Add asset bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/affordance_annot.json +1367 -0
- dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/razor_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -5853,3 +5853,4 @@ dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/afforda
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| 5853 |
dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5854 |
dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5855 |
dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5853 |
dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5854 |
dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5855 |
dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5856 |
+
dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1367 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle body",
|
| 5 |
+
"mask_color": "Lime Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the long handle to pick up and orient the razor",
|
| 10 |
+
"confidence": 0.99
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle during shaving or positioning the head",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower handle to place or retrieve the razor from storage",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip",
|
| 23 |
+
"support manipulation",
|
| 24 |
+
"provide reach",
|
| 25 |
+
"connect hand to razor head"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark gray to black plastic handle with a mostly matte finish, slim ergonomic profile, ribbed traction pattern, and rounded lower end, forming the largest elongated part below the head.",
|
| 28 |
+
"id": 9,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_54": {
|
| 31 |
+
"confidence": 0.9743611216545105,
|
| 32 |
+
"position": [
|
| 33 |
+
0.12845506914891303,
|
| 34 |
+
0.023067687900038436,
|
| 35 |
+
0.06495232525048777
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.1735063933778684,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6366200218864083,
|
| 41 |
+
-0.6886849151049825,
|
| 42 |
+
0.3005387943297776
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_56": {
|
| 47 |
+
"confidence": 0.9372702240943909,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10374038317240775,
|
| 50 |
+
0.05263575472054072,
|
| 51 |
+
-0.08711688575567678
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.582521270690562,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.32297822511417457,
|
| 57 |
+
0.08878746197770593,
|
| 58 |
+
-0.7405881594318857
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_58": {
|
| 63 |
+
"confidence": 0.9206092357635498,
|
| 64 |
+
"position": [
|
| 65 |
+
0.1462192798499018,
|
| 66 |
+
0.012992830277653411,
|
| 67 |
+
-0.07085863110842183
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6467616134178762,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.34162680998006173,
|
| 73 |
+
-0.27517743831350305,
|
| 74 |
+
-0.6239133878633881
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_59": {
|
| 79 |
+
"confidence": 0.9148446917533875,
|
| 80 |
+
"position": [
|
| 81 |
+
0.10101665952242911,
|
| 82 |
+
0.05337607048568316,
|
| 83 |
+
-0.08671237138332799
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6603865234085456,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.319974772529814,
|
| 89 |
+
0.07070408534985162,
|
| 90 |
+
-0.6756528080010538
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_60": {
|
| 95 |
+
"confidence": 0.9107597470283508,
|
| 96 |
+
"position": [
|
| 97 |
+
0.16516063758172095,
|
| 98 |
+
0.010819210001500323,
|
| 99 |
+
-0.022579263721127063
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6954158589642513,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.22743509807713197,
|
| 105 |
+
-0.6122731065119095,
|
| 106 |
+
0.29965263607369513
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_66": {
|
| 111 |
+
"confidence": 0.8287484645843506,
|
| 112 |
+
"position": [
|
| 113 |
+
0.14781604357995093,
|
| 114 |
+
-0.02510342627647333,
|
| 115 |
+
-0.06125596893252805
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4733325047584216,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.4663130063210475,
|
| 121 |
+
-0.12225398853834535,
|
| 122 |
+
0.7372669003565882
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_67": {
|
| 127 |
+
"confidence": 0.8208182454109192,
|
| 128 |
+
"position": [
|
| 129 |
+
0.12497670599259436,
|
| 130 |
+
0.04413029857096262,
|
| 131 |
+
-0.07974593696417287
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7028328785233933,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.3633082392222071,
|
| 137 |
+
-0.08931602577122855,
|
| 138 |
+
-0.6050253843602051
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_68": {
|
| 143 |
+
"confidence": 0.8182243704795837,
|
| 144 |
+
"position": [
|
| 145 |
+
0.1404497737530619,
|
| 146 |
+
0.02121668987092562,
|
| 147 |
+
-0.0677829718333669
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5734984089383394,
|
| 151 |
+
"xyz": [
|
| 152 |
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0.4005873226026414,
|
| 153 |
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-0.159578491966896,
|
| 154 |
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-0.6965372041871215
|
| 155 |
+
]
|
| 156 |
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}
|
| 157 |
+
},
|
| 158 |
+
"grasp_69": {
|
| 159 |
+
"confidence": 0.7693287134170532,
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},
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0.016754562209825963
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0.659822278864971,
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0.024046534847002476
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0.08432215012726374,
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0.015533897269051522
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0.662574176071658,
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0.5888572747271028
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0.08195162125048228,
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0.01247707213042304
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0.6578297658164389,
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0.5986856295588926
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}
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}
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},
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{
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"cut hair",
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"shave stubble",
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| 1212 |
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"provide cutting edge",
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| 1213 |
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"perform grooming"
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| 1214 |
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],
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| 1215 |
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"semantic_description": "Thin bright metallic cutting edge region running across the cartridge front, with a reflective smooth hard surface and very narrow exposed strip intended for shaving rather than gripping.",
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| 1216 |
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},
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{
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"reduce friction",
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"improve glide",
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"condition skin contact",
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| 1228 |
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"aid smooth shaving"
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| 1229 |
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],
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| 1230 |
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"semantic_description": "Slim strip along the cartridge edge, visible as a narrow band on the head with a smoother less reflective appearance than the metal blade region.",
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| 1231 |
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| 1232 |
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},
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{
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| 1239 |
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"guide hairs",
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| 1241 |
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"protect skin",
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| 1242 |
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"space skin from blades",
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| 1243 |
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"improve shaving control"
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| 1244 |
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],
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| 1245 |
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"semantic_description": "Small comb-like band on the cartridge, appearing darker with fine short ridges across the cartridge width.",
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| 1246 |
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"id": 11,
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| 1247 |
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| 1248 |
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},
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{
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| 1250 |
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"part_name": "handle end cap",
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|
| 1253 |
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{
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"scenario": "grasp the rounded handle end to lift or pull the razor from a holder",
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| 1256 |
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},
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| 1258 |
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{
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"scenario": "use the handle end as a secondary pinch point during reorientation",
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| 1261 |
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}
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| 1262 |
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],
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"functional_labels": [
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| 1264 |
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"finish handle end",
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| 1265 |
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"aid retrieval",
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| 1266 |
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"protect handle tip"
|
| 1267 |
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],
|
| 1268 |
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"semantic_description": "Rounded dark end section at the bottom of the handle, with a matte hard surface and slightly enlarged oval shape at the handle tip.",
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| 1269 |
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"id": 3,
|
| 1270 |
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0.14969640620984137,
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0.06072371013578959,
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],
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0.6267622180953225,
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0.2376166082729516,
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]
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}
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},
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0.16134270676411688,
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0.012508115061791614,
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],
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0.03803815714394551,
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0.021303821357074062
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]
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}
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},
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0.11769064166583121,
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0.0767906934779603,
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],
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0.5865657569621939,
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0.34868313244458093,
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]
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| 1317 |
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}
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| 1318 |
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}
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| 1319 |
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}
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| 1320 |
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},
|
| 1321 |
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{
|
| 1322 |
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"part_name": "hanging hole",
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| 1323 |
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"mask_color": "Gray",
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| 1324 |
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"graspable": false,
|
| 1325 |
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| 1326 |
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"functional_labels": [
|
| 1327 |
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"allow hanging",
|
| 1328 |
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"provide storage point"
|
| 1329 |
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],
|
| 1330 |
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"semantic_description": "Small oval opening near the handle tip, integrated into the rounded end for hanging or storage.",
|
| 1331 |
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"id": 15,
|
| 1332 |
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|
| 1333 |
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},
|
| 1334 |
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{
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| 1335 |
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"part_name": "cartridge side cap",
|
| 1336 |
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"mask_color": "Crimson",
|
| 1337 |
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"graspable": false,
|
| 1338 |
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"grasp_scenarios": [],
|
| 1339 |
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"functional_labels": [
|
| 1340 |
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"cover cartridge side",
|
| 1341 |
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"finish head assembly",
|
| 1342 |
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"protect cartridge edge"
|
| 1343 |
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],
|
| 1344 |
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"semantic_description": "Tiny end cap at one end of the cartridge, appearing bright and smooth with a rounded rectangular shape closing the blade head edge.",
|
| 1345 |
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"id": 16,
|
| 1346 |
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"grasp_group": {}
|
| 1347 |
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},
|
| 1348 |
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{
|
| 1349 |
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"part_name": "joint detail",
|
| 1350 |
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"mask_color": "Orange",
|
| 1351 |
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"graspable": false,
|
| 1352 |
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"grasp_scenarios": [],
|
| 1353 |
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"functional_labels": [
|
| 1354 |
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"connect head components",
|
| 1355 |
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"support pivot area",
|
| 1356 |
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"reinforce assembly"
|
| 1357 |
+
],
|
| 1358 |
+
"semantic_description": "Very small connector detail near the head-neck junction, with a matte hard plastic appearance and compact irregular shape embedded in the razor assembly.",
|
| 1359 |
+
"id": 4,
|
| 1360 |
+
"grasp_group": {}
|
| 1361 |
+
}
|
| 1362 |
+
],
|
| 1363 |
+
"quality_check": {
|
| 1364 |
+
"success": false,
|
| 1365 |
+
"message": "Several mask-color part identities are swapped, and one visual description is clearly wrong for the visible cartridge side/end colors."
|
| 1366 |
+
}
|
| 1367 |
+
}
|
dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:497d0bc8623432eb4343fcd382447ed411b83cf14359927b64104cdf91af7acb
|
| 3 |
+
size 3791292
|
dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/razor_012.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>
|