Add asset bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/affordance/affordance_annot.json +929 -0
- dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5810,4 +5810,4 @@ dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/afforda
|
|
| 5810 |
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5811 |
dataset/bathroom_supplies/personal_care/a74b22d376535209ac222a1f09479dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5812 |
dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5813 |
-
dataset/bathroom_supplies/personal_care/
|
|
|
|
| 5810 |
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5811 |
dataset/bathroom_supplies/personal_care/a74b22d376535209ac222a1f09479dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5812 |
dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5813 |
+
dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,929 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main handle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main handle to pick up and hold the shaver",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the shaving head during use",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to place the shaver into storage or a charging stand",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support handheld control",
|
| 24 |
+
"connect handle to head",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white plastic handle body with a smooth matte finish, gently curved and tapered, forming the main elongated body of the shaver.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9790875911712646,
|
| 32 |
+
"position": [
|
| 33 |
+
0.037309058010578156,
|
| 34 |
+
-0.005501927371369675,
|
| 35 |
+
0.107440275256522
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.01973981833613033,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.709561421005274,
|
| 41 |
+
-0.704214217401905,
|
| 42 |
+
-0.014671925642359314
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9783617854118347,
|
| 48 |
+
"position": [
|
| 49 |
+
0.06153484806418419,
|
| 50 |
+
0.0049637457996141165,
|
| 51 |
+
0.10582908720243722
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.07384743134114012,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6932403644633855,
|
| 57 |
+
-0.7159747541022207,
|
| 58 |
+
-0.0366674985682466
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9780154824256897,
|
| 64 |
+
"position": [
|
| 65 |
+
0.04655541107058525,
|
| 66 |
+
-0.003021128271939233,
|
| 67 |
+
0.10665948421228677
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.056886654440477497,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6965294567800115,
|
| 73 |
+
-0.7147793321839397,
|
| 74 |
+
0.026478872086890932
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9762402772903442,
|
| 80 |
+
"position": [
|
| 81 |
+
0.04693691059947014,
|
| 82 |
+
0.0008909857424441725,
|
| 83 |
+
0.10797247022856027
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.05447117437162483,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6993319948575526,
|
| 89 |
+
-0.7115399520163407,
|
| 90 |
+
-0.04097009660369463
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9725996851921082,
|
| 96 |
+
"position": [
|
| 97 |
+
0.11383551731705666,
|
| 98 |
+
0.0024580890021752566,
|
| 99 |
+
0.09925336868036538
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.14042396563196496,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.6679590195701125,
|
| 105 |
+
-0.7152961973056888,
|
| 106 |
+
0.14987731039469424
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9725387692451477,
|
| 112 |
+
"position": [
|
| 113 |
+
0.027530495077371597,
|
| 114 |
+
-0.0025144135870505124,
|
| 115 |
+
0.10960861772764474
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.05954063332560854,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.7004231433026437,
|
| 121 |
+
-0.7097869058190985,
|
| 122 |
+
0.04544096870644168
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9724533557891846,
|
| 128 |
+
"position": [
|
| 129 |
+
0.022856470197439194,
|
| 130 |
+
-0.004170799657003954,
|
| 131 |
+
0.11161727935541421
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.05493016311666146,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.7008320516670828,
|
| 137 |
+
-0.7103800114264542,
|
| 138 |
+
0.03431256186639105
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9724364280700684,
|
| 144 |
+
"position": [
|
| 145 |
+
0.10383271053433418,
|
| 146 |
+
0.01131216759677045,
|
| 147 |
+
0.09694843471515924
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.11497733524143178,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.6725742748538627,
|
| 153 |
+
-0.70542926182186,
|
| 154 |
+
0.1918166148983083
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9723058938980103,
|
| 160 |
+
"position": [
|
| 161 |
+
0.02394428476691246,
|
| 162 |
+
0.005848146014614031,
|
| 163 |
+
0.11292709142435342
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.028925394066627103,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.6877619432191364,
|
| 169 |
+
-0.7214649512171438,
|
| 170 |
+
0.07506767082287774
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9703431725502014,
|
| 176 |
+
"position": [
|
| 177 |
+
0.07540242746472359,
|
| 178 |
+
-0.0034767524630296975,
|
| 179 |
+
0.1058778139995411
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.05905939815212821,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.6675607567315355,
|
| 185 |
+
-0.741189616334082,
|
| 186 |
+
0.0388918526232077
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9697254300117493,
|
| 192 |
+
"position": [
|
| 193 |
+
0.03202403709292412,
|
| 194 |
+
-0.007761266577290371,
|
| 195 |
+
0.10844333202112466
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.029642721715676067,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.6971703551103197,
|
| 201 |
+
-0.7125333402726219,
|
| 202 |
+
-0.07328740686214649
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9696238040924072,
|
| 208 |
+
"position": [
|
| 209 |
+
0.024326317012310028,
|
| 210 |
+
-0.0029391646676231176,
|
| 211 |
+
0.11402492702472955
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.0051384507853134195,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.7081026610665724,
|
| 217 |
+
0.7051544339664605,
|
| 218 |
+
0.036351643310952704
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9695357084274292,
|
| 224 |
+
"position": [
|
| 225 |
+
0.020654264837503433,
|
| 226 |
+
-0.001666307944105938,
|
| 227 |
+
0.11082197458017617
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.05530271755976928,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.6985912588565764,
|
| 233 |
+
-0.7120498501964981,
|
| 234 |
+
0.04355310912934704
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9694437980651855,
|
| 240 |
+
"position": [
|
| 241 |
+
0.025227006524801254,
|
| 242 |
+
-0.0021633899596054107,
|
| 243 |
+
0.10998180240858346
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.044538376731178754,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.7101156606419943,
|
| 249 |
+
-0.7006196962950724,
|
| 250 |
+
-0.053704028457246214
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.967151939868927,
|
| 256 |
+
"position": [
|
| 257 |
+
0.017822150141000748,
|
| 258 |
+
0.0013179075613152236,
|
| 259 |
+
0.11344368488062173
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.04407105214640972,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.6967163501676631,
|
| 265 |
+
-0.714486872498442,
|
| 266 |
+
0.04639589205041842
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9624871611595154,
|
| 272 |
+
"position": [
|
| 273 |
+
0.000984695740044117,
|
| 274 |
+
-0.0014060352987144142,
|
| 275 |
+
0.11234781623352319
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.008309105742442462,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.70885267699344,
|
| 281 |
+
0.7050028309466624,
|
| 282 |
+
0.02073281066778344
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9624342918395996,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.005151177756488323,
|
| 290 |
+
0.0014836744812782854,
|
| 291 |
+
0.1155480119632557
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.04080850708488596,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.7043417434113283,
|
| 297 |
+
-0.7067372638910508,
|
| 298 |
+
0.05253393251589701
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.9621501564979553,
|
| 304 |
+
"position": [
|
| 305 |
+
0.03452650085091591,
|
| 306 |
+
-0.0029999469697941095,
|
| 307 |
+
0.11398204148281366
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.042363197992132194,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.6965227149879093,
|
| 313 |
+
-0.7145190677239225,
|
| 314 |
+
-0.050239116440147544
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9620898962020874,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.001519136130809784,
|
| 322 |
+
0.008780991163803264,
|
| 323 |
+
0.11641382158268243
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.007093772801826496,
|
| 327 |
+
"xyz": [
|
| 328 |
+
-0.7089054564290849,
|
| 329 |
+
-0.7028405217961173,
|
| 330 |
+
0.058463092236623215
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.9611932039260864,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.009765508679265622,
|
| 338 |
+
-0.003603286837460473,
|
| 339 |
+
0.11384915292728692
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.004867014799847296,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.7063553574493757,
|
| 345 |
+
0.7070951176273935,
|
| 346 |
+
0.032479467314065764
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "handle side accent strip",
|
| 354 |
+
"mask_color": "Yellow",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "contact this side strip as part of a secure whole-handle grasp",
|
| 359 |
+
"confidence": 0.72
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "use the strip area for extra friction while reorienting the shaver",
|
| 363 |
+
"confidence": 0.68
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"improve grip",
|
| 368 |
+
"provide contact traction",
|
| 369 |
+
"aid orientation",
|
| 370 |
+
"decorate the handle edge"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "Long narrow side strip running along the handle edge and lower perimeter, appearing light gray to off-white rather than strongly contrasting, following the handle taper.",
|
| 373 |
+
"id": 3,
|
| 374 |
+
"grasp_group": {
|
| 375 |
+
"grasp_22": {
|
| 376 |
+
"confidence": 0.9818980097770691,
|
| 377 |
+
"position": [
|
| 378 |
+
0.06818249449133873,
|
| 379 |
+
0.00959099127794616,
|
| 380 |
+
-0.10863237350713462
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.6927709829849681,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.023366355893271747,
|
| 386 |
+
0.039652740031165146,
|
| 387 |
+
-0.7196874590781269
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_24": {
|
| 392 |
+
"confidence": 0.9808722734451294,
|
| 393 |
+
"position": [
|
| 394 |
+
0.12836049869656563,
|
| 395 |
+
-0.0111482250795234,
|
| 396 |
+
-0.1013859537197277
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.6729460200295301,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.20042552624593077,
|
| 402 |
+
-0.11767230669233186,
|
| 403 |
+
0.7022296567314453
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_25": {
|
| 408 |
+
"confidence": 0.9781391024589539,
|
| 409 |
+
"position": [
|
| 410 |
+
0.05588293448090553,
|
| 411 |
+
0.003959694382501766,
|
| 412 |
+
-0.10885634541045874
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.6992460784191598,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.007204658682377148,
|
| 418 |
+
0.021127326209118502,
|
| 419 |
+
-0.7145324700781281
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_27": {
|
| 424 |
+
"confidence": 0.9776711463928223,
|
| 425 |
+
"position": [
|
| 426 |
+
0.04692011699080467,
|
| 427 |
+
-0.012370564538286999,
|
| 428 |
+
-0.10929933458101004
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.6829850560400922,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.07216659057410989,
|
| 434 |
+
-0.011620465830507798,
|
| 435 |
+
-0.7267656852140879
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_32": {
|
| 440 |
+
"confidence": 0.9765521287918091,
|
| 441 |
+
"position": [
|
| 442 |
+
0.047996096312999725,
|
| 443 |
+
-0.010048324736999348,
|
| 444 |
+
-0.10972870409023017
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.6989281801566436,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.004446230839355272,
|
| 450 |
+
0.05185108739168898,
|
| 451 |
+
0.713295937707867
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
},
|
| 457 |
+
{
|
| 458 |
+
"part_name": "front lower grip panel",
|
| 459 |
+
"mask_color": "Purple",
|
| 460 |
+
"graspable": true,
|
| 461 |
+
"grasp_scenarios": [
|
| 462 |
+
{
|
| 463 |
+
"scenario": "grasp the lower front panel as part of a stable precision hold",
|
| 464 |
+
"confidence": 0.9
|
| 465 |
+
},
|
| 466 |
+
{
|
| 467 |
+
"scenario": "pinch this area to stabilize the shaver while pressing the power button",
|
| 468 |
+
"confidence": 0.8
|
| 469 |
+
}
|
| 470 |
+
],
|
| 471 |
+
"functional_labels": [
|
| 472 |
+
"provide gripping area",
|
| 473 |
+
"stabilize handling",
|
| 474 |
+
"support fine control",
|
| 475 |
+
"form lower front handle surface"
|
| 476 |
+
],
|
| 477 |
+
"semantic_description": "Elongated lower front panel on the handle, light gray to white with a smooth finish and tapered shape extending toward the base.",
|
| 478 |
+
"id": 5,
|
| 479 |
+
"grasp_group": {
|
| 480 |
+
"grasp_40": {
|
| 481 |
+
"confidence": 0.9281570315361023,
|
| 482 |
+
"position": [
|
| 483 |
+
-0.03954821266233921,
|
| 484 |
+
-0.006122069928096607,
|
| 485 |
+
-0.11265847354661673
|
| 486 |
+
],
|
| 487 |
+
"orientation": {
|
| 488 |
+
"w": 0.7173635886416081,
|
| 489 |
+
"xyz": [
|
| 490 |
+
-0.022178854317521396,
|
| 491 |
+
-0.014077066774518032,
|
| 492 |
+
-0.6962035738944617
|
| 493 |
+
]
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"grasp_41": {
|
| 497 |
+
"confidence": 0.9253113269805908,
|
| 498 |
+
"position": [
|
| 499 |
+
-0.03860791213810444,
|
| 500 |
+
-0.004472384724067524,
|
| 501 |
+
-0.11246956407558173
|
| 502 |
+
],
|
| 503 |
+
"orientation": {
|
| 504 |
+
"w": 0.71209170775926,
|
| 505 |
+
"xyz": [
|
| 506 |
+
-0.008321760288504901,
|
| 507 |
+
-0.0049068411694216385,
|
| 508 |
+
-0.7020199932736527
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"grasp_42": {
|
| 513 |
+
"confidence": 0.9245195984840393,
|
| 514 |
+
"position": [
|
| 515 |
+
-0.03464866243302822,
|
| 516 |
+
-0.0029704203188885003,
|
| 517 |
+
-0.11095956235658377
|
| 518 |
+
],
|
| 519 |
+
"orientation": {
|
| 520 |
+
"w": 0.6974250277947363,
|
| 521 |
+
"xyz": [
|
| 522 |
+
-0.01497287317601592,
|
| 523 |
+
0.0009456766481820145,
|
| 524 |
+
0.71650069739676
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
},
|
| 528 |
+
"grasp_43": {
|
| 529 |
+
"confidence": 0.9065309762954712,
|
| 530 |
+
"position": [
|
| 531 |
+
-0.034807322546839714,
|
| 532 |
+
-0.017082224163459614,
|
| 533 |
+
-0.1111539852572605
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.7092785061667122,
|
| 537 |
+
"xyz": [
|
| 538 |
+
-0.050330184959216866,
|
| 539 |
+
-0.04938661677517753,
|
| 540 |
+
-0.7013927824374798
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"grasp_44": {
|
| 545 |
+
"confidence": 0.9053921103477478,
|
| 546 |
+
"position": [
|
| 547 |
+
-0.03801027499139309,
|
| 548 |
+
-0.003863134916173294,
|
| 549 |
+
-0.11646336584817618
|
| 550 |
+
],
|
| 551 |
+
"orientation": {
|
| 552 |
+
"w": 0.7070054032440781,
|
| 553 |
+
"xyz": [
|
| 554 |
+
-0.0058195955528772166,
|
| 555 |
+
0.0012243702426395497,
|
| 556 |
+
-0.7071831396525141
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"grasp_46": {
|
| 561 |
+
"confidence": 0.8855324387550354,
|
| 562 |
+
"position": [
|
| 563 |
+
-0.03545014001429081,
|
| 564 |
+
-0.0020162656728643924,
|
| 565 |
+
-0.10730205744039267
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.7007942554956527,
|
| 569 |
+
"xyz": [
|
| 570 |
+
0.01347756015722727,
|
| 571 |
+
0.019114078741761964,
|
| 572 |
+
0.7129799568223187
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_47": {
|
| 577 |
+
"confidence": 0.8813520073890686,
|
| 578 |
+
"position": [
|
| 579 |
+
-0.035428594797849655,
|
| 580 |
+
0.0055682337551843375,
|
| 581 |
+
-0.10611771314870566
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.6979744068417878,
|
| 585 |
+
"xyz": [
|
| 586 |
+
0.036040743566306405,
|
| 587 |
+
-0.00040775508226698065,
|
| 588 |
+
0.7152150906775074
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"grasp_48": {
|
| 593 |
+
"confidence": 0.8163156509399414,
|
| 594 |
+
"position": [
|
| 595 |
+
-0.040256522595882416,
|
| 596 |
+
0.029871342208934948,
|
| 597 |
+
-0.10433940112125129
|
| 598 |
+
],
|
| 599 |
+
"orientation": {
|
| 600 |
+
"w": 0.6883189840592544,
|
| 601 |
+
"xyz": [
|
| 602 |
+
0.1216905369091888,
|
| 603 |
+
-0.0920995885957222,
|
| 604 |
+
0.7091727964261514
|
| 605 |
+
]
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"grasp_49": {
|
| 609 |
+
"confidence": 0.7602518200874329,
|
| 610 |
+
"position": [
|
| 611 |
+
-0.04098599590361118,
|
| 612 |
+
-0.005594219110207632,
|
| 613 |
+
-0.10497860878240317
|
| 614 |
+
],
|
| 615 |
+
"orientation": {
|
| 616 |
+
"w": 0.7106678996683496,
|
| 617 |
+
"xyz": [
|
| 618 |
+
-0.03546700050157198,
|
| 619 |
+
0.010739512500795523,
|
| 620 |
+
-0.7025509882760426
|
| 621 |
+
]
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"grasp_50": {
|
| 625 |
+
"confidence": 0.6935263276100159,
|
| 626 |
+
"position": [
|
| 627 |
+
-0.01860549207776785,
|
| 628 |
+
-0.018227525550173596,
|
| 629 |
+
-0.10300051688682288
|
| 630 |
+
],
|
| 631 |
+
"orientation": {
|
| 632 |
+
"w": 0.7233646329565102,
|
| 633 |
+
"xyz": [
|
| 634 |
+
0.01785215711135438,
|
| 635 |
+
-0.1325639944530086,
|
| 636 |
+
-0.6773859281449738
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"grasp_51": {
|
| 641 |
+
"confidence": 0.6774219274520874,
|
| 642 |
+
"position": [
|
| 643 |
+
-0.028075506910681725,
|
| 644 |
+
0.005411755264503881,
|
| 645 |
+
-0.10220831900369376
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.7219604685730175,
|
| 649 |
+
"xyz": [
|
| 650 |
+
0.033633416979947206,
|
| 651 |
+
-0.005745619053056594,
|
| 652 |
+
-0.6910925140252784
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_52": {
|
| 657 |
+
"confidence": 0.49641504883766174,
|
| 658 |
+
"position": [
|
| 659 |
+
-0.04858245328068733,
|
| 660 |
+
-0.006580773770110682,
|
| 661 |
+
-0.10136817663442343
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.7013002708206695,
|
| 665 |
+
"xyz": [
|
| 666 |
+
-0.05465137090865066,
|
| 667 |
+
0.02495027703265762,
|
| 668 |
+
-0.7103299525436436
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_53": {
|
| 673 |
+
"confidence": 0.486785888671875,
|
| 674 |
+
"position": [
|
| 675 |
+
-0.041341375559568405,
|
| 676 |
+
-0.006273450824664906,
|
| 677 |
+
-0.10109275847207755
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.7037005828866373,
|
| 681 |
+
"xyz": [
|
| 682 |
+
-0.005912767930587315,
|
| 683 |
+
0.02312377406952515,
|
| 684 |
+
0.7100956413703634
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_54": {
|
| 689 |
+
"confidence": 0.2772718667984009,
|
| 690 |
+
"position": [
|
| 691 |
+
0.005387233570218086,
|
| 692 |
+
0.010909836244536564,
|
| 693 |
+
-0.0958610576344654
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.7007355632434513,
|
| 697 |
+
"xyz": [
|
| 698 |
+
-0.11370655895907686,
|
| 699 |
+
-0.19581911688212061,
|
| 700 |
+
0.6765318634913475
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
},
|
| 704 |
+
"grasp_55": {
|
| 705 |
+
"confidence": 0.9052353501319885,
|
| 706 |
+
"position": [
|
| 707 |
+
-0.04214279353618622,
|
| 708 |
+
0.0010461928031872958,
|
| 709 |
+
-0.10923333733808249
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.7101010864653875,
|
| 713 |
+
"xyz": [
|
| 714 |
+
-0.0018056588980589752,
|
| 715 |
+
0.012291712225706575,
|
| 716 |
+
-0.7039901280608842
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_56": {
|
| 721 |
+
"confidence": 0.6873137950897217,
|
| 722 |
+
"position": [
|
| 723 |
+
-0.0463605560362339,
|
| 724 |
+
-0.004922319698380306,
|
| 725 |
+
-0.10328909277450293
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.699025175340005,
|
| 729 |
+
"xyz": [
|
| 730 |
+
0.0024431228856652324,
|
| 731 |
+
0.037010330102354216,
|
| 732 |
+
0.7141344907348723
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_58": {
|
| 737 |
+
"confidence": 0.26462554931640625,
|
| 738 |
+
"position": [
|
| 739 |
+
-0.0380544476211071,
|
| 740 |
+
-0.012991549010621384,
|
| 741 |
+
-0.09761220484506339
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.7076028986096187,
|
| 745 |
+
"xyz": [
|
| 746 |
+
-0.032430921762329,
|
| 747 |
+
0.041767482297768166,
|
| 748 |
+
0.7046288743838252
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_59": {
|
| 753 |
+
"confidence": 0.18060630559921265,
|
| 754 |
+
"position": [
|
| 755 |
+
-0.024304453283548355,
|
| 756 |
+
-0.017193265754031017,
|
| 757 |
+
-0.09521659731399268
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.7010372884943249,
|
| 761 |
+
"xyz": [
|
| 762 |
+
-0.11842739856511027,
|
| 763 |
+
-0.017285906894976888,
|
| 764 |
+
0.7030098639652527
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
}
|
| 768 |
+
}
|
| 769 |
+
},
|
| 770 |
+
{
|
| 771 |
+
"part_name": "power button",
|
| 772 |
+
"mask_color": "Green",
|
| 773 |
+
"graspable": false,
|
| 774 |
+
"grasp_scenarios": [],
|
| 775 |
+
"functional_labels": [
|
| 776 |
+
"turn the shaver on and off",
|
| 777 |
+
"provide user control input",
|
| 778 |
+
"indicate control location"
|
| 779 |
+
],
|
| 780 |
+
"semantic_description": "Small inset power button on the front of the handle, dark gray with a glowing blue power icon, positioned for thumb access.",
|
| 781 |
+
"id": 1,
|
| 782 |
+
"grasp_group": {}
|
| 783 |
+
},
|
| 784 |
+
{
|
| 785 |
+
"part_name": "neck accent ring",
|
| 786 |
+
"mask_color": "Cyan",
|
| 787 |
+
"graspable": false,
|
| 788 |
+
"grasp_scenarios": [],
|
| 789 |
+
"functional_labels": [
|
| 790 |
+
"visually separate handle and head",
|
| 791 |
+
"mark the transition below the head",
|
| 792 |
+
"provide trim around the neck"
|
| 793 |
+
],
|
| 794 |
+
"semantic_description": "Thin cyan or light blue accent ring around the top of the handle near the head, smooth and slightly glossy with a narrow band-like shape.",
|
| 795 |
+
"id": 6,
|
| 796 |
+
"grasp_group": {}
|
| 797 |
+
},
|
| 798 |
+
{
|
| 799 |
+
"part_name": "head side housing",
|
| 800 |
+
"mask_color": "Pink",
|
| 801 |
+
"graspable": false,
|
| 802 |
+
"grasp_scenarios": [],
|
| 803 |
+
"functional_labels": [
|
| 804 |
+
"support the foil assembly",
|
| 805 |
+
"protect internal cutter components",
|
| 806 |
+
"form the outer head casing"
|
| 807 |
+
],
|
| 808 |
+
"semantic_description": "Compact light gray to white side housing around the shaving head, made of smooth plastic with rounded edges at the front top of the shaver.",
|
| 809 |
+
"id": 8,
|
| 810 |
+
"grasp_group": {}
|
| 811 |
+
},
|
| 812 |
+
{
|
| 813 |
+
"part_name": "foil cutter surface",
|
| 814 |
+
"mask_color": "Lime Green",
|
| 815 |
+
"graspable": false,
|
| 816 |
+
"grasp_scenarios": [],
|
| 817 |
+
"functional_labels": [
|
| 818 |
+
"cut hair",
|
| 819 |
+
"contact skin during shaving",
|
| 820 |
+
"guide hair into cutters"
|
| 821 |
+
],
|
| 822 |
+
"semantic_description": "Rectangular metallic foil at the top of the shaving head with a reflective finish and fine perforated texture, forming the primary shaving surface.",
|
| 823 |
+
"id": 9,
|
| 824 |
+
"grasp_group": {}
|
| 825 |
+
},
|
| 826 |
+
{
|
| 827 |
+
"part_name": "foil frame",
|
| 828 |
+
"mask_color": "Orange",
|
| 829 |
+
"graspable": false,
|
| 830 |
+
"grasp_scenarios": [],
|
| 831 |
+
"functional_labels": [
|
| 832 |
+
"hold the foil assembly",
|
| 833 |
+
"frame the cutting surface",
|
| 834 |
+
"stabilize the head top"
|
| 835 |
+
],
|
| 836 |
+
"semantic_description": "Narrow frame directly beneath and around the foil, appearing light gray or metallic and outlining the rectangular cutter module.",
|
| 837 |
+
"id": 4,
|
| 838 |
+
"grasp_group": {}
|
| 839 |
+
},
|
| 840 |
+
{
|
| 841 |
+
"part_name": "head base collar",
|
| 842 |
+
"mask_color": "Brown",
|
| 843 |
+
"graspable": false,
|
| 844 |
+
"grasp_scenarios": [],
|
| 845 |
+
"functional_labels": [
|
| 846 |
+
"support head attachment",
|
| 847 |
+
"provide structural transition",
|
| 848 |
+
"position the shaving head"
|
| 849 |
+
],
|
| 850 |
+
"semantic_description": "Rounded collar-like section at the base of the head, light gray to white and smoothly curved between the handle neck and cutter housing.",
|
| 851 |
+
"id": 11,
|
| 852 |
+
"grasp_group": {}
|
| 853 |
+
},
|
| 854 |
+
{
|
| 855 |
+
"part_name": "head underside band",
|
| 856 |
+
"mask_color": "Maroon",
|
| 857 |
+
"graspable": false,
|
| 858 |
+
"grasp_scenarios": [],
|
| 859 |
+
"functional_labels": [
|
| 860 |
+
"cover internal head components",
|
| 861 |
+
"protect the head underside",
|
| 862 |
+
"reinforce the lower head structure"
|
| 863 |
+
],
|
| 864 |
+
"semantic_description": "Thin darker band beneath the head assembly, wrapping the lower front of the shaving module.",
|
| 865 |
+
"id": 12,
|
| 866 |
+
"grasp_group": {}
|
| 867 |
+
},
|
| 868 |
+
{
|
| 869 |
+
"part_name": "small side trim",
|
| 870 |
+
"mask_color": "Blue",
|
| 871 |
+
"graspable": false,
|
| 872 |
+
"grasp_scenarios": [],
|
| 873 |
+
"functional_labels": [
|
| 874 |
+
"provide minor trim detail",
|
| 875 |
+
"mark a casing boundary",
|
| 876 |
+
"cover a small edge area"
|
| 877 |
+
],
|
| 878 |
+
"semantic_description": "Very small dark trim piece along the side edge near the head, with minimal visible area.",
|
| 879 |
+
"id": 2,
|
| 880 |
+
"grasp_group": {}
|
| 881 |
+
},
|
| 882 |
+
{
|
| 883 |
+
"part_name": "small side insert",
|
| 884 |
+
"mask_color": "Olive",
|
| 885 |
+
"graspable": false,
|
| 886 |
+
"grasp_scenarios": [],
|
| 887 |
+
"functional_labels": [
|
| 888 |
+
"cover a small side area",
|
| 889 |
+
"fill a minor assembly gap",
|
| 890 |
+
"provide local trim"
|
| 891 |
+
],
|
| 892 |
+
"semantic_description": "Tiny insert near the side of the head, appearing as a small smooth piece between larger housing components.",
|
| 893 |
+
"id": 14,
|
| 894 |
+
"grasp_group": {}
|
| 895 |
+
},
|
| 896 |
+
{
|
| 897 |
+
"part_name": "handle end cap",
|
| 898 |
+
"mask_color": "Teal",
|
| 899 |
+
"graspable": false,
|
| 900 |
+
"grasp_scenarios": [],
|
| 901 |
+
"functional_labels": [
|
| 902 |
+
"close the handle end",
|
| 903 |
+
"protect internal components",
|
| 904 |
+
"finish the handle base"
|
| 905 |
+
],
|
| 906 |
+
"semantic_description": "Small cap-like piece at the bottom tip of the handle, smooth and rounded, closing the tapered end.",
|
| 907 |
+
"id": 10,
|
| 908 |
+
"grasp_group": {}
|
| 909 |
+
},
|
| 910 |
+
{
|
| 911 |
+
"part_name": "small head edge insert",
|
| 912 |
+
"mask_color": "Navy",
|
| 913 |
+
"graspable": false,
|
| 914 |
+
"grasp_scenarios": [],
|
| 915 |
+
"functional_labels": [
|
| 916 |
+
"cover a small edge area",
|
| 917 |
+
"provide trim detail",
|
| 918 |
+
"support local assembly fit"
|
| 919 |
+
],
|
| 920 |
+
"semantic_description": "Very small dark insert at the edge of the head assembly, visible as a minimal corner detail.",
|
| 921 |
+
"id": 13,
|
| 922 |
+
"grasp_group": {}
|
| 923 |
+
}
|
| 924 |
+
],
|
| 925 |
+
"quality_check": {
|
| 926 |
+
"success": false,
|
| 927 |
+
"message": "Several semantic descriptions use wrong colors/materials and some tiny trim parts are over-specific or mismatched to visible geometry."
|
| 928 |
+
}
|
| 929 |
+
}
|
dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7da95cf74097cdc788e63e443107f7821ce947947fcdb49a568be7b57ed7fa01
|
| 3 |
+
size 3804392
|
dataset/bathroom_supplies/personal_care/ab2fb5186bc655b9a02568b4213fbd6e/razor_020.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>
|