance>
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| 61 |
<quality>
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<PartSegChecker>YES</PartSegChecker>
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| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
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| 59 |
</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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| 63 |
<PartSegChecker>YES</PartSegChecker>
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