Add asset bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7
Browse files
.gitattributes
CHANGED
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@@ -5660,3 +5660,4 @@ dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/afforda
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| 5660 |
dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5661 |
dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5662 |
dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5660 |
dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5661 |
dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5662 |
dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5663 |
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dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,196 @@
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| 1 |
+
{
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| 2 |
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"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "scrubbing face of sponge",
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| 5 |
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"mask_color": "Green",
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"graspable": false,
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"grasp_scenarios": [],
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| 8 |
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"functional_labels": [
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"absorb liquid",
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| 10 |
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"scrub surfaces",
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| 11 |
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"apply soap or cleaner",
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| 12 |
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"provide porous cleaning surface"
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| 13 |
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],
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| 14 |
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"semantic_description": "The top face is a light tan foam surface with a matte finish, soft compressible texture, and many large irregular pores, forming the main circular cleaning side of the sponge.",
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| 15 |
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"id": 1,
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| 16 |
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"grasp_group": {}
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| 17 |
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},
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| 18 |
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{
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"part_name": "body of sponge",
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| 20 |
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"mask_color": "Red",
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| 21 |
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"graspable": true,
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| 22 |
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"grasp_scenarios": [
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{
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"scenario": "grasp the sponge body from the sides to pick it up",
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| 25 |
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"confidence": 0.95
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| 26 |
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},
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| 27 |
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{
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| 28 |
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"scenario": "hold the sponge body while wiping or scrubbing a surface",
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| 29 |
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"confidence": 0.96
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| 30 |
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},
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| 31 |
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{
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| 32 |
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"scenario": "compress the sponge body to squeeze out absorbed water",
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| 33 |
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"confidence": 0.9
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| 34 |
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}
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| 35 |
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],
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| 36 |
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"functional_labels": [
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| 37 |
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"main grasp surface",
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| 38 |
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"support scrubbing face",
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| 39 |
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"compress to release liquid",
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| 40 |
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"provide bulk absorbent body"
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| 41 |
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],
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| 42 |
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"semantic_description": "The main body is a light beige foam cylinder with a matte finish, soft springy texture, rounded sides and bottom, and no visible markings, making up most of the sponge's volume.",
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| 43 |
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"id": 0,
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| 44 |
+
"grasp_group": {
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| 45 |
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"grasp_1": {
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| 46 |
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"confidence": 0.19506828486919403,
|
| 47 |
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"position": [
|
| 48 |
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-0.0006395113159669563,
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| 49 |
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-0.038727070786990225,
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| 50 |
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-0.09891953133046627
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| 51 |
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],
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| 52 |
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"orientation": {
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| 53 |
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"w": 0.9846899137073462,
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| 54 |
+
"xyz": [
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| 55 |
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-0.15321270198244727,
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| 56 |
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0.02407135648576797,
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| 57 |
+
0.0795751945721254
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| 58 |
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]
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| 59 |
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}
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| 60 |
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},
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| 61 |
+
"grasp_2": {
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| 62 |
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"confidence": 0.18790899217128754,
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| 63 |
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"position": [
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| 64 |
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0.0007741261506453156,
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| 65 |
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0.01137147971894592,
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| 66 |
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0.09089072234928608
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| 67 |
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],
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| 68 |
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"orientation": {
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| 69 |
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"w": 0.04679884154998524,
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| 70 |
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"xyz": [
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| 71 |
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0.8822782041387941,
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| 72 |
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0.4683620401099575,
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| 73 |
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0.0056602398573475455
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| 74 |
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]
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| 75 |
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}
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| 76 |
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},
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| 77 |
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"grasp_3": {
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| 78 |
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"confidence": 0.1823093742132187,
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| 79 |
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"position": [
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| 80 |
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| 81 |
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| 82 |
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-0.10182151012122631
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| 83 |
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],
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| 84 |
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"orientation": {
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| 85 |
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"w": 0.18148155932308463,
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| 86 |
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"xyz": [
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| 89 |
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-0.9748070838984937
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| 90 |
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]
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| 91 |
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}
|
| 92 |
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},
|
| 93 |
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"grasp_4": {
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| 94 |
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"confidence": 0.1793602854013443,
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| 95 |
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"position": [
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| 96 |
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0.002943304949440062,
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| 97 |
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0.013870086870156229,
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| 98 |
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| 99 |
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],
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| 100 |
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"orientation": {
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"w": 0.844302281579056,
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| 102 |
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"xyz": [
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| 106 |
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]
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| 107 |
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}
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| 108 |
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},
|
| 109 |
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"grasp_9": {
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| 110 |
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"confidence": 0.16979120671749115,
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| 111 |
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"position": [
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],
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"orientation": {
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"grasp_11": {
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],
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},
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"grasp_16": {
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"confidence": 0.150236114859581,
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"position": [
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],
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"orientation": {
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"xyz": [
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]
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}
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},
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"grasp_17": {
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| 158 |
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"confidence": 0.14803262054920197,
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"position": [
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],
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"orientation": {
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"w": 0.0105527634884571,
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"xyz": [
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]
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}
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| 172 |
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},
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"grasp_19": {
|
| 174 |
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"confidence": 0.1445094794034958,
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"position": [
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],
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"orientation": {
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"xyz": [
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}
|
| 189 |
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}
|
| 190 |
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}
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| 191 |
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],
|
| 192 |
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"quality_check": {
|
| 193 |
+
"success": true,
|
| 194 |
+
"message": "YES"
|
| 195 |
+
}
|
| 196 |
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}
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dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/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 |
+
oid sha256:7abdb54bc25d6030c3f553245153e6c41855306fb58b159f73815084ee6618ac
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| 3 |
+
size 3780272
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