Add asset bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8
Browse files- .gitattributes +1 -1
- dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/affordance/affordance_annot.json +459 -0
- dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.urdf +1 -0
.gitattributes
CHANGED
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@@ -5935,4 +5935,4 @@ dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/affo
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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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| 5936 |
dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5937 |
dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5938 |
-
dataset/bedroom_supplies/small_electronics/
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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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| 5936 |
dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5937 |
dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5938 |
+
dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,459 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clock body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main housing from the sides to pick up the alarm clock",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing to reposition the clock on a table",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the clock body while pressing the top button",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main enclosure",
|
| 23 |
+
"support internal mechanism",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"protect components",
|
| 26 |
+
"support freestanding placement"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large dark navy to black plastic housing with a matte to satin finish, hard smooth texture, rounded rectangular wedge shape, and ribbed side grooves forming the main outer shell around the clock.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9646972417831421,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.006484865327365696,
|
| 35 |
+
0.11518507450819016,
|
| 36 |
+
0.08591384085593745
|
| 37 |
+
],
|
| 38 |
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"orientation": {
|
| 39 |
+
"w": 0.5157825840327929,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.8561498649665455,
|
| 42 |
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-0.007870730579241925,
|
| 43 |
+
0.030228898861359203
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9578824639320374,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.007454916019923985,
|
| 51 |
+
0.11039810627698898,
|
| 52 |
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|
| 53 |
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],
|
| 54 |
+
"orientation": {
|
| 55 |
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"w": 0.5332056369414688,
|
| 56 |
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"xyz": [
|
| 57 |
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0.8452040560019536,
|
| 58 |
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0.018299954780144345,
|
| 59 |
+
0.031415984891987506
|
| 60 |
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]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.9557231068611145,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.007166841183789074,
|
| 67 |
+
0.11160452663898468,
|
| 68 |
+
0.0871932918089442
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5127614126821329,
|
| 72 |
+
"xyz": [
|
| 73 |
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|
| 74 |
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-0.010106690139928487,
|
| 75 |
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|
| 76 |
+
]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_23": {
|
| 80 |
+
"confidence": 0.9476838111877441,
|
| 81 |
+
"position": [
|
| 82 |
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|
| 83 |
+
0.10671715438365936,
|
| 84 |
+
0.08520832302747294
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5123697988297391,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.8578190256425368,
|
| 90 |
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-0.029433358527827025,
|
| 91 |
+
0.027520644953088445
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_24": {
|
| 96 |
+
"confidence": 0.9440367817878723,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.037561975535936654,
|
| 99 |
+
0.11436912417411804,
|
| 100 |
+
0.0763338694232516
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.09679072964794024,
|
| 104 |
+
"xyz": [
|
| 105 |
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-0.1863080380036182,
|
| 106 |
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0.8426364739082114,
|
| 107 |
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-0.4958675654537186
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_25": {
|
| 112 |
+
"confidence": 0.940869927406311,
|
| 113 |
+
"position": [
|
| 114 |
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-0.02656337257940322,
|
| 115 |
+
0.12035883963108063,
|
| 116 |
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0.0344281533616595
|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.07852278095624382,
|
| 120 |
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"xyz": [
|
| 121 |
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-0.10551657426400729,
|
| 122 |
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0.8534330935553615,
|
| 123 |
+
-0.5043336001606592
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_27": {
|
| 128 |
+
"confidence": 0.9380162358283997,
|
| 129 |
+
"position": [
|
| 130 |
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0.0009790640615392476,
|
| 131 |
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0.12122102826833725,
|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.01995152460254572,
|
| 136 |
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"xyz": [
|
| 137 |
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0.0028005896674254934,
|
| 138 |
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|
| 139 |
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-0.6866619245082913
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_28": {
|
| 144 |
+
"confidence": 0.9339361786842346,
|
| 145 |
+
"position": [
|
| 146 |
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-0.032940179225988686,
|
| 147 |
+
-0.09687285125255585,
|
| 148 |
+
0.09625779482303187
|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.11875618825682435,
|
| 152 |
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"xyz": [
|
| 153 |
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0.09968617719193192,
|
| 154 |
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0.8830786439613226,
|
| 155 |
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|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_29": {
|
| 160 |
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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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"elevate the body slightly"
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],
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"semantic_description": "Two short rounded rectangular dark rubbery feet at the bottom front, matte and slightly soft-looking, protruding as small supports for stable tabletop contact.",
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{
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| 393 |
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],
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| 398 |
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"id": null
|
| 399 |
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},
|
| 400 |
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{
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"part_name": "hour hand",
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|
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|
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"indicate hours",
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],
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},
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{
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"part_name": "second hand",
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|
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"graspable": false,
|
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|
| 418 |
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"functional_labels": [
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"indicate seconds",
|
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"provide continuous time movement"
|
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],
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},
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{
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|
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|
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|
| 431 |
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"connect clock hands",
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"cover center axle",
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"support hand rotation"
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],
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},
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{
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"part_name": "dial markings",
|
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|
| 444 |
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"mark time positions",
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"improve readability",
|
| 448 |
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"label hour locations"
|
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],
|
| 450 |
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"semantic_description": "Pale yellow-green numerals and tick marks printed around the front dial, flat and high-contrast, arranged near the perimeter for reading the time.",
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| 451 |
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"id": 9,
|
| 452 |
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],
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| 455 |
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"quality_check": {
|
| 456 |
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"success": true,
|
| 457 |
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"message": "YES"
|
| 458 |
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}
|
| 459 |
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}
|
dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33696c50e71d2cfb571c536d1989c82bdc854991a3af1d69b43474d58c427485
|
| 3 |
+
size 3801984
|
dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|