Add asset bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749
Browse files- .gitattributes +1 -1
- dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/affordance_annot.json +669 -0
- dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.urdf +1 -0
.gitattributes
CHANGED
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@@ -5895,4 +5895,4 @@ dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/affo
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| 5895 |
dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5896 |
dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5897 |
dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5898 |
-
dataset/bedroom_supplies/small_electronics/
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| 5895 |
dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5896 |
dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5897 |
dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5898 |
+
dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,669 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "flashlight body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and carry the flashlight",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to aim the light during use",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the flashlight by the body while manipulating the rear ring area",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house internal components",
|
| 24 |
+
"support aiming",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long slim cylindrical flashlight barrel in a light silver or off-white metallic finish with a smooth hard surface, slight tapering/contouring, and medium length forming most of the object.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9871429800987244,
|
| 32 |
+
"position": [
|
| 33 |
+
0.002370796908508055,
|
| 34 |
+
0.09179597178808763,
|
| 35 |
+
-0.03093450224332628
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5814312515293663,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.3912849144994378,
|
| 41 |
+
-0.426924006576369,
|
| 42 |
+
0.5714627792244589
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9869568347930908,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.012902287955512293,
|
| 50 |
+
-0.09489531239159987,
|
| 51 |
+
0.023000366181804566
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4700625236979415,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.5374419318545792,
|
| 57 |
+
-0.5733052113508894,
|
| 58 |
+
-0.40189367790132235
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_5": {
|
| 63 |
+
"confidence": 0.9863568544387817,
|
| 64 |
+
"position": [
|
| 65 |
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},
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}
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}
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},
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{
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{
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"scenario": "hook or pinch the ring to lift the lightweight flashlight",
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},
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{
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"scenario": "hold the ring to hang or retrieve the flashlight from a hook or keychain",
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}
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],
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"attach to keys or clip",
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"hang the flashlight",
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"provide retention point",
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| 379 |
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"aid retrieval"
|
| 380 |
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],
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"semantic_description": "Large circular metal split ring in a silver metallic finish with a smooth rounded cross-section, attached at the flashlight rear and noticeably larger than the tail cap diameter.",
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| 382 |
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| 383 |
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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": "bezel rim",
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"protect the lens edge",
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"define the light opening",
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| 410 |
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"finish the front end"
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| 411 |
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],
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| 412 |
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"semantic_description": "Thin metallic rim around the flashlight head opening, visible as a narrow smooth ring surrounding the front lens area.",
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| 413 |
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| 414 |
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},
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{
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"part_name": "grip band",
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| 419 |
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"graspable": true,
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| 420 |
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{
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"scenario": "grasp the textured band for a secure pick-up",
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},
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{
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"scenario": "hold the band to improve traction while twisting or reorienting the flashlight",
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}
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],
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"improve grip traction",
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"mark rear grip zone",
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"aid twisting and handling"
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],
|
| 435 |
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"semantic_description": "Narrow textured band around the rear portion of the flashlight near the tail, appearing slightly darker due to shadowing and contrasting with the smoother main barrel.",
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0.03094504879481974
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],
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dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:9fbacab184d8b96f0e4f40aae98c617b433a25a50645bf13c35adfe468303700
|
| 3 |
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size 3785564
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dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<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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| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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