Add asset bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0
Browse files
.gitattributes
CHANGED
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@@ -5817,3 +5817,4 @@ dataset/bathroom_supplies/personal_care/ad2b0971aaad5bd095b41039d85c5e0c/afforda
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| 5817 |
dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5818 |
dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5819 |
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5817 |
dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5818 |
dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5819 |
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5820 |
+
dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1038 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "charging base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the base to lift and relocate the toothbrush with its stand",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the toothbrush while docking or undocking",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support upright storage",
|
| 19 |
+
"provide a stable stand",
|
| 20 |
+
"serve as charging dock base",
|
| 21 |
+
"stabilize the toothbrush when parked"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A wide round light beige plastic base with a smooth slightly glossy hard surface sits at the bottom as the largest support piece and appears like a docking stand.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_3": {
|
| 27 |
+
"confidence": 0.8111985921859741,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.08580321713816375,
|
| 30 |
+
-0.00823423737892881,
|
| 31 |
+
-0.13510556891560555
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6728501128959622,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.33283675576319904,
|
| 37 |
+
0.3097187674886416,
|
| 38 |
+
-0.5835809323943303
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_7": {
|
| 43 |
+
"confidence": 0.7853628396987915,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
+
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|
| 47 |
+
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|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6615454513422254,
|
| 51 |
+
"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
+
0.5923803187298268
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_9": {
|
| 59 |
+
"confidence": 0.7555238604545593,
|
| 60 |
+
"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
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"w": 0.5968982667032992,
|
| 67 |
+
"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_13": {
|
| 75 |
+
"confidence": 0.7470711469650269,
|
| 76 |
+
"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
+
"orientation": {
|
| 82 |
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|
| 83 |
+
"xyz": [
|
| 84 |
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|
| 85 |
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0.3387912283229859,
|
| 86 |
+
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|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_14": {
|
| 91 |
+
"confidence": 0.7344701290130615,
|
| 92 |
+
"position": [
|
| 93 |
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|
| 94 |
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|
| 95 |
+
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|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.9178263479801946,
|
| 99 |
+
"xyz": [
|
| 100 |
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|
| 101 |
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0.02236507827370038,
|
| 102 |
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0.022211276122989843
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_17": {
|
| 107 |
+
"confidence": 0.7238994836807251,
|
| 108 |
+
"position": [
|
| 109 |
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|
| 110 |
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0.014442590938415378,
|
| 111 |
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-0.1342243142426014
|
| 112 |
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],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.539848665078599,
|
| 115 |
+
"xyz": [
|
| 116 |
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|
| 117 |
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|
| 118 |
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0.700147835066945
|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "front handle shell",
|
| 126 |
+
"mask_color": "Yellow",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "grasp the handle body to pick up the toothbrush from the stand",
|
| 131 |
+
"confidence": 0.94
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"scenario": "hold the handle during brushing-oriented manipulation",
|
| 135 |
+
"confidence": 0.91
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "grasp the handle to place the toothbrush into the charging base",
|
| 139 |
+
"confidence": 0.86
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"main grip surface",
|
| 144 |
+
"house internal electronics",
|
| 145 |
+
"support control access",
|
| 146 |
+
"connect brush head to base"
|
| 147 |
+
],
|
| 148 |
+
"semantic_description": "The front side of the handle is white plastic with gold trim accents, a smooth glossy hard finish, and a long rounded cylindrical shape forming the main body below the neck.",
|
| 149 |
+
"id": 3,
|
| 150 |
+
"grasp_group": {
|
| 151 |
+
"grasp_41": {
|
| 152 |
+
"confidence": 0.7314490079879761,
|
| 153 |
+
"position": [
|
| 154 |
+
0.09772234514821321,
|
| 155 |
+
-0.003085617965552956,
|
| 156 |
+
-0.0701461136341095
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.5454288016135737,
|
| 160 |
+
"xyz": [
|
| 161 |
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0.42277012332130937,
|
| 162 |
+
-0.4157804306402917,
|
| 163 |
+
-0.5923676887658874
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_43": {
|
| 168 |
+
"confidence": 0.9565467834472656,
|
| 169 |
+
"position": [
|
| 170 |
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-0.09344736381899565,
|
| 171 |
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|
| 172 |
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0.011954240500926971
|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.4693637874507956,
|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_44": {
|
| 184 |
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"confidence": 0.9388346672058105,
|
| 185 |
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"position": [
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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|
| 192 |
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| 193 |
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|
| 194 |
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|
| 195 |
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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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"confidence": 0.9237799048423767,
|
| 201 |
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|
| 202 |
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|
| 203 |
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0.0241358028142713,
|
| 204 |
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|
| 205 |
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],
|
| 206 |
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"orientation": {
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 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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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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| 221 |
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],
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| 222 |
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|
| 223 |
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|
| 224 |
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|
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| 228 |
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]
|
| 229 |
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}
|
| 230 |
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},
|
| 231 |
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"grasp_47": {
|
| 232 |
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"confidence": 0.9000727534294128,
|
| 233 |
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|
| 234 |
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],
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| 238 |
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]
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| 246 |
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},
|
| 247 |
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|
| 248 |
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],
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| 262 |
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},
|
| 263 |
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|
| 264 |
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| 265 |
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| 269 |
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],
|
| 270 |
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| 271 |
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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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|
| 281 |
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|
| 282 |
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|
| 283 |
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0.009939054900314659,
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| 285 |
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],
|
| 286 |
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"orientation": {
|
| 287 |
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| 288 |
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| 292 |
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]
|
| 293 |
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}
|
| 294 |
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},
|
| 295 |
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"grasp_51": {
|
| 296 |
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"confidence": 0.7714682817459106,
|
| 297 |
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| 298 |
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|
| 299 |
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|
| 300 |
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| 301 |
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],
|
| 302 |
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"orientation": {
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| 304 |
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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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"grasp_52": {
|
| 312 |
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|
| 313 |
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"position": [
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|
| 315 |
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0.020095189043786377,
|
| 316 |
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|
| 317 |
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| 973 |
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}
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| 974 |
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},
|
| 975 |
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{
|
| 976 |
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"part_name": "bristle head",
|
| 977 |
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"mask_color": "Pink",
|
| 978 |
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"graspable": false,
|
| 979 |
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"grasp_scenarios": [],
|
| 980 |
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"functional_labels": [
|
| 981 |
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"clean teeth surfaces",
|
| 982 |
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"scrub along gums",
|
| 983 |
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"contact toothpaste and water",
|
| 984 |
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"provide brushing interface"
|
| 985 |
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],
|
| 986 |
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"semantic_description": "The small oblong brush head carries pale bristles with a soft fine texture on a compact rounded tip at the top of the toothbrush.",
|
| 987 |
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"id": 8,
|
| 988 |
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"grasp_group": {}
|
| 989 |
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},
|
| 990 |
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{
|
| 991 |
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"part_name": "power button",
|
| 992 |
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"mask_color": "Cyan",
|
| 993 |
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"graspable": false,
|
| 994 |
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"grasp_scenarios": [],
|
| 995 |
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"functional_labels": [
|
| 996 |
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"turn the toothbrush on and off",
|
| 997 |
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"provide user control input",
|
| 998 |
+
"indicate control location"
|
| 999 |
+
],
|
| 1000 |
+
"semantic_description": "A small turquoise oval button is inset on the front handle, appearing rubbery or soft-touch with a smooth finish and slightly raised tactile profile.",
|
| 1001 |
+
"id": 6,
|
| 1002 |
+
"grasp_group": {}
|
| 1003 |
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},
|
| 1004 |
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{
|
| 1005 |
+
"part_name": "collar ring",
|
| 1006 |
+
"mask_color": "Magenta",
|
| 1007 |
+
"graspable": false,
|
| 1008 |
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"grasp_scenarios": [],
|
| 1009 |
+
"functional_labels": [
|
| 1010 |
+
"transition between handle and neck",
|
| 1011 |
+
"cover seam",
|
| 1012 |
+
"provide decorative accent",
|
| 1013 |
+
"help define head attachment area"
|
| 1014 |
+
],
|
| 1015 |
+
"semantic_description": "A narrow metallic gold ring encircles the top of the handle below the neck, with a smooth reflective finish and thin band-like shape.",
|
| 1016 |
+
"id": 7,
|
| 1017 |
+
"grasp_group": {}
|
| 1018 |
+
},
|
| 1019 |
+
{
|
| 1020 |
+
"part_name": "side accent strip",
|
| 1021 |
+
"mask_color": "Orange",
|
| 1022 |
+
"graspable": false,
|
| 1023 |
+
"grasp_scenarios": [],
|
| 1024 |
+
"functional_labels": [
|
| 1025 |
+
"provide decorative trim",
|
| 1026 |
+
"visually define handle edges",
|
| 1027 |
+
"mark side contour"
|
| 1028 |
+
],
|
| 1029 |
+
"semantic_description": "A slim metallic gold accent strip runs vertically along the handle side, with a reflective smooth finish and elongated narrow shape near the side edges.",
|
| 1030 |
+
"id": 4,
|
| 1031 |
+
"grasp_group": {}
|
| 1032 |
+
}
|
| 1033 |
+
],
|
| 1034 |
+
"quality_check": {
|
| 1035 |
+
"success": true,
|
| 1036 |
+
"message": "YES"
|
| 1037 |
+
}
|
| 1038 |
+
}
|
dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e35e5c57e53e8fc49e24c03604f29fe2b2226d77bbeeb34d42b53c7108215e4
|
| 3 |
+
size 3787968
|