Add asset bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62
Browse files- .gitattributes +2 -1
- dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/affordance_annot.json +339 -0
- dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/comb_030.urdf +1 -0
.gitattributes
CHANGED
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@@ -5734,4 +5734,5 @@ dataset/bathroom_supplies/personal_care/0ab77ddb60f655e1b864970c74941f66/afforda
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| 5734 |
dataset/bathroom_supplies/personal_care/0b26dafeb4fa515d8b4bee10cc0047c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5735 |
dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5736 |
dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5737 |
-
dataset/bathroom_supplies/personal_care/
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| 5734 |
dataset/bathroom_supplies/personal_care/0b26dafeb4fa515d8b4bee10cc0047c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5735 |
dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5736 |
dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5737 |
+
dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5738 |
+
dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,339 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb body with handle",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the narrow handle to pick up and orient the comb",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body from the sides to stabilize the comb during grooming",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch near the hanging-hole end to reposition or hang the comb",
|
| 18 |
+
"confidence": 0.71
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support comb structure",
|
| 24 |
+
"position the comb",
|
| 25 |
+
"connect the handle to the bristle pad",
|
| 26 |
+
"allow hanging by the hole"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Light blue molded plastic body with a smooth slightly glossy surface, a round cartoon bear-head shaped brush head with two small ear-like bumps, and an integrated short handle with a circular hanging hole.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
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"confidence": 0.9729087352752686,
|
| 33 |
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"position": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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],
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| 38 |
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"orientation": {
|
| 39 |
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"w": 0.45695506090353033,
|
| 40 |
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"xyz": [
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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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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9700093865394592,
|
| 49 |
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"position": [
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| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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| 55 |
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"w": 0.47046559268402793,
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| 56 |
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"xyz": [
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| 59 |
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| 60 |
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]
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| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.9699798822402954,
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| 65 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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"w": 0.49330159445396515,
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| 72 |
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"xyz": [
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| 75 |
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| 76 |
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]
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| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9695389270782471,
|
| 81 |
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"position": [
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|
| 84 |
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| 85 |
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],
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| 86 |
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"orientation": {
|
| 87 |
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"w": 0.5329023675935824,
|
| 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_4": {
|
| 96 |
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"confidence": 0.9692516922950745,
|
| 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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],
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| 102 |
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"orientation": {
|
| 103 |
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"w": 0.53044444031749,
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"xyz": [
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_5": {
|
| 112 |
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"confidence": 0.9595698118209839,
|
| 113 |
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"position": [
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| 114 |
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| 115 |
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],
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"orientation": {
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| 120 |
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]
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|
| 126 |
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},
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"grasp_6": {
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| 128 |
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}
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},
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"grasp_8": {
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| 144 |
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"orientation": {
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"grasp_9": {
|
| 160 |
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"confidence": 0.9511363506317139,
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"position": [
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"orientation": {
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"grasp_10": {
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| 176 |
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"confidence": 0.9509394764900208,
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"position": [
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|
| 190 |
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"grasp_11": {
|
| 192 |
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"confidence": 0.9508452415466309,
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"orientation": {
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"grasp_13": {
|
| 208 |
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"confidence": 0.9493570327758789,
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| 237 |
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| 238 |
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| 239 |
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|
| 240 |
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| 241 |
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],
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},
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|
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| 289 |
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| 292 |
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|
| 293 |
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],
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| 294 |
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"orientation": {
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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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|
| 300 |
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]
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| 301 |
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}
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| 302 |
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}
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| 303 |
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}
|
| 304 |
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},
|
| 305 |
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{
|
| 306 |
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"part_name": "bristle pad and bristles",
|
| 307 |
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"mask_color": "Navy",
|
| 308 |
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"graspable": false,
|
| 309 |
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"grasp_scenarios": [],
|
| 310 |
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"functional_labels": [
|
| 311 |
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"brush hair",
|
| 312 |
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"detangle strands",
|
| 313 |
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"massage scalp",
|
| 314 |
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"provide brushing contact surface"
|
| 315 |
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],
|
| 316 |
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"semantic_description": "Dense cluster of short flexible light blue plastic bristles with rounded tips, mounted on a raised oval pad on the top of the brush head.",
|
| 317 |
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"id": 13,
|
| 318 |
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"grasp_group": {}
|
| 319 |
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},
|
| 320 |
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{
|
| 321 |
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"part_name": "printed decoration and white face accents",
|
| 322 |
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"mask_color": "Gray",
|
| 323 |
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"graspable": false,
|
| 324 |
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"grasp_scenarios": [],
|
| 325 |
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"functional_labels": [
|
| 326 |
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"decorate the comb",
|
| 327 |
+
"provide character styling",
|
| 328 |
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"indicate the front side visually"
|
| 329 |
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],
|
| 330 |
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"semantic_description": "Flat decorative markings on the front face, including a small Mickey Mouse print and Disney text on the handle area, plus white triangular face accents on the main head surface.",
|
| 331 |
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"id": 15,
|
| 332 |
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"grasp_group": {}
|
| 333 |
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}
|
| 334 |
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],
|
| 335 |
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"quality_check": {
|
| 336 |
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"success": false,
|
| 337 |
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"message": "Decoration identity is wrong; image shows Mickey print but no white face accents. Bristle pad description also misstates pad shape/color distinction."
|
| 338 |
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}
|
| 339 |
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}
|
dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/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 sha256:274ebbe7b2a49eed51cc76648ebe88144f034555be4da308556b043741a18c9e
|
| 3 |
+
size 3812712
|
dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/comb_030.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>
|