Add asset bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/affordance/affordance_annot.json +727 -0
- dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/razor_018.urdf +1 -0
.gitattributes
CHANGED
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@@ -5773,3 +5773,4 @@ dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/afforda
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| 5773 |
dataset/bathroom_supplies/personal_care/38cddd749c5b547cb29252e711fee4ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5774 |
dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5775 |
dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5773 |
dataset/bathroom_supplies/personal_care/38cddd749c5b547cb29252e711fee4ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5774 |
dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5775 |
dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5776 |
+
dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,727 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle body",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main handle to pick up and reposition the razor",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle during shaving motion",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the handle to stabilize the razor for inspection or placement",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support razor head",
|
| 24 |
+
"enable shaving manipulation",
|
| 25 |
+
"provide reach and leverage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long slightly tapered silver handle with a smooth metallic-looking finish, forming the main body below the head; printed markings are visible on some sides and darker trim appears near the top and bottom.",
|
| 28 |
+
"id": 7,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_60": {
|
| 31 |
+
"confidence": 0.9902288913726807,
|
| 32 |
+
"position": [
|
| 33 |
+
0.017120548989623785,
|
| 34 |
+
0.02634008057975734,
|
| 35 |
+
0.09570571922813542
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.09620635484246076,
|
| 39 |
+
"xyz": [
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| 40 |
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"semantic_description": "Narrow metallic foil strip with a reflective fine-perforated texture across the razor head, forming the primary shaving surface.",
|
| 452 |
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"id": 12,
|
| 453 |
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"grasp_group": {}
|
| 454 |
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},
|
| 455 |
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{
|
| 456 |
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"part_name": "trimmer strip",
|
| 457 |
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"mask_color": "Lime Green",
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| 458 |
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"graspable": false,
|
| 459 |
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"grasp_scenarios": [],
|
| 460 |
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"functional_labels": [
|
| 461 |
+
"trim longer hairs",
|
| 462 |
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"detail edge grooming",
|
| 463 |
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"assist pre-cutting before foil shave"
|
| 464 |
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],
|
| 465 |
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"semantic_description": "Thin yellow-gold strip adjacent to the foil on the head, appearing as a narrow insert along the shaving assembly.",
|
| 466 |
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"id": 9,
|
| 467 |
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"grasp_group": {}
|
| 468 |
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},
|
| 469 |
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{
|
| 470 |
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"part_name": "grip pad",
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| 471 |
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"mask_color": "Cyan",
|
| 472 |
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"graspable": true,
|
| 473 |
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"grasp_scenarios": [
|
| 474 |
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{
|
| 475 |
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"scenario": "grasp the textured grip pad area for a secure non-slip hold",
|
| 476 |
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"confidence": 0.92
|
| 477 |
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},
|
| 478 |
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{
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| 479 |
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"scenario": "pinch at the grip pad to control razor orientation precisely",
|
| 480 |
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"confidence": 0.86
|
| 481 |
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}
|
| 482 |
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],
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| 483 |
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"functional_labels": [
|
| 484 |
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"improve grip",
|
| 485 |
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"reduce slipping",
|
| 486 |
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"aid orientation control",
|
| 487 |
+
"provide tactile handling zone"
|
| 488 |
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],
|
| 489 |
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"semantic_description": "Dark gray rubberized inset pad with a matte slightly textured surface on the upper handle, medium-sized and placed where fingers naturally rest.",
|
| 490 |
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"id": 6,
|
| 491 |
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"grasp_group": {
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"grasp_47": {
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"confidence": 0.9796887040138245,
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-0.022261655889451504,
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-0.0010692696869227802,
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-0.10046618289197795
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],
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"orientation": {
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"w": 0.7113807871263979,
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-0.023603579722948183,
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0.008849929424381564,
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-0.7023545582402612
|
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]
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| 506 |
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}
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| 507 |
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},
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| 508 |
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"grasp_51": {
|
| 509 |
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"confidence": 0.9705349206924438,
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| 510 |
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"position": [
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| 511 |
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0.027734038420021534,
|
| 512 |
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0.007014263110249885,
|
| 513 |
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0.08849535280023701
|
| 514 |
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],
|
| 515 |
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"orientation": {
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| 516 |
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"w": 0.1736201507535419,
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"xyz": [
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0.6833718412302431,
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-0.11126312344844608
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| 521 |
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]
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| 522 |
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}
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| 523 |
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},
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"grasp_56": {
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| 525 |
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"confidence": 0.9520910978317261,
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| 526 |
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"position": [
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| 527 |
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0.025891391560435295,
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| 528 |
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-0.01754966362750565,
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| 529 |
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0.08340122693334706
|
| 530 |
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],
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"orientation": {
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"w": 0.2172772909650374,
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"xyz": [
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-0.669136303268387,
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-0.7000243636285787,
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| 536 |
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0.12252786134432923
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]
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}
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| 539 |
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}
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| 540 |
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}
|
| 541 |
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},
|
| 542 |
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{
|
| 543 |
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"part_name": "power button",
|
| 544 |
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"mask_color": "Green",
|
| 545 |
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"graspable": false,
|
| 546 |
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"grasp_scenarios": [],
|
| 547 |
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"functional_labels": [
|
| 548 |
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"power control",
|
| 549 |
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"start shaving motor",
|
| 550 |
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"stop shaving motor"
|
| 551 |
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],
|
| 552 |
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"semantic_description": "Small dark gray oval button with a smooth slightly recessed surface on the front of the handle near the upper middle.",
|
| 553 |
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"id": 1,
|
| 554 |
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"grasp_group": {}
|
| 555 |
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},
|
| 556 |
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{
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| 557 |
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"part_name": "bottom cap",
|
| 558 |
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"mask_color": "Purple",
|
| 559 |
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"graspable": true,
|
| 560 |
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"grasp_scenarios": [
|
| 561 |
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{
|
| 562 |
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"scenario": "grasp the bottom end to lift or reorient the razor from a surface",
|
| 563 |
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"confidence": 0.5
|
| 564 |
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},
|
| 565 |
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{
|
| 566 |
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"scenario": "hold the cap end while manipulating the base area",
|
| 567 |
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"confidence": 0.35
|
| 568 |
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}
|
| 569 |
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],
|
| 570 |
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"functional_labels": [
|
| 571 |
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"finish handle end",
|
| 572 |
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"protect base opening",
|
| 573 |
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"provide end support"
|
| 574 |
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],
|
| 575 |
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"semantic_description": "Rounded dark gray end cap at the base of the handle, with a smooth finish and a slightly distinct ring-like end section.",
|
| 576 |
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"id": 5,
|
| 577 |
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"grasp_group": {
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| 578 |
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"grasp_20": {
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| 579 |
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"confidence": 0.9110913872718811,
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| 580 |
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0.11855796445161104,
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| 582 |
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0.09093656965160335,
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| 583 |
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-0.0027644689835142344
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| 584 |
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],
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| 585 |
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"orientation": {
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"w": 0.3920702888243472,
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0.5955912974430525,
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| 589 |
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0.35496598664600065,
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| 590 |
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-0.6046081734112811
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| 591 |
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]
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| 592 |
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}
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| 593 |
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},
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| 594 |
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"grasp_22": {
|
| 595 |
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"confidence": 0.8376128673553467,
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| 596 |
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"position": [
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| 597 |
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0.12979159224778414,
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| 598 |
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-0.08202930710649525,
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| 599 |
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0.01751186841283925
|
| 600 |
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],
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| 601 |
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"orientation": {
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| 602 |
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"w": 0.5739344630759491,
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| 603 |
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"xyz": [
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| 604 |
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| 606 |
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-0.3055751548159864
|
| 607 |
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]
|
| 608 |
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}
|
| 609 |
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},
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| 610 |
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"grasp_25": {
|
| 611 |
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"confidence": 0.7553207278251648,
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| 612 |
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"position": [
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| 613 |
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0.04553599376231432,
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| 614 |
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-0.09120924941635167,
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| 615 |
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-0.002288766176206991
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| 616 |
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],
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| 617 |
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"orientation": {
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"w": 0.5940303510527194,
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| 619 |
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"xyz": [
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| 620 |
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| 621 |
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0.5469318917238687,
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| 622 |
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0.41107078750307297
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| 623 |
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]
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| 624 |
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}
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| 625 |
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},
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| 626 |
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"grasp_28": {
|
| 627 |
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"confidence": 0.5270619988441467,
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| 628 |
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"position": [
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| 629 |
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0.03618583735078573,
|
| 630 |
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-0.0866247432622913,
|
| 631 |
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0.00046434233081527054
|
| 632 |
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],
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| 633 |
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"orientation": {
|
| 634 |
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"w": 0.598365204585214,
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| 635 |
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"xyz": [
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| 636 |
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|
| 637 |
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0.5824046596425355,
|
| 638 |
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0.3928875281687664
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| 639 |
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]
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| 640 |
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}
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| 641 |
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},
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| 642 |
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"grasp_33": {
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| 643 |
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"confidence": 0.907547116279602,
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| 644 |
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"position": [
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| 645 |
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0.12690432835370302,
|
| 646 |
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-0.08644911817646062,
|
| 647 |
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-0.004944324464304373
|
| 648 |
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],
|
| 649 |
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"orientation": {
|
| 650 |
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"w": 0.629752464813775,
|
| 651 |
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"xyz": [
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| 652 |
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| 653 |
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|
| 654 |
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-0.3490504306428023
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| 655 |
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]
|
| 656 |
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}
|
| 657 |
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},
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| 658 |
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"grasp_34": {
|
| 659 |
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"confidence": 0.9064300656318665,
|
| 660 |
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"position": [
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| 661 |
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0.07515161950141191,
|
| 662 |
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-0.10257445446586644,
|
| 663 |
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0.011264684173511341
|
| 664 |
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],
|
| 665 |
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"orientation": {
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| 666 |
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"w": 0.4605019827614908,
|
| 667 |
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"xyz": [
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| 668 |
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-0.5332515549650867,
|
| 669 |
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0.5162376888133643,
|
| 670 |
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0.48690794987213876
|
| 671 |
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]
|
| 672 |
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}
|
| 673 |
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},
|
| 674 |
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"grasp_36": {
|
| 675 |
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"confidence": 0.9005097150802612,
|
| 676 |
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"position": [
|
| 677 |
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0.07347032893449068,
|
| 678 |
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-0.10318260065650975,
|
| 679 |
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0.0033583625045139343
|
| 680 |
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],
|
| 681 |
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"orientation": {
|
| 682 |
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"w": 0.49896486836901194,
|
| 683 |
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"xyz": [
|
| 684 |
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-0.5086059133560733,
|
| 685 |
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0.4937636214331027,
|
| 686 |
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0.49854946713640863
|
| 687 |
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]
|
| 688 |
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}
|
| 689 |
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},
|
| 690 |
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"grasp_39": {
|
| 691 |
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"confidence": 0.8898128271102905,
|
| 692 |
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"position": [
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0.1250849263742566,
|
| 694 |
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-0.08729484103059804,
|
| 695 |
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-0.018917559151304886
|
| 696 |
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],
|
| 697 |
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"orientation": {
|
| 698 |
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"w": 0.4151144665865182,
|
| 699 |
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"xyz": [
|
| 700 |
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-0.5850244428534517,
|
| 701 |
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0.28584923963315934,
|
| 702 |
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0.6353869632717873
|
| 703 |
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]
|
| 704 |
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}
|
| 705 |
+
}
|
| 706 |
+
}
|
| 707 |
+
},
|
| 708 |
+
{
|
| 709 |
+
"part_name": "side vent or indicator slot",
|
| 710 |
+
"mask_color": "Red",
|
| 711 |
+
"graspable": false,
|
| 712 |
+
"grasp_scenarios": [],
|
| 713 |
+
"functional_labels": [
|
| 714 |
+
"decorative slot",
|
| 715 |
+
"possible vent opening",
|
| 716 |
+
"possible indicator window"
|
| 717 |
+
],
|
| 718 |
+
"semantic_description": "Small red slotted insert on the side of the handle near the upper end, visible as a short horizontal vent-like feature rather than on the bottom base.",
|
| 719 |
+
"id": 0,
|
| 720 |
+
"grasp_group": {}
|
| 721 |
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}
|
| 722 |
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],
|
| 723 |
+
"quality_check": {
|
| 724 |
+
"success": false,
|
| 725 |
+
"message": "Multiple semantic mismatches: head frame color/material, grip pad placement/extent, and red slot location/function are incorrect or speculative."
|
| 726 |
+
}
|
| 727 |
+
}
|
dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fc717839ee2616b31bb2d2ddcbfbe68018f9f7b688ce1f6590cbb224052eacfd
|
| 3 |
+
size 3832824
|
dataset/bathroom_supplies/personal_care/3a959c90865d51038c3a8d3b31a30746/razor_018.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>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|