Add asset bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/affordance/affordance_annot.json +369 -0
- dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.urdf +1 -0
.gitattributes
CHANGED
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@@ -7992,3 +7992,4 @@ dataset/bathroom_supplies/personal_care/7aee366e106e5fa6acde643f0f5466fa/afforda
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| 7992 |
dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7993 |
dataset/bathroom_supplies/personal_care/7b62653dd3a855e5b64b6062bad678df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7994 |
dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7992 |
dataset/bathroom_supplies/personal_care/7b37eed30a415aec887af82cd9858406/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7993 |
dataset/bathroom_supplies/personal_care/7b62653dd3a855e5b64b6062bad678df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7994 |
dataset/bathroom_supplies/personal_care/7c890865c8055fd98d3d6be284a4c26c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7995 |
+
dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clipper body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the clipper body to pick up and reposition the nail clipper",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the clipper body steady while actuating the lever",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body near the handle end to orient the cutting jaws toward a nail",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the cutting jaws",
|
| 23 |
+
"provide the main grip surface",
|
| 24 |
+
"stabilize during clipping",
|
| 25 |
+
"house and align the blades"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated silver metal body with a smooth reflective finish, flat slightly curved arms, medium size, forming the main lower structure with the cutting end at one side and a round hole at the handle end; some engraved text is visible on certain views.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
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"confidence": 0.8556727766990662,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.5848249382498681,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_22": {
|
| 47 |
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"confidence": 0.8508265018463135,
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| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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"orientation": {
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| 59 |
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| 60 |
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| 61 |
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},
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| 62 |
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"grasp_23": {
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| 63 |
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"confidence": 0.8474661111831665,
|
| 64 |
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"position": [
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| 66 |
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| 68 |
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],
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"orientation": {
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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_25": {
|
| 79 |
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|
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| 84 |
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"orientation": {
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"xyz": [
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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_26": {
|
| 95 |
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"confidence": 0.8401587605476379,
|
| 96 |
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"position": [
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| 97 |
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|
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| 100 |
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"orientation": {
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|
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"grasp_27": {
|
| 111 |
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"confidence": 0.834486186504364,
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"position": [
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|
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| 201 |
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0.5150169457989364,
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| 202 |
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-0.4527009076192097
|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_38": {
|
| 207 |
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"confidence": 0.7892895936965942,
|
| 208 |
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| 209 |
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-0.10709132137708366,
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| 210 |
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0.011605537394643761,
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| 211 |
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| 212 |
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],
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| 213 |
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| 214 |
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| 215 |
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| 216 |
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|
| 219 |
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]
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| 220 |
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}
|
| 221 |
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}
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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{
|
| 225 |
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"part_name": "actuating lever",
|
| 226 |
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"mask_color": "Red",
|
| 227 |
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"graspable": true,
|
| 228 |
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"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "grasp the lever to flip it open for use",
|
| 231 |
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"confidence": 0.78
|
| 232 |
+
},
|
| 233 |
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{
|
| 234 |
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"scenario": "pinch and press the lever to actuate the clipper jaws",
|
| 235 |
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"confidence": 0.72
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
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"scenario": "hold the lever to rotate it back into the stored position",
|
| 239 |
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"confidence": 0.69
|
| 240 |
+
}
|
| 241 |
+
],
|
| 242 |
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"functional_labels": [
|
| 243 |
+
"provide actuation force to cut nails",
|
| 244 |
+
"flip and rotate for use or storage",
|
| 245 |
+
"serve as the finger-press surface",
|
| 246 |
+
"engage with the pivot to drive the jaws"
|
| 247 |
+
],
|
| 248 |
+
"semantic_description": "Slim silver metal lever with a smooth reflective finish, narrow elongated shape, mounted on top of the body and tapering toward the tip, with faint engraved markings visible near the outer end in some views.",
|
| 249 |
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"id": 0,
|
| 250 |
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"grasp_group": {
|
| 251 |
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"grasp_0": {
|
| 252 |
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"confidence": 0.7331125140190125,
|
| 253 |
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| 254 |
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|
| 255 |
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0.001354095307760872,
|
| 256 |
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-0.02036467904690653
|
| 257 |
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],
|
| 258 |
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"orientation": {
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| 259 |
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"w": 0.48797187499105776,
|
| 260 |
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| 261 |
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-0.4712960344805972,
|
| 262 |
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0.36744165837730614,
|
| 263 |
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-0.636199752270865
|
| 264 |
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]
|
| 265 |
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}
|
| 266 |
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},
|
| 267 |
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"grasp_4": {
|
| 268 |
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"confidence": 0.21317899227142334,
|
| 269 |
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"position": [
|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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],
|
| 274 |
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"orientation": {
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| 275 |
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|
| 276 |
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| 277 |
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|
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|
| 279 |
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|
| 280 |
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]
|
| 281 |
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}
|
| 282 |
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},
|
| 283 |
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"grasp_8": {
|
| 284 |
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"confidence": 0.21914246678352356,
|
| 285 |
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"position": [
|
| 286 |
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|
| 287 |
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0.029588002609671094,
|
| 288 |
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0.05365943571086973
|
| 289 |
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],
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| 290 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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]
|
| 297 |
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}
|
| 298 |
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},
|
| 299 |
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"grasp_11": {
|
| 300 |
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"confidence": 0.6039980053901672,
|
| 301 |
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| 302 |
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0.09682387229986489,
|
| 303 |
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0.012166981483460404,
|
| 304 |
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0.03072492068167776
|
| 305 |
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],
|
| 306 |
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"orientation": {
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| 307 |
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|
| 308 |
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| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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]
|
| 313 |
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}
|
| 314 |
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},
|
| 315 |
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"grasp_14": {
|
| 316 |
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"confidence": 0.5054190158843994,
|
| 317 |
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"position": [
|
| 318 |
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0.08896153536625206,
|
| 319 |
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0.045603746446431614,
|
| 320 |
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0.028174052364192903
|
| 321 |
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],
|
| 322 |
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"orientation": {
|
| 323 |
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"w": 0.06203594876479217,
|
| 324 |
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"xyz": [
|
| 325 |
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|
| 326 |
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|
| 327 |
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|
| 328 |
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]
|
| 329 |
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}
|
| 330 |
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},
|
| 331 |
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"grasp_16": {
|
| 332 |
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"confidence": 0.29825901985168457,
|
| 333 |
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"position": [
|
| 334 |
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0.006648762384429574,
|
| 335 |
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|
| 336 |
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0.10048942675348371
|
| 337 |
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],
|
| 338 |
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"orientation": {
|
| 339 |
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"w": 0.05905796628836059,
|
| 340 |
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"xyz": [
|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
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]
|
| 345 |
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}
|
| 346 |
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}
|
| 347 |
+
}
|
| 348 |
+
},
|
| 349 |
+
{
|
| 350 |
+
"part_name": "pivot pin",
|
| 351 |
+
"mask_color": "Purple",
|
| 352 |
+
"graspable": false,
|
| 353 |
+
"grasp_scenarios": [],
|
| 354 |
+
"functional_labels": [
|
| 355 |
+
"connect the lever to the body",
|
| 356 |
+
"serve as a rotation pivot",
|
| 357 |
+
"retain moving parts",
|
| 358 |
+
"maintain alignment"
|
| 359 |
+
],
|
| 360 |
+
"semantic_description": "Small round silver metal pin at the top joint area, with a shiny smooth hard surface and compact domed shape that fastens the lever to the clipper body.",
|
| 361 |
+
"id": 5,
|
| 362 |
+
"grasp_group": {}
|
| 363 |
+
}
|
| 364 |
+
],
|
| 365 |
+
"quality_check": {
|
| 366 |
+
"success": true,
|
| 367 |
+
"message": "YES"
|
| 368 |
+
}
|
| 369 |
+
}
|
dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2c8afd65aae914469375210504fcb3fd0ffbc7a64d4e0979b7916d6dfe14ee5f
|
| 3 |
+
size 3780964
|
dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/nail_clipper_021.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>NO: {"summary":"One handle is split, but the other handle and lever are not distinctly segmented by the provided colors.","merge_groups":[]}</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>NO: {"summary":"One handle is split, but the other handle and lever are not distinctly segmented by the provided colors.","merge_groups":[]}</PartSegChecker>
|