Add asset bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20
Browse files- .gitattributes +2 -1
- dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/affordance/affordance_annot.json +336 -0
- dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/razor_009.urdf +1 -0
.gitattributes
CHANGED
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@@ -5855,4 +5855,5 @@ dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/afforda
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| 5855 |
dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5856 |
dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5857 |
dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5858 |
-
dataset/bathroom_supplies/personal_care/
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| 5855 |
dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5856 |
dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5857 |
dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5858 |
+
dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5859 |
+
dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "razor handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and hold the razor during shaving",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the handle to orient the shaving head against the face",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to place the razor into or remove it from storage",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support controlled manipulation",
|
| 24 |
+
"connect to the shaving head",
|
| 25 |
+
"provide reach and leverage",
|
| 26 |
+
"house internal electronics"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long curved dark gray plastic handle with a mostly matte to satin finish, hard smooth texture, and small printed branding and power-button details, forming the largest rear portion of the razor.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.9896364808082581,
|
| 33 |
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"position": [
|
| 34 |
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|
| 35 |
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-0.05165640637278557,
|
| 36 |
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|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.07797753478292939,
|
| 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_3": {
|
| 48 |
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"confidence": 0.989619791507721,
|
| 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": 0.1672057080953673,
|
| 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_4": {
|
| 64 |
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"confidence": 0.9896005988121033,
|
| 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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],
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| 70 |
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"orientation": {
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| 71 |
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"w": 0.33152398212839257,
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| 72 |
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"xyz": [
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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_8": {
|
| 80 |
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"confidence": 0.9890768527984619,
|
| 81 |
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"position": [
|
| 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": 0.05885531342277995,
|
| 88 |
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"xyz": [
|
| 89 |
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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_9": {
|
| 96 |
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"confidence": 0.9889705181121826,
|
| 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": {
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| 103 |
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"w": 0.4532855509970235,
|
| 104 |
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"xyz": [
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| 105 |
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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_10": {
|
| 112 |
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"confidence": 0.9888443350791931,
|
| 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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],
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| 118 |
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"orientation": {
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| 119 |
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"xyz": [
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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_13": {
|
| 128 |
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"confidence": 0.9883022904396057,
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| 129 |
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"position": [
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],
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"orientation": {
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"w": 0.5163905125208131,
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| 140 |
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]
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| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_14": {
|
| 144 |
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"confidence": 0.9881546497344971,
|
| 145 |
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"position": [
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|
| 149 |
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],
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| 150 |
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"orientation": {
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"w": 0.07473606763990784,
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"xyz": [
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| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_15": {
|
| 160 |
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"confidence": 0.9880253672599792,
|
| 161 |
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"position": [
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| 162 |
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],
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"orientation": {
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| 167 |
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"w": 0.08888521966536413,
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| 168 |
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"xyz": [
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| 172 |
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]
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| 173 |
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}
|
| 174 |
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},
|
| 175 |
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"grasp_18": {
|
| 176 |
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"confidence": 0.987773597240448,
|
| 177 |
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"position": [
|
| 178 |
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|
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|
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],
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"orientation": {
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|
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]
|
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}
|
| 190 |
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},
|
| 191 |
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"grasp_19": {
|
| 192 |
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"confidence": 0.9876240491867065,
|
| 193 |
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"position": [
|
| 194 |
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|
| 195 |
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| 196 |
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],
|
| 198 |
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"orientation": {
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| 199 |
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"xyz": [
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| 204 |
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]
|
| 205 |
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|
| 206 |
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}
|
| 207 |
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}
|
| 208 |
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},
|
| 209 |
+
{
|
| 210 |
+
"part_name": "shaver head",
|
| 211 |
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"mask_color": "Orange",
|
| 212 |
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"graspable": true,
|
| 213 |
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|
| 214 |
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{
|
| 215 |
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"scenario": "delicately grasp the head to stabilize the razor during maintenance or cleaning",
|
| 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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|
| 222 |
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| 223 |
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|
| 224 |
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"cut stubble",
|
| 225 |
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"contact the skin",
|
| 226 |
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"follow facial contours",
|
| 227 |
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"support rotary shaving",
|
| 228 |
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"define shaving end"
|
| 229 |
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],
|
| 230 |
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"semantic_description": "Compact black and silver rotary shaving head assembly with three circular cutter modules, reflective metallic cutter faces, hard smooth surfaces, and a slightly raised rounded form at the front of the razor.",
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| 231 |
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"id": 4,
|
| 232 |
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|
| 233 |
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|
| 234 |
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| 235 |
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| 330 |
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| 331 |
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],
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| 332 |
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"quality_check": {
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| 333 |
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"success": true,
|
| 334 |
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"message": "YES"
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| 335 |
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}
|
| 336 |
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}
|
dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/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 sha256:08a5b23d582148fda45fc9760f6ddf64f12089347833095ba4b2473f5192a003
|
| 3 |
+
size 3778732
|
dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/razor_009.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|