Add asset bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be
Browse files
.gitattributes
CHANGED
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@@ -5764,3 +5764,4 @@ dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/afforda
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| 5764 |
dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5765 |
dataset/bathroom_supplies/personal_care/2d6b444cd7605f038ee543e6d6626c2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5766 |
dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5764 |
dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5765 |
dataset/bathroom_supplies/personal_care/2d6b444cd7605f038ee543e6d6626c2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5766 |
dataset/bathroom_supplies/personal_care/2e9a4b8b18d05cd3aaaa97fffa81109f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5767 |
+
dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,270 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup opening",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"allow filling",
|
| 10 |
+
"allow drinking access",
|
| 11 |
+
"provide access to interior",
|
| 12 |
+
"define top opening"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Wide circular top opening at the rim of the cup, appearing pale white to light gray because of the translucent material, with a smooth glossy edge and no distinct texture.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "cup body",
|
| 20 |
+
"mask_color": "Green",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the sidewall to pick up and move the cup",
|
| 25 |
+
"confidence": 0.95
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the cup body to stabilize it during filling or pouring",
|
| 29 |
+
"confidence": 0.9
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the upper sidewall to reorient the cup upright",
|
| 33 |
+
"confidence": 0.86
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"contain liquid",
|
| 38 |
+
"provide main grasp surface",
|
| 39 |
+
"support drinking",
|
| 40 |
+
"form side wall",
|
| 41 |
+
"stabilize contents"
|
| 42 |
+
],
|
| 43 |
+
"semantic_description": "Tapered translucent white or frosted plastic cup body with a smooth slightly glossy hard surface, thin walls, and a slightly wider top than base forming the main outer shell.",
|
| 44 |
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"id": 1,
|
| 45 |
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"grasp_group": {
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.9598488807678223,
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| 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": 0.9524313220301684,
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| 55 |
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"xyz": [
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| 57 |
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_3": {
|
| 63 |
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"confidence": 0.9592399597167969,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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],
|
| 69 |
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"orientation": {
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| 70 |
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"w": 0.5272451808012403,
|
| 71 |
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"xyz": [
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| 73 |
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| 74 |
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| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_6": {
|
| 79 |
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"confidence": 0.9578050374984741,
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| 80 |
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"position": [
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| 83 |
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| 84 |
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],
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"orientation": {
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| 91 |
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},
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| 94 |
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"grasp_7": {
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| 95 |
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"confidence": 0.9576184153556824,
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],
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"orientation": {
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"w": 0.9880846463920089,
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"xyz": [
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]
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}
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| 109 |
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},
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"grasp_9": {
|
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"confidence": 0.9574201703071594,
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"position": [
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],
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"orientation": {
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"xyz": [
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| 122 |
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| 123 |
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]
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| 126 |
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"grasp_11": {
|
| 127 |
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"confidence": 0.9568531513214111,
|
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"position": [
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| 129 |
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| 131 |
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|
| 132 |
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],
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"orientation": {
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| 139 |
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]
|
| 140 |
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}
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| 141 |
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},
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| 142 |
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"grasp_14": {
|
| 143 |
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"confidence": 0.9562832117080688,
|
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"position": [
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| 145 |
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| 147 |
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],
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"orientation": {
|
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"w": 0.9809882811280247,
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"xyz": [
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|
| 155 |
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]
|
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}
|
| 157 |
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},
|
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"grasp_15": {
|
| 159 |
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"confidence": 0.9562050104141235,
|
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"position": [
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],
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|
| 166 |
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| 171 |
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]
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}
|
| 173 |
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},
|
| 174 |
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"grasp_16": {
|
| 175 |
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"confidence": 0.9559682607650757,
|
| 176 |
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"position": [
|
| 177 |
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|
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|
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| 180 |
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],
|
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"orientation": {
|
| 182 |
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"w": 0.9898483729187225,
|
| 183 |
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"xyz": [
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| 184 |
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|
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|
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|
| 187 |
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]
|
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}
|
| 189 |
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},
|
| 190 |
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"grasp_18": {
|
| 191 |
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"confidence": 0.955096423625946,
|
| 192 |
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"position": [
|
| 193 |
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|
| 194 |
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|
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|
| 196 |
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],
|
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"orientation": {
|
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|
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"xyz": [
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|
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| 203 |
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]
|
| 204 |
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}
|
| 205 |
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}
|
| 206 |
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}
|
| 207 |
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},
|
| 208 |
+
{
|
| 209 |
+
"part_name": "cup base",
|
| 210 |
+
"mask_color": "Blue",
|
| 211 |
+
"graspable": true,
|
| 212 |
+
"grasp_scenarios": [
|
| 213 |
+
{
|
| 214 |
+
"scenario": "grasp the bottom area to lift or reposition the empty cup",
|
| 215 |
+
"confidence": 0.62
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"scenario": "pinch the base edge to stabilize the cup during placement",
|
| 219 |
+
"confidence": 0.58
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"functional_labels": [
|
| 223 |
+
"support standing",
|
| 224 |
+
"stabilize on flat surfaces",
|
| 225 |
+
"provide bottom closure",
|
| 226 |
+
"help distribute load"
|
| 227 |
+
],
|
| 228 |
+
"semantic_description": "Flat circular bottom at the narrow lower end of the cup, made of translucent white plastic with a smooth slightly glossy finish and a subtly thicker-looking base than the sidewall.",
|
| 229 |
+
"id": 2,
|
| 230 |
+
"grasp_group": {
|
| 231 |
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"grasp_21": {
|
| 232 |
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"confidence": 0.7304835319519043,
|
| 233 |
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"position": [
|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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],
|
| 238 |
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"orientation": {
|
| 239 |
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"w": 0.675920757009582,
|
| 240 |
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"xyz": [
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| 244 |
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]
|
| 245 |
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}
|
| 246 |
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},
|
| 247 |
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"grasp_22": {
|
| 248 |
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"confidence": 0.050593096762895584,
|
| 249 |
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"position": [
|
| 250 |
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|
| 252 |
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-0.0031458204612135887
|
| 253 |
+
],
|
| 254 |
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"orientation": {
|
| 255 |
+
"w": 0.6597007035091068,
|
| 256 |
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"xyz": [
|
| 257 |
+
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|
| 258 |
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|
| 259 |
+
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|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
}
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"quality_check": {
|
| 267 |
+
"success": true,
|
| 268 |
+
"message": "YES"
|
| 269 |
+
}
|
| 270 |
+
}
|
dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0c98a2656f83412598fe518269e312a6b684a31c8582a342071e53c74d91283f
|
| 3 |
+
size 3780860
|