Add asset bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/affordance/affordance_annot.json +733 -0
- dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/razor_035.urdf +4 -3
.gitattributes
CHANGED
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@@ -8039,3 +8039,4 @@ dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/afforda
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| 8039 |
dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8040 |
dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8041 |
dataset/bathroom_supplies/personal_care/a041edc3afcd592fbef3f78858435f39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8039 |
dataset/bathroom_supplies/personal_care/a012e07021795fee9e5992eed9653d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8040 |
dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8041 |
dataset/bathroom_supplies/personal_care/a041edc3afcd592fbef3f78858435f39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8042 |
+
dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,733 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle body to pick up and reposition the shaver",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle body to perform shaving motions",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle body to stabilize the shaver during storage or transport",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support shaving manipulation",
|
| 24 |
+
"connect head to hand position",
|
| 25 |
+
"stabilize the shaver during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "The main handle is elongated and curved, mostly light gray plastic with darker gray to black rubberized grip sections and dotted texture along the sides, with a matte finish.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9909653663635254,
|
| 32 |
+
"position": [
|
| 33 |
+
0.018191132694482803,
|
| 34 |
+
0.0006443780730478466,
|
| 35 |
+
0.09761278866790235
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| 36 |
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"contact skin during shaving"
|
| 450 |
+
],
|
| 451 |
+
"semantic_description": "The main cutter area is a dark metallic gray foil assembly with reflective sheen and fine perforated mesh texture spanning the top of the shaver head.",
|
| 452 |
+
"id": 2,
|
| 453 |
+
"grasp_group": {}
|
| 454 |
+
},
|
| 455 |
+
{
|
| 456 |
+
"part_name": "trimmer blade",
|
| 457 |
+
"mask_color": "Burnt Orange",
|
| 458 |
+
"graspable": false,
|
| 459 |
+
"grasp_scenarios": [],
|
| 460 |
+
"functional_labels": [
|
| 461 |
+
"trim longer hairs",
|
| 462 |
+
"detail edging",
|
| 463 |
+
"assist close shaving"
|
| 464 |
+
],
|
| 465 |
+
"semantic_description": "A narrow trimmer strip is integrated within the foil head, appearing metallic gray and slightly reflective, visible as a slim linear element on the cutter assembly.",
|
| 466 |
+
"id": 18,
|
| 467 |
+
"grasp_group": {}
|
| 468 |
+
},
|
| 469 |
+
{
|
| 470 |
+
"part_name": "front control panel",
|
| 471 |
+
"mask_color": "Maroon",
|
| 472 |
+
"graspable": false,
|
| 473 |
+
"grasp_scenarios": [],
|
| 474 |
+
"functional_labels": [
|
| 475 |
+
"display branding",
|
| 476 |
+
"provide a visual inset surface",
|
| 477 |
+
"surround the control region"
|
| 478 |
+
],
|
| 479 |
+
"semantic_description": "The front inset panel is a glossy black elongated section on the front upper handle, smooth and vertically oriented, with small white printed branding and symbols.",
|
| 480 |
+
"id": 12,
|
| 481 |
+
"grasp_group": {}
|
| 482 |
+
},
|
| 483 |
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{
|
| 484 |
+
"part_name": "power button",
|
| 485 |
+
"mask_color": "Pale Yellow",
|
| 486 |
+
"graspable": false,
|
| 487 |
+
"grasp_scenarios": [],
|
| 488 |
+
"functional_labels": [
|
| 489 |
+
"turn shaver on and off",
|
| 490 |
+
"provide user control input",
|
| 491 |
+
"indicate control location"
|
| 492 |
+
],
|
| 493 |
+
"semantic_description": "The power button is a small oval control on the front face above the black panel, light gray and slightly recessed within the upper front handle area.",
|
| 494 |
+
"id": null
|
| 495 |
+
},
|
| 496 |
+
{
|
| 497 |
+
"part_name": "textured thumb pad",
|
| 498 |
+
"mask_color": "Yellow",
|
| 499 |
+
"graspable": true,
|
| 500 |
+
"grasp_scenarios": [
|
| 501 |
+
{
|
| 502 |
+
"scenario": "use the textured thumb pad as a traction point while holding and guiding the shaver",
|
| 503 |
+
"confidence": 0.69
|
| 504 |
+
},
|
| 505 |
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{
|
| 506 |
+
"scenario": "press against the textured pad to steady the grip during shaving",
|
| 507 |
+
"confidence": 0.64
|
| 508 |
+
}
|
| 509 |
+
],
|
| 510 |
+
"functional_labels": [
|
| 511 |
+
"provide thumb traction",
|
| 512 |
+
"improve grip stability",
|
| 513 |
+
"support controlled handling"
|
| 514 |
+
],
|
| 515 |
+
"semantic_description": "The thumb pad is an oval textured region on the upper front of the handle, light gray with dense small dots and a matte rubberized appearance.",
|
| 516 |
+
"id": 3,
|
| 517 |
+
"grasp_group": {
|
| 518 |
+
"grasp_0": {
|
| 519 |
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"confidence": 0.9909653663635254,
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| 520 |
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| 521 |
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0.018191132694482803,
|
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0.0006443780730478466,
|
| 523 |
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0.09761278866790235
|
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],
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"orientation": {
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|
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0.03394558725191146
|
| 531 |
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]
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| 532 |
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}
|
| 533 |
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},
|
| 534 |
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"grasp_2": {
|
| 535 |
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"confidence": 0.9906371235847473,
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| 536 |
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0.08793779253028333
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],
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]
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}
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| 549 |
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},
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"grasp_3": {
|
| 551 |
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"confidence": 0.9903241395950317,
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| 552 |
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"position": [
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| 554 |
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0.037870182597544044,
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0.0846421995665878
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],
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"orientation": {
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"w": 0.2145883016593497,
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"xyz": [
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0.6518346272801793,
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| 562 |
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]
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}
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},
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"grasp_4": {
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"confidence": 0.9902396202087402,
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| 570 |
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| 571 |
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0.07141445367597044
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| 572 |
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],
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| 573 |
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"orientation": {
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"w": 0.28921741949046226,
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| 575 |
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0.21939756973583868
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| 579 |
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]
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}
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},
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"grasp_5": {
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"confidence": 0.9898265600204468,
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| 584 |
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| 586 |
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0.022944490367081016,
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| 587 |
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0.09237918793223798
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| 588 |
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],
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| 589 |
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"orientation": {
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| 590 |
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"w": 0.05791064715854665,
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| 594 |
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| 595 |
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]
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| 596 |
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}
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| 597 |
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},
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"grasp_7": {
|
| 599 |
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"confidence": 0.9894766807556152,
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| 600 |
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],
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"orientation": {
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| 607 |
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| 608 |
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| 609 |
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| 611 |
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]
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| 612 |
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}
|
| 613 |
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},
|
| 614 |
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"grasp_10": {
|
| 615 |
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"confidence": 0.9890684485435486,
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| 616 |
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| 617 |
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| 618 |
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| 619 |
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0.09085704921744764
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],
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"orientation": {
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"w": 0.0717609849610815,
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| 625 |
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|
| 626 |
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| 627 |
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]
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| 628 |
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}
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| 629 |
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},
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"grasp_12": {
|
| 631 |
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"confidence": 0.9887726902961731,
|
| 632 |
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"position": [
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| 633 |
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|
| 634 |
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0.00943817658117041,
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| 635 |
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0.09536302625201643
|
| 636 |
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],
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"orientation": {
|
| 638 |
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"w": 0.08481322745726205,
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| 639 |
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"xyz": [
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| 640 |
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|
| 642 |
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|
| 643 |
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]
|
| 644 |
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}
|
| 645 |
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},
|
| 646 |
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"grasp_13": {
|
| 647 |
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"confidence": 0.988556444644928,
|
| 648 |
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"position": [
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| 649 |
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0.0558924563229084,
|
| 650 |
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|
| 651 |
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-0.07663193554617465
|
| 652 |
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],
|
| 653 |
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"orientation": {
|
| 654 |
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"w": 0.6987275189503289,
|
| 655 |
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"xyz": [
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| 656 |
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|
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|
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|
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]
|
| 660 |
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}
|
| 661 |
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},
|
| 662 |
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"grasp_14": {
|
| 663 |
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"confidence": 0.9885393977165222,
|
| 664 |
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"position": [
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| 665 |
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0.03168248385190964,
|
| 666 |
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0.025044399255421013,
|
| 667 |
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0.09058897732757032
|
| 668 |
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],
|
| 669 |
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"orientation": {
|
| 670 |
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"w": 0.15482027919535446,
|
| 671 |
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"xyz": [
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0.7154371393550358,
|
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-0.6792930026245004,
|
| 674 |
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0.05235835527159014
|
| 675 |
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]
|
| 676 |
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}
|
| 677 |
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},
|
| 678 |
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"grasp_15": {
|
| 679 |
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"confidence": 0.9884047508239746,
|
| 680 |
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"position": [
|
| 681 |
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0.03198496624827385,
|
| 682 |
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0.02899831993272528,
|
| 683 |
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0.09010374336503446
|
| 684 |
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],
|
| 685 |
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"orientation": {
|
| 686 |
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"w": 0.15365279714141278,
|
| 687 |
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"xyz": [
|
| 688 |
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0.6887975357770882,
|
| 689 |
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-0.7027952765632762,
|
| 690 |
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0.08959671801120286
|
| 691 |
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]
|
| 692 |
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}
|
| 693 |
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},
|
| 694 |
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"grasp_16": {
|
| 695 |
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"confidence": 0.988318145275116,
|
| 696 |
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"position": [
|
| 697 |
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0.02629842981696129,
|
| 698 |
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0.0065974839380942285,
|
| 699 |
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0.09549784450791776
|
| 700 |
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],
|
| 701 |
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"orientation": {
|
| 702 |
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"w": 0.03365448815947812,
|
| 703 |
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"xyz": [
|
| 704 |
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-0.684695311368799,
|
| 705 |
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-0.7232885957437628,
|
| 706 |
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0.08314633655984471
|
| 707 |
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]
|
| 708 |
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}
|
| 709 |
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},
|
| 710 |
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"grasp_19": {
|
| 711 |
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"confidence": 0.987842321395874,
|
| 712 |
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"position": [
|
| 713 |
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-0.008266080054454505,
|
| 714 |
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0.055355179065372795,
|
| 715 |
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0.07683864026330411
|
| 716 |
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],
|
| 717 |
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"orientation": {
|
| 718 |
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"w": 0.3025986443398159,
|
| 719 |
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"xyz": [
|
| 720 |
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0.6188710352664392,
|
| 721 |
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0.7103406118278422,
|
| 722 |
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|
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]
|
| 724 |
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}
|
| 725 |
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}
|
| 726 |
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}
|
| 727 |
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}
|
| 728 |
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],
|
| 729 |
+
"quality_check": {
|
| 730 |
+
"success": false,
|
| 731 |
+
"message": "Mask colors and part identities mismatch; thumb pad not separately segmented, power button color wrong, head/trimmer descriptions inaccurate."
|
| 732 |
+
}
|
| 733 |
+
}
|
dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6141d016031abe77c03d9565d70636d8b47aa2b445499c7f864d9fd55bd8a1fe
|
| 3 |
+
size 3785728
|
dataset/bathroom_supplies/personal_care/a08d35b753cb537b985ae8752a5f5d4d/razor_035.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>NO:
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>9</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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>NO: {"summary":"Head and handle are mostly correct, but blade area is over-segmented into nonfunctional strips.","merge_groups":[{"colors":["Green","Blue","Burnt Orange"],"target_part":"blade assembly","reason":"These strips form one shaving head/blade region."}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|