Add asset bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e
Browse files- .gitattributes +2 -1
- dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/affordance_annot.json +1296 -0
- dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/flashlight_038.urdf +1 -0
.gitattributes
CHANGED
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@@ -5914,4 +5914,5 @@ dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/affo
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| 5914 |
dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5915 |
dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5916 |
dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5917 |
-
dataset/bedroom_supplies/small_electronics/
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| 5914 |
dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5915 |
dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5916 |
dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5917 |
+
dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5918 |
+
dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1296 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tail cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tail cap end to pick up or reposition the flashlight",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the tail cap to stabilize the flashlight while another tool manipulates the head or body",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"close the battery compartment",
|
| 19 |
+
"provide an end grip",
|
| 20 |
+
"support tail-end handling",
|
| 21 |
+
"protect the rear end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded black rear end cap, likely metal, with a matte finish and knurled texture around the circumference at the flashlight tail.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9747100472450256,
|
| 28 |
+
"position": [
|
| 29 |
+
0.03950110822916031,
|
| 30 |
+
-0.0020642306189984083,
|
| 31 |
+
0.09756397244927939
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.035884970083841436,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6984999394825617,
|
| 37 |
+
0.7143337952324373,
|
| 38 |
+
0.02318043256200074
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9702937602996826,
|
| 44 |
+
"position": [
|
| 45 |
+
0.060722995549440384,
|
| 46 |
+
-0.0266263575758785,
|
| 47 |
+
0.09576622185704764
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.15048102317289727,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6820889201951696,
|
| 53 |
+
-0.7130410957579113,
|
| 54 |
+
-0.060684119604577966
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_5": {
|
| 59 |
+
"confidence": 0.9591062664985657,
|
| 60 |
+
"position": [
|
| 61 |
+
0.05171825364232063,
|
| 62 |
+
0.09848002367652953,
|
| 63 |
+
-0.010664674700819887
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5203634819924137,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.45970790460581623,
|
| 69 |
+
-0.48082174649621645,
|
| 70 |
+
0.5354446163217902
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_8": {
|
| 75 |
+
"confidence": 0.9582861661911011,
|
| 76 |
+
"position": [
|
| 77 |
+
0.06012691929936409,
|
| 78 |
+
-0.09840951836667955,
|
| 79 |
+
0.02091398810443934
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4875755021094185,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.5136998932862915,
|
| 85 |
+
-0.5735486763069045,
|
| 86 |
+
-0.41161203248568734
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_10": {
|
| 91 |
+
"confidence": 0.9575856328010559,
|
| 92 |
+
"position": [
|
| 93 |
+
0.04247693717479706,
|
| 94 |
+
0.005483548389747739,
|
| 95 |
+
-0.10158202263119165
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.6752526273970391,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.022709556364601292,
|
| 101 |
+
-0.0072864148795188655,
|
| 102 |
+
0.7372008365441007
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_12": {
|
| 107 |
+
"confidence": 0.9567076563835144,
|
| 108 |
+
"position": [
|
| 109 |
+
0.05281200632452965,
|
| 110 |
+
0.09736631833948195,
|
| 111 |
+
0.014511398723698221
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.4966534661257701,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.5015040021388955,
|
| 117 |
+
-0.5425862076519302,
|
| 118 |
+
0.455444044521196
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_15": {
|
| 123 |
+
"confidence": 0.9560571312904358,
|
| 124 |
+
"position": [
|
| 125 |
+
0.06141204014420509,
|
| 126 |
+
-0.09745329595170915,
|
| 127 |
+
-0.02076880472304765
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5640089986755955,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.41337372035527314,
|
| 133 |
+
-0.4745771285770407,
|
| 134 |
+
-0.5345957030917511
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_16": {
|
| 139 |
+
"confidence": 0.9553220272064209,
|
| 140 |
+
"position": [
|
| 141 |
+
0.059979040175676346,
|
| 142 |
+
-0.018830457469448447,
|
| 143 |
+
0.10186379936931189
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.08345526963149016,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.6806255329934495,
|
| 149 |
+
-0.7260826987048318,
|
| 150 |
+
-0.05087255104303952
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_17": {
|
| 155 |
+
"confidence": 0.9548735618591309,
|
| 156 |
+
"position": [
|
| 157 |
+
0.04750777408480644,
|
| 158 |
+
0.09744282090105116,
|
| 159 |
+
-0.026086673387908377
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.5645791081330248,
|
| 163 |
+
"xyz": [
|
| 164 |
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0.42269053982133453,
|
| 165 |
+
-0.4305699199481786,
|
| 166 |
+
0.5631986170447206
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_18": {
|
| 171 |
+
"confidence": 0.9547946453094482,
|
| 172 |
+
"position": [
|
| 173 |
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0.06514189764857292,
|
| 174 |
+
-0.09663289762102067,
|
| 175 |
+
-0.022336254143738188
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.582486027059236,
|
| 179 |
+
"xyz": [
|
| 180 |
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-0.4045530107777655,
|
| 181 |
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-0.47458137011325396,
|
| 182 |
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-0.5213630336846092
|
| 183 |
+
]
|
| 184 |
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}
|
| 185 |
+
},
|
| 186 |
+
"grasp_19": {
|
| 187 |
+
"confidence": 0.9544768929481506,
|
| 188 |
+
"position": [
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| 192 |
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],
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"orientation": {
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0.010285911333873805,
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]
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}
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}
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| 202 |
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}
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| 203 |
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},
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| 204 |
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{
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| 205 |
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"part_name": "rear button insert",
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| 206 |
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"mask_color": "Yellow",
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| 207 |
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"graspable": false,
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| 208 |
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| 209 |
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| 210 |
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"tail switch surface",
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| 211 |
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"allow push-button actuation",
|
| 212 |
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"mark the rear end center"
|
| 213 |
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],
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| 214 |
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"semantic_description": "Small circular pale rubber-like button insert on the rear face of the tail cap, smooth and slightly matte, centered and slightly recessed.",
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| 215 |
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"id": 3,
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| 216 |
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|
| 217 |
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},
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| 218 |
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{
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| 219 |
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"part_name": "thin neck ring",
|
| 220 |
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"mask_color": "Magenta",
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| 221 |
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"graspable": false,
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| 222 |
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"grasp_scenarios": [],
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| 223 |
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"functional_labels": [
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| 224 |
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"separate body sections",
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| 225 |
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"provide a transition between grip and head",
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| 226 |
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"help define hand position"
|
| 227 |
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],
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| 228 |
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"semantic_description": "Thin black ring around the flashlight body near the head, matte and smooth, wrapping around the circumference as a narrow transition band.",
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| 229 |
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"id": 7,
|
| 230 |
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| 231 |
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},
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| 232 |
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{
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| 233 |
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"part_name": "accent ring",
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| 234 |
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"mask_color": "Lime Green",
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| 235 |
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"graspable": false,
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| 236 |
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"grasp_scenarios": [],
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| 237 |
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"functional_labels": [
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| 238 |
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"mark a section boundary",
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| 239 |
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"provide a visual transition",
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| 240 |
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"separate adjacent body segments"
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| 241 |
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],
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| 242 |
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"semantic_description": "Thin black band adjacent to the neck ring near the front of the body, smooth and matte, wrapping around the circumference.",
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| 243 |
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"id": 9,
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| 244 |
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| 245 |
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},
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| 246 |
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{
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| 247 |
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"part_name": "flashlight head bezel",
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| 248 |
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"mask_color": "Orange",
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| 249 |
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"graspable": true,
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| 250 |
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| 251 |
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{
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| 252 |
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"scenario": "grasp the head bezel to orient the flashlight during placement",
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| 253 |
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"confidence": 0.66
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| 254 |
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},
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| 255 |
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{
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| 256 |
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"scenario": "hold the front section while stabilizing the body or manipulating adjacent sections",
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| 257 |
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"confidence": 0.54
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| 258 |
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}
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| 259 |
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],
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| 260 |
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"functional_labels": [
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| 261 |
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"house the front optics",
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| 262 |
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"protect the light source",
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| 263 |
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"provide front structure",
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| 264 |
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"form the front opening"
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| 265 |
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],
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| 266 |
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"semantic_description": "Wider black front housing at the light-emitting end, matte and cylindrical, slightly larger in diameter than the body.",
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| 267 |
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"id": 4,
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| 268 |
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0.02795914583839476,
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0.08379746762511786
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],
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"orientation": {
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0.07100449732100084
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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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0.08548472610709723
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],
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0.6850860272255082,
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},
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],
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},
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],
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},
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0.0742962413787609
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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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]
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},
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],
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},
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0.003293013898655772,
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],
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0.1918002226617831,
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]
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}
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},
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"grasp_70": {
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0.08619344023463782
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],
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]
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}
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},
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0.005711829042411409
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],
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}
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},
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0.10263154444692191
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],
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]
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}
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},
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0.003316329326480627,
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],
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0.7092684268488555,
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0.04867032581868928
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]
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}
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},
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0.004418940981850028,
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0.10291209605929907
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],
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0.7111504705945193,
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]
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}
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},
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0.015785598880029283
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],
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0.565166589490686,
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0.4088838679598122
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]
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}
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},
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0.08688056257960852
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],
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0.6705435117373887,
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0.696749977019919,
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0.17753357145418452
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]
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}
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},
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0.07465501897968352,
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0.0745389067888027
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],
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0.6448410541111361,
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0.6613147483856048,
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]
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}
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}
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}
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| 558 |
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},
|
| 559 |
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{
|
| 560 |
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"part_name": "main grip panel",
|
| 561 |
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|
| 562 |
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"graspable": true,
|
| 563 |
+
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|
| 564 |
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{
|
| 565 |
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"scenario": "grasp the main body panel to pick up and carry the flashlight",
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| 566 |
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| 567 |
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},
|
| 568 |
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{
|
| 569 |
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"scenario": "hold the body securely while aiming the flashlight",
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| 570 |
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"confidence": 0.93
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| 571 |
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},
|
| 572 |
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{
|
| 573 |
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"scenario": "stabilize the flashlight during inspection or cap twisting",
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| 574 |
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| 575 |
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}
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| 576 |
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],
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| 577 |
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| 578 |
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"main grasp surface",
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| 579 |
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"support carrying",
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| 580 |
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"aid aim control",
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| 581 |
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"improve hand traction"
|
| 582 |
+
],
|
| 583 |
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"semantic_description": "Long black textured grip panel along the barrel, matte and hard, forming a primary handhold on one side of the flashlight body.",
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| 584 |
+
"id": 2,
|
| 585 |
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],
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|
dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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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:ffd6dbac2de8d4747de536065d692c441901b75de0b748e6000647650ad321fc
|
| 3 |
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size 3785444
|
dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/flashlight_038.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" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 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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