Add asset bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35
Browse files
.gitattributes
CHANGED
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@@ -5809,3 +5809,4 @@ dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/afforda
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| 5809 |
dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5810 |
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5811 |
dataset/bathroom_supplies/personal_care/a74b22d376535209ac222a1f09479dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5809 |
dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5810 |
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5811 |
dataset/bathroom_supplies/personal_care/a74b22d376535209ac222a1f09479dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5812 |
+
dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,397 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "lightly pinch or contact the rim to stabilize the cup during placement or alignment",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp near the rim together with the upper body to lift or reposition the empty cup",
|
| 14 |
+
"confidence": 0.48
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"define the drinking edge",
|
| 19 |
+
"provide the opening boundary",
|
| 20 |
+
"guide pouring from the cup"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Thin circular top edge of the cup at the wide opening, appearing shiny silver metallic with a smooth reflective finish.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.9074679017066956,
|
| 27 |
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"position": [
|
| 28 |
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|
| 29 |
+
0.042391950672026724,
|
| 30 |
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|
| 31 |
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],
|
| 32 |
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"orientation": {
|
| 33 |
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"w": 0.39291013385107465,
|
| 34 |
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"xyz": [
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.8807497620582581,
|
| 43 |
+
"position": [
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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],
|
| 48 |
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"orientation": {
|
| 49 |
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"w": 0.7128381772239507,
|
| 50 |
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"xyz": [
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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]
|
| 55 |
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}
|
| 56 |
+
},
|
| 57 |
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"grasp_2": {
|
| 58 |
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"confidence": 0.8601268529891968,
|
| 59 |
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"position": [
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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"orientation": {
|
| 65 |
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"w": 0.5416135074702869,
|
| 66 |
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"xyz": [
|
| 67 |
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| 68 |
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|
| 69 |
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|
| 70 |
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]
|
| 71 |
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}
|
| 72 |
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},
|
| 73 |
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"grasp_3": {
|
| 74 |
+
"confidence": 0.8500067591667175,
|
| 75 |
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"position": [
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"orientation": {
|
| 81 |
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"w": 0.5608169444377579,
|
| 82 |
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"xyz": [
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
+
]
|
| 87 |
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}
|
| 88 |
+
},
|
| 89 |
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"grasp_4": {
|
| 90 |
+
"confidence": 0.8883832097053528,
|
| 91 |
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"position": [
|
| 92 |
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|
| 93 |
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0.03145520616089925,
|
| 94 |
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0.06186634209007025
|
| 95 |
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],
|
| 96 |
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"orientation": {
|
| 97 |
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"w": 0.3931069307936612,
|
| 98 |
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"xyz": [
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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]
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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"grasp_5": {
|
| 106 |
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"confidence": 0.8453900218009949,
|
| 107 |
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"position": [
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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],
|
| 112 |
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"orientation": {
|
| 113 |
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"w": 0.714496230418103,
|
| 114 |
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"xyz": [
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| 115 |
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|
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|
| 117 |
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|
| 118 |
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]
|
| 119 |
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}
|
| 120 |
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},
|
| 121 |
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"grasp_6": {
|
| 122 |
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"confidence": 0.8544901013374329,
|
| 123 |
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"position": [
|
| 124 |
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0.10331330870394595,
|
| 125 |
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-0.0035644672461785376,
|
| 126 |
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0.043950687162578106
|
| 127 |
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],
|
| 128 |
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"orientation": {
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| 129 |
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"w": 0.49635783829330765,
|
| 130 |
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"xyz": [
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| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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]
|
| 135 |
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}
|
| 136 |
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},
|
| 137 |
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"grasp_7": {
|
| 138 |
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"confidence": 0.8442419171333313,
|
| 139 |
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"position": [
|
| 140 |
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0.1006760862946976,
|
| 141 |
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|
| 142 |
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|
| 143 |
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],
|
| 144 |
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"orientation": {
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| 145 |
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"w": 0.5167088408759989,
|
| 146 |
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"xyz": [
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|
| 149 |
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|
| 150 |
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]
|
| 151 |
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}
|
| 152 |
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},
|
| 153 |
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"grasp_8": {
|
| 154 |
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"confidence": 0.836456835269928,
|
| 155 |
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"position": [
|
| 156 |
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| 157 |
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|
| 158 |
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|
| 159 |
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],
|
| 160 |
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"orientation": {
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"w": 0.7076590691071488,
|
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"xyz": [
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|
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|
| 166 |
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]
|
| 167 |
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}
|
| 168 |
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},
|
| 169 |
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"grasp_10": {
|
| 170 |
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"confidence": 0.8945155143737793,
|
| 171 |
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"position": [
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| 172 |
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0.042778969305800274,
|
| 173 |
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|
| 174 |
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|
| 175 |
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],
|
| 176 |
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"orientation": {
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| 177 |
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"w": 0.7030014334367549,
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| 178 |
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"xyz": [
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| 181 |
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| 182 |
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]
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| 183 |
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}
|
| 184 |
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},
|
| 185 |
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"grasp_11": {
|
| 186 |
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"confidence": 0.7966485619544983,
|
| 187 |
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"position": [
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| 188 |
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|
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],
|
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"orientation": {
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"w": 0.29137753371014335,
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"xyz": [
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"quality_check": {
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| 394 |
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"success": true,
|
| 395 |
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"message": "YES"
|
| 396 |
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}
|
| 397 |
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}
|
dataset/bathroom_supplies/personal_care/aa231fa980ab5b1aac153a4123615f35/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:43e03cfee147628e7e72a8675f030872ba3377c47e627d4d49821d8a0543d2af
|
| 3 |
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size 3779988
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