Add asset bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/affordance/affordance_annot.json +368 -0
- dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/razor_007.urdf +1 -0
.gitattributes
CHANGED
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@@ -5828,3 +5828,4 @@ dataset/bathroom_supplies/personal_care/ba77340e584e5b18816dbb06f36545f5/afforda
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| 5828 |
dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5829 |
dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5830 |
dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5828 |
dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5829 |
dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5830 |
dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5831 |
+
dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,368 @@
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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 electric razor during shaving",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the handle to orient the razor head against the face or another surface",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to place the razor into storage or onto a charger",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support handling",
|
| 24 |
+
"position the razor head",
|
| 25 |
+
"house internal components"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical main body of the razor, white/silver hard plastic with a smooth matte finish, medium-sized and forming the central handle. It has printed markings and a small charging port on the front/side depending on view.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9915873408317566,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.0007278477374598756,
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| 39 |
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"xyz": [
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| 40 |
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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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"grasp_1": {
|
| 47 |
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"confidence": 0.9903566241264343,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.017683612337183484,
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"xyz": [
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| 59 |
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]
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| 60 |
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}
|
| 61 |
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},
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| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9898054599761963,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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],
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| 69 |
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"orientation": {
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"w": 0.015175669608825682,
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"xyz": [
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9892805218696594,
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| 80 |
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"position": [
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| 83 |
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],
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| 85 |
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"orientation": {
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| 86 |
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"w": 0.020763735554709655,
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| 87 |
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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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"grasp_4": {
|
| 95 |
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"confidence": 0.9891387820243835,
|
| 96 |
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"position": [
|
| 97 |
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| 98 |
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| 99 |
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],
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"orientation": {
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]
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}
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},
|
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"grasp_5": {
|
| 111 |
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"confidence": 0.9881216287612915,
|
| 112 |
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"position": [
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"grasp_6": {
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| 127 |
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"grasp_14": {
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| 219 |
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]
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| 220 |
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| 221 |
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},
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|
| 223 |
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"confidence": 0.9859302639961243,
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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|
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],
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],
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}
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}
|
| 255 |
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},
|
| 256 |
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{
|
| 257 |
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"part_name": "power button",
|
| 258 |
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"mask_color": "Blue",
|
| 259 |
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"graspable": false,
|
| 260 |
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"grasp_scenarios": [],
|
| 261 |
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"functional_labels": [
|
| 262 |
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"turn the razor on and off",
|
| 263 |
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"user control input",
|
| 264 |
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"indicate operating location"
|
| 265 |
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],
|
| 266 |
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"semantic_description": "Small circular gray button set into the upper front of the handle, with a smooth slightly recessed surface and a visible power symbol.",
|
| 267 |
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"id": 2,
|
| 268 |
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"grasp_group": {}
|
| 269 |
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},
|
| 270 |
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{
|
| 271 |
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"part_name": "shaver head",
|
| 272 |
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"mask_color": "Orange",
|
| 273 |
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"graspable": true,
|
| 274 |
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"grasp_scenarios": [
|
| 275 |
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{
|
| 276 |
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"scenario": "grasp the shaver head delicately to stabilize the razor during maintenance",
|
| 277 |
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"confidence": 0.31
|
| 278 |
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},
|
| 279 |
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{
|
| 280 |
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"scenario": "grasp the shaver head to remove or attach a head module",
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| 281 |
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"confidence": 0.43
|
| 282 |
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}
|
| 283 |
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],
|
| 284 |
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"functional_labels": [
|
| 285 |
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"cut facial hair",
|
| 286 |
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"contact the skin",
|
| 287 |
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"provide shaving interface",
|
| 288 |
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"follow facial contours"
|
| 289 |
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],
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| 290 |
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"semantic_description": "Compact rotary head assembly at the top, consisting of a white/silver housing with three circular shaving cutter faces made of metallic-looking mesh/rings, rounded and slightly protruding for skin contact.",
|
| 291 |
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"id": 4,
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],
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}
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}
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},
|
| 311 |
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{
|
| 312 |
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"part_name": "base cap",
|
| 313 |
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"mask_color": "Brown",
|
| 314 |
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"graspable": true,
|
| 315 |
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|
| 316 |
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{
|
| 317 |
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"scenario": "pinch the bottom end cap to stabilize the razor while repositioning or retrieving it",
|
| 318 |
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"confidence": 0.34
|
| 319 |
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}
|
| 320 |
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],
|
| 321 |
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"functional_labels": [
|
| 322 |
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"close the handle end",
|
| 323 |
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"protect internal components",
|
| 324 |
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"provide resting end surface"
|
| 325 |
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],
|
| 326 |
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"semantic_description": "Rounded end cap at the bottom of the handle, matching the white/silver plastic body with a smooth matte finish and appearing as a separate circular end piece.",
|
| 327 |
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"id": 11,
|
| 328 |
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| 329 |
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"grasp_54": {
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],
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]
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}
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},
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}
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| 361 |
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| 362 |
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}
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| 363 |
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],
|
| 364 |
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"quality_check": {
|
| 365 |
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"success": true,
|
| 366 |
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"message": "YES"
|
| 367 |
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}
|
| 368 |
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}
|
dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/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 sha256:65e122c7a095e3d0593802dc6f6cc167d453303ec6ed9abe1ffaf15d5fb5b902
|
| 3 |
+
size 3790604
|
dataset/bathroom_supplies/personal_care/bcb1831ce14056fc919370c1c9559530/razor_007.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>
|