Add asset bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/affordance_annot.json +1248 -0
- dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.urdf +1 -0
.gitattributes
CHANGED
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@@ -5843,3 +5843,4 @@ dataset/bathroom_supplies/personal_care/ce6e362a51535f3f964c06561044256a/afforda
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| 5843 |
dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5844 |
dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5845 |
dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5843 |
dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5844 |
dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5845 |
dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5846 |
+
dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1248 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle body to pick up and reposition the razor",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle while shaving or orienting the head",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the razor by clamping the handle during docking or storage",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support handling",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"house internal components"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical white plastic handle with a smooth matte-to-satin hard surface, slightly tapered and rounded at the end, forming the largest lower body of the razor with small printed branding.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9896356463432312,
|
| 32 |
+
"position": [
|
| 33 |
+
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|
| 34 |
+
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|
| 35 |
+
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|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.2260439201337919,
|
| 39 |
+
"xyz": [
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| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9894579648971558,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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|
| 55 |
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| 56 |
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| 57 |
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| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_22": {
|
| 63 |
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"confidence": 0.9889847040176392,
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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|
| 71 |
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| 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_23": {
|
| 79 |
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"confidence": 0.9888429641723633,
|
| 80 |
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|
| 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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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_24": {
|
| 95 |
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"confidence": 0.9888423681259155,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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|
| 103 |
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| 104 |
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| 105 |
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|
| 106 |
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| 107 |
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| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_25": {
|
| 111 |
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"confidence": 0.9884888529777527,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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0.06846441905508982
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.2852784756195112,
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_26": {
|
| 127 |
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"confidence": 0.988277018070221,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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0.04108442331198603,
|
| 131 |
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0.0909450186372851
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.1425709036156056,
|
| 135 |
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| 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_27": {
|
| 143 |
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"confidence": 0.9882673621177673,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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0.04361458699713694
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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|
| 151 |
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| 152 |
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|
| 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_28": {
|
| 159 |
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"confidence": 0.988179087638855,
|
| 160 |
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"position": [
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| 161 |
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0.037340132519602776,
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| 162 |
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0.05432788992766291,
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| 163 |
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0.08139501343976008
|
| 164 |
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],
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| 165 |
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"orientation": {
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| 166 |
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|
| 167 |
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0.6623936304822929,
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0.6917152151333119,
|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_29": {
|
| 175 |
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"confidence": 0.9881139397621155,
|
| 176 |
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"position": [
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| 177 |
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0.035081809386610985,
|
| 178 |
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0.04382824117783457,
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| 179 |
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0.08785149286995875
|
| 180 |
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],
|
| 181 |
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"orientation": {
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| 182 |
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|
| 183 |
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0.16259450924343682
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| 187 |
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]
|
| 188 |
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}
|
| 189 |
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},
|
| 190 |
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"grasp_30": {
|
| 191 |
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"confidence": 0.9881101846694946,
|
| 192 |
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"position": [
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| 193 |
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0.05297527427319437,
|
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0.0839756337882136
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| 196 |
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],
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| 197 |
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"orientation": {
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0.7015794143869946,
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| 203 |
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]
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| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_31": {
|
| 207 |
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"confidence": 0.988092303276062,
|
| 208 |
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"position": [
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0.05581614933907986,
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],
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},
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{
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| 963 |
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{
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"scenario": "grasp the head to orient the cutting surface during tool change or inspection",
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{
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| 981 |
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],
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"semantic_description": "Compact rectangular white-and-silver head made of plastic and metal, with a smooth rounded housing and a textured reflective foil cutting surface on top, mounted at the razor's upper end.",
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dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/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 sha256:393582f7d4c8fc4100cc00b85a020178d5a16f5ec02b907427ff833e18642079
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| 3 |
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size 3781672
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dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/razor_017.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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|
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|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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|
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| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 59 |
</geometry>
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| 60 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
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| 63 |
<quality>
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| 64 |
<PartSegChecker>YES</PartSegChecker>
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