Add asset bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514
Browse files
.gitattributes
CHANGED
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@@ -5819,4 +5819,4 @@ dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/afforda
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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/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5822 |
-
dataset/bathroom_supplies/personal_care/
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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/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5822 |
+
dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,449 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main handle to pick up and reposition the toothbrush",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle during brushing or orienting the brush head",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the toothbrush by clamping the lower handle during manipulation",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support brushing motion",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"house the main body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long white to light gray plastic handle with a matte finish and subtle textured grip pattern, gently tapered and rounded, forming the largest rear portion of the toothbrush.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_22": {
|
| 31 |
+
"confidence": 0.9914024472236633,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09463829976448324,
|
| 34 |
+
-0.037655048072338104,
|
| 35 |
+
0.02681360801216215
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.003738708310854134,
|
| 39 |
+
"xyz": [
|
| 40 |
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0.8011960586342213,
|
| 41 |
+
-0.02075064308789243,
|
| 42 |
+
-0.598030357507539
|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
+
},
|
| 46 |
+
"grasp_24": {
|
| 47 |
+
"confidence": 0.9908180236816406,
|
| 48 |
+
"position": [
|
| 49 |
+
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|
| 50 |
+
-0.030399641022086143,
|
| 51 |
+
0.015310986316762865
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.002399755724140546,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
+
-0.6428722139268803
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_25": {
|
| 63 |
+
"confidence": 0.990563154220581,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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-0.04236244410276413,
|
| 67 |
+
0.020066488883458078
|
| 68 |
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],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.012644983343032946,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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-0.001178162824134521,
|
| 74 |
+
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|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_26": {
|
| 79 |
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"confidence": 0.9905270338058472,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.0533730744014418,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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-0.5071602239104366
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_27": {
|
| 95 |
+
"confidence": 0.9901553392410278,
|
| 96 |
+
"position": [
|
| 97 |
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0.08368570041784551,
|
| 98 |
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-0.05872447043657303,
|
| 99 |
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0.05057786253746599
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.002905082342400297,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.8771682906413666,
|
| 105 |
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0.0017744226706470911,
|
| 106 |
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|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_28": {
|
| 111 |
+
"confidence": 0.9898620843887329,
|
| 112 |
+
"position": [
|
| 113 |
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0.07646379304060247,
|
| 114 |
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-0.01760538714006543,
|
| 115 |
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0.06118914333637804
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
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"w": 0.43611039245091177,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
+
"grasp_29": {
|
| 127 |
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"confidence": 0.9896103143692017,
|
| 128 |
+
"position": [
|
| 129 |
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|
| 130 |
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-0.060794055461883545,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.022914384824910847,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_31": {
|
| 143 |
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"confidence": 0.9894441962242126,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.0811166934089736,
|
| 151 |
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"xyz": [
|
| 152 |
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|
| 153 |
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0.08637236481827548,
|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_32": {
|
| 159 |
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"confidence": 0.9894396662712097,
|
| 160 |
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"position": [
|
| 161 |
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0.07304721754917409,
|
| 162 |
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-0.012950115604326129,
|
| 163 |
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0.059839474386535585
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.09554175195170368,
|
| 167 |
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"xyz": [
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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},
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{
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"part_name": "neck",
|
| 274 |
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"mask_color": "Red",
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| 275 |
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{
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],
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"connect handle to head",
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| 290 |
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"transmit brushing force"
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| 291 |
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],
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"semantic_description": "Slim dark gray to black plastic neck with a smooth finish and narrow slightly curved shape connecting the handle to the small brush head.",
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| 293 |
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| 295 |
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},
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{
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"part_name": "grip pad",
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"mask_color": "Blue",
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{
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"scenario": "grasp around the grip pad for a secure non-slip hold",
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},
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{
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"scenario": "pinch the grip pad area to control toothbrush orientation precisely",
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}
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],
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"indicate hand placement",
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| 314 |
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"aid control during brushing"
|
| 315 |
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],
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| 316 |
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"semantic_description": "Blue rubber-like insert on the upper handle with a matte finish and soft-looking texture, forming an oval ergonomic grip zone near the neck.",
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| 317 |
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"id": 2,
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],
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}
|
| 399 |
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}
|
| 400 |
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},
|
| 401 |
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{
|
| 402 |
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"part_name": "power button",
|
| 403 |
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"mask_color": "Orange",
|
| 404 |
+
"graspable": false,
|
| 405 |
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"grasp_scenarios": [],
|
| 406 |
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"functional_labels": [
|
| 407 |
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"turn toothbrush on or off",
|
| 408 |
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"user control input",
|
| 409 |
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"indicate activation point"
|
| 410 |
+
],
|
| 411 |
+
"semantic_description": "Small cyan to blue oval button set into the grip area, likely soft rubber or plastic with a smooth slightly glossy surface and shallow recessed placement.",
|
| 412 |
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"id": 4,
|
| 413 |
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"grasp_group": {}
|
| 414 |
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},
|
| 415 |
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{
|
| 416 |
+
"part_name": "bristle bundle",
|
| 417 |
+
"mask_color": "Pink",
|
| 418 |
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"graspable": false,
|
| 419 |
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"grasp_scenarios": [],
|
| 420 |
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"functional_labels": [
|
| 421 |
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"clean teeth surfaces",
|
| 422 |
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"scrub with toothpaste",
|
| 423 |
+
"reach into gaps",
|
| 424 |
+
"contact oral surfaces"
|
| 425 |
+
],
|
| 426 |
+
"semantic_description": "Compact cluster of short bristles with blue, white, and pale yellow tones, showing a fine fibrous texture and standing upright from the toothbrush head at the front tip.",
|
| 427 |
+
"id": 8,
|
| 428 |
+
"grasp_group": {}
|
| 429 |
+
},
|
| 430 |
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{
|
| 431 |
+
"part_name": "handle end cap",
|
| 432 |
+
"mask_color": "Yellow",
|
| 433 |
+
"graspable": false,
|
| 434 |
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"grasp_scenarios": [],
|
| 435 |
+
"functional_labels": [
|
| 436 |
+
"close handle end",
|
| 437 |
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"protect internal end",
|
| 438 |
+
"provide base finish"
|
| 439 |
+
],
|
| 440 |
+
"semantic_description": "Flat rounded end face at the base of the handle, appearing light gray to off-white in the RGB image as a small circular cap-like surface at the handle bottom.",
|
| 441 |
+
"id": 3,
|
| 442 |
+
"grasp_group": {}
|
| 443 |
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}
|
| 444 |
+
],
|
| 445 |
+
"quality_check": {
|
| 446 |
+
"success": false,
|
| 447 |
+
"message": "Several visual descriptions mismatch colors/materials; handle end cap graspability too strict; neck color inaccurate."
|
| 448 |
+
}
|
| 449 |
+
}
|
dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a23da6889f31272cd658db0ea2c3fe01677ff2a389637a2f724387547d60f100
|
| 3 |
+
size 3784624
|