Add asset bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036/affordance/affordance_annot.json +317 -0
- dataset/bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036/hair_clip_023.urdf +1 -0
.gitattributes
CHANGED
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@@ -7966,3 +7966,4 @@ dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/afforda
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| 7966 |
dataset/bathroom_supplies/personal_care/5c767e4bd6d05764925eff8ac9bbe168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7967 |
dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7968 |
dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7966 |
dataset/bathroom_supplies/personal_care/5c767e4bd6d05764925eff8ac9bbe168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7967 |
dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7968 |
dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7969 |
+
dataset/bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clip body",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one side of the body while opening or aligning the clip",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the tapered end to orient the clip for placement in hair",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide structural support",
|
| 24 |
+
"slide into hair",
|
| 25 |
+
"align the clip on the head",
|
| 26 |
+
"cover most of the clip body"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Elongated dark brown leather-covered body with a matte to slightly satin finish, smooth firm surface, visible light stitching around the edges, and a tapered rounded shape forming most of the clip.",
|
| 29 |
+
"id": 7,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_24": {
|
| 32 |
+
"confidence": 0.8433217406272888,
|
| 33 |
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"position": [
|
| 34 |
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|
| 35 |
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-0.06290632973832544,
|
| 36 |
+
0.035030176706641214
|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.5584895592272408,
|
| 40 |
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"xyz": [
|
| 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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},
|
| 47 |
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"grasp_26": {
|
| 48 |
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"confidence": 0.8272481560707092,
|
| 49 |
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"position": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.08145271178596981,
|
| 56 |
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"xyz": [
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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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},
|
| 63 |
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"grasp_27": {
|
| 64 |
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"confidence": 0.8253206014633179,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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"w": 0.10258236397248832,
|
| 72 |
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"xyz": [
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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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},
|
| 79 |
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"grasp_28": {
|
| 80 |
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"confidence": 0.8248530626296997,
|
| 81 |
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"position": [
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| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.676498203971961,
|
| 88 |
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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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},
|
| 95 |
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"grasp_30": {
|
| 96 |
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"confidence": 0.8228459358215332,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
|
| 103 |
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"w": 0.6726078227308367,
|
| 104 |
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"xyz": [
|
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|
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|
| 107 |
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|
| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_34": {
|
| 112 |
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"confidence": 0.8161685466766357,
|
| 113 |
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"position": [
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.12585997536908125,
|
| 120 |
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"xyz": [
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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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},
|
| 127 |
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"grasp_35": {
|
| 128 |
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"confidence": 0.8160695433616638,
|
| 129 |
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"position": [
|
| 130 |
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0.061942008876940235,
|
| 131 |
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|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.6275737837263685,
|
| 136 |
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"xyz": [
|
| 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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},
|
| 143 |
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"grasp_38": {
|
| 144 |
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"confidence": 0.8104346990585327,
|
| 145 |
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"position": [
|
| 146 |
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|
| 147 |
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0.07742778469400946,
|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.21438978188708627,
|
| 152 |
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"xyz": [
|
| 153 |
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0.681853599770128,
|
| 154 |
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|
| 155 |
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-0.48583631857911636
|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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}
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"part_name": "retaining strap",
|
| 163 |
+
"mask_color": "Blue",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"grasp_scenarios": [
|
| 166 |
+
{
|
| 167 |
+
"scenario": "pinch the central strap to stabilize the clip during manipulation",
|
| 168 |
+
"confidence": 0.63
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"scenario": "hold the strap area while repositioning the clip",
|
| 172 |
+
"confidence": 0.55
|
| 173 |
+
}
|
| 174 |
+
],
|
| 175 |
+
"functional_labels": [
|
| 176 |
+
"hold the decorative cover around the center",
|
| 177 |
+
"cover the central hinge area",
|
| 178 |
+
"provide local reinforcement",
|
| 179 |
+
"stabilize the clip structure"
|
| 180 |
+
],
|
| 181 |
+
"semantic_description": "Short dark brown leather band wrapped across the middle, with visible light stitching, a matte smooth finish, and a firm slightly padded look around the clip center.",
|
| 182 |
+
"id": 2,
|
| 183 |
+
"grasp_group": {
|
| 184 |
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"grasp_0": {
|
| 185 |
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"confidence": 0.9312224388122559,
|
| 186 |
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"position": [
|
| 187 |
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-0.004734658548841253,
|
| 188 |
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0.09830722470360342,
|
| 189 |
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0.004368876881926553
|
| 190 |
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],
|
| 191 |
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"orientation": {
|
| 192 |
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"w": 0.502626555509976,
|
| 193 |
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"xyz": [
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| 194 |
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|
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|
| 196 |
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|
| 197 |
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]
|
| 198 |
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}
|
| 199 |
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},
|
| 200 |
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"grasp_1": {
|
| 201 |
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"confidence": 0.9296901226043701,
|
| 202 |
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"position": [
|
| 203 |
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|
| 204 |
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0.09820994992332999,
|
| 205 |
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|
| 206 |
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],
|
| 207 |
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"orientation": {
|
| 208 |
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"w": 0.5458815675305212,
|
| 209 |
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"xyz": [
|
| 210 |
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0.5220392936908415,
|
| 211 |
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|
| 212 |
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|
| 213 |
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]
|
| 214 |
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}
|
| 215 |
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},
|
| 216 |
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"grasp_3": {
|
| 217 |
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"confidence": 0.9290429949760437,
|
| 218 |
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"position": [
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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],
|
| 223 |
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"orientation": {
|
| 224 |
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"w": 0.3916953346787947,
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"xyz": [
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| 228 |
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| 229 |
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| 231 |
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},
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| 232 |
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|
| 233 |
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"confidence": 0.9188923835754395,
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},
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| 249 |
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| 250 |
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| 254 |
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],
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| 255 |
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| 256 |
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|
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},
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| 264 |
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"grasp_10": {
|
| 265 |
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"confidence": 0.9067485332489014,
|
| 266 |
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| 267 |
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|
| 268 |
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| 269 |
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|
| 270 |
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],
|
| 271 |
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"orientation": {
|
| 272 |
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"w": 0.3000372049091461,
|
| 273 |
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"xyz": [
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| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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]
|
| 278 |
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}
|
| 279 |
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},
|
| 280 |
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"grasp_11": {
|
| 281 |
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"confidence": 0.9059405326843262,
|
| 282 |
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"position": [
|
| 283 |
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|
| 284 |
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-0.08645426224393304,
|
| 285 |
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0.04770679942521383
|
| 286 |
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],
|
| 287 |
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"orientation": {
|
| 288 |
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"w": 0.37485870260056153,
|
| 289 |
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"xyz": [
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| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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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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"part_name": "exposed inner edge",
|
| 300 |
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"mask_color": "Red",
|
| 301 |
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"graspable": false,
|
| 302 |
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"grasp_scenarios": [],
|
| 303 |
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"functional_labels": [
|
| 304 |
+
"form the visible edge of the inner jaw opening",
|
| 305 |
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"provide contour clearance for the clip mechanism",
|
| 306 |
+
"expose part of the inner structure near the opening"
|
| 307 |
+
],
|
| 308 |
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"semantic_description": "Thin exposed reddish-brown edge visible along a small section near the center opening of the clip, appearing as a narrow strip on the side of the leather-covered body rather than a separate metallic mechanism.",
|
| 309 |
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"id": 0,
|
| 310 |
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"grasp_group": {}
|
| 311 |
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}
|
| 312 |
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],
|
| 313 |
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"quality_check": {
|
| 314 |
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"success": false,
|
| 315 |
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"message": "Red part misidentified and described incorrectly; it is exposed metal clip hardware, not a reddish-brown inner edge."
|
| 316 |
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}
|
| 317 |
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}
|
dataset/bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:30afb426411b07b48be592a761571997efae8931bd82a45d559739ff3495ab62
|
| 3 |
+
size 3787972
|
dataset/bathroom_supplies/personal_care/63568d3736e152b696a7113b7e848036/hair_clip_023.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>
|