Add asset bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/affordance/affordance_annot.json +611 -0
- dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/flashlight_037.urdf +1 -0
.gitattributes
CHANGED
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@@ -5903,3 +5903,4 @@ dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/affo
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| 5903 |
dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5904 |
dataset/bedroom_supplies/small_electronics/32334b3d67e85787971772b0132e2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5905 |
dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5903 |
dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5904 |
dataset/bedroom_supplies/small_electronics/32334b3d67e85787971772b0132e2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5905 |
dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5906 |
+
dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,611 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rear body to pick up and carry the flashlight",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rear body to aim the flashlight beam",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the flashlight by the rear body while pressing the side button",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support carrying",
|
| 24 |
+
"enable aiming",
|
| 25 |
+
"house internal batteries or electronics",
|
| 26 |
+
"provide handhold for operation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long yellow cylindrical rear body/handle made of hard plastic with a mostly matte finish, slight contouring, and an inset side panel area, forming the back portion of the flashlight.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.9823121428489685,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0018256334587931633,
|
| 35 |
+
0.007382337265880778,
|
| 36 |
+
0.09909419206087478
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.06304748383777273,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.715731746033086,
|
| 42 |
+
0.695087776629338,
|
| 43 |
+
0.024618393177446247
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.9819169640541077,
|
| 49 |
+
"position": [
|
| 50 |
+
0.00835296418517828,
|
| 51 |
+
0.04641852600616403,
|
| 52 |
+
0.0823319875926245
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.17694941715841717,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.6557224405235458,
|
| 58 |
+
0.7081752495237137,
|
| 59 |
+
-0.1928854601134242
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.980511486530304,
|
| 65 |
+
"position": [
|
| 66 |
+
0.00372318085283041,
|
| 67 |
+
-0.002594441146356985,
|
| 68 |
+
-0.09809475901420228
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6996093518449388,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.049896127579423216,
|
| 74 |
+
0.06462187095398153,
|
| 75 |
+
0.7098458600696977
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9799142479896545,
|
| 81 |
+
"position": [
|
| 82 |
+
0.011792468838393688,
|
| 83 |
+
0.02433905264479108,
|
| 84 |
+
0.0962102287739981
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.09038941369776682,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.6816193004461875,
|
| 90 |
+
-0.7217514054871625,
|
| 91 |
+
0.07937122796032171
|
| 92 |
+
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"grasp_37": {
|
| 505 |
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"confidence": 0.9812430739402771,
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| 506 |
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"position": [
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| 507 |
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0.00461201835423708,
|
| 508 |
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0.03490559084457345,
|
| 509 |
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0.09179382261936553
|
| 510 |
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],
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| 511 |
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"orientation": {
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| 512 |
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"w": 0.1503642092375962,
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| 513 |
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"xyz": [
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| 514 |
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0.7018250961783273,
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| 515 |
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-0.686821593723219,
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| 516 |
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0.11449121079860915
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| 517 |
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]
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| 518 |
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}
|
| 519 |
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},
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| 520 |
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"grasp_38": {
|
| 521 |
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"confidence": 0.9809948801994324,
|
| 522 |
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"position": [
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| 523 |
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-0.0069549004547297955,
|
| 524 |
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-0.10007312448578887,
|
| 525 |
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2.7422531275078654e-05
|
| 526 |
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],
|
| 527 |
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"orientation": {
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| 528 |
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"w": 0.4963099102876183,
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| 529 |
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"xyz": [
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| 530 |
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| 531 |
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| 532 |
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-0.5062070195097418
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| 533 |
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]
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| 534 |
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}
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| 535 |
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},
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| 536 |
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"grasp_39": {
|
| 537 |
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|
| 538 |
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"position": [
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| 539 |
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| 540 |
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| 541 |
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| 542 |
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],
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| 543 |
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"orientation": {
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| 544 |
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"w": 0.4983821835005027,
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| 545 |
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"xyz": [
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| 546 |
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| 547 |
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| 548 |
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| 549 |
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]
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| 550 |
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}
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| 551 |
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}
|
| 552 |
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}
|
| 553 |
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},
|
| 554 |
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{
|
| 555 |
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"part_name": "power button",
|
| 556 |
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"mask_color": "Green",
|
| 557 |
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"graspable": false,
|
| 558 |
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"grasp_scenarios": [],
|
| 559 |
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"functional_labels": [
|
| 560 |
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"switch power on and off",
|
| 561 |
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"provide user control input",
|
| 562 |
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"toggle illumination"
|
| 563 |
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],
|
| 564 |
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"semantic_description": "Small round dark gray rubber-like button with a slightly matte surface, raised on the upper side near the neck between body and head for thumb pressing.",
|
| 565 |
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"id": 1,
|
| 566 |
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"grasp_group": {}
|
| 567 |
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},
|
| 568 |
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{
|
| 569 |
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"part_name": "lens",
|
| 570 |
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"mask_color": "Purple",
|
| 571 |
+
"graspable": false,
|
| 572 |
+
"grasp_scenarios": [],
|
| 573 |
+
"functional_labels": [
|
| 574 |
+
"transmit light",
|
| 575 |
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"cover the emitter opening",
|
| 576 |
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"protect internal light source"
|
| 577 |
+
],
|
| 578 |
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"semantic_description": "Circular pale gray to white front lens cover with a smooth hard translucent-looking surface, recessed within the front opening of the flashlight head.",
|
| 579 |
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"id": 5,
|
| 580 |
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"grasp_group": {}
|
| 581 |
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},
|
| 582 |
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{
|
| 583 |
+
"part_name": "side grip insert",
|
| 584 |
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"mask_color": "Gray",
|
| 585 |
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"graspable": true,
|
| 586 |
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"grasp_scenarios": [
|
| 587 |
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{
|
| 588 |
+
"scenario": "use the inset side panel as a secondary contact area while grasping the handle",
|
| 589 |
+
"confidence": 0.62
|
| 590 |
+
},
|
| 591 |
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{
|
| 592 |
+
"scenario": "place gripper fingers partly on the insert to improve traction during pickup",
|
| 593 |
+
"confidence": 0.58
|
| 594 |
+
}
|
| 595 |
+
],
|
| 596 |
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"functional_labels": [
|
| 597 |
+
"improve hand traction",
|
| 598 |
+
"provide tactile grip cue",
|
| 599 |
+
"add visual contrast to the handle",
|
| 600 |
+
"indicate gripping area"
|
| 601 |
+
],
|
| 602 |
+
"semantic_description": "Narrow elongated dark gray inset side panel on the yellow handle, appearing smooth to slightly textured and recessed within the handle body for grip contrast.",
|
| 603 |
+
"id": 15,
|
| 604 |
+
"grasp_group": {}
|
| 605 |
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}
|
| 606 |
+
],
|
| 607 |
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"quality_check": {
|
| 608 |
+
"success": true,
|
| 609 |
+
"message": "YES"
|
| 610 |
+
}
|
| 611 |
+
}
|
dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ba538aea77548d19daa9ac5c18d0335c7d6c624e3b64e26b96f119abfdbb6d1b
|
| 3 |
+
size 3786264
|
dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/flashlight_037.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>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|