Add asset bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95
Browse files
.gitattributes
CHANGED
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@@ -5702,4 +5702,5 @@ dataset/bathroom_supplies/bath_products/e427ed576c6b51fd93164a2062d91d84/afforda
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| 5702 |
dataset/bathroom_supplies/bath_products/e5f75f7c4cf953d9ab66c3e835370a25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5703 |
dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5704 |
dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5705 |
-
dataset/bathroom_supplies/bath_products/
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| 5702 |
dataset/bathroom_supplies/bath_products/e5f75f7c4cf953d9ab66c3e835370a25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5703 |
dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5704 |
dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5705 |
+
dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5706 |
+
dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1243 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump nozzle",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the pump nozzle to rotate or orient the dispenser head",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the pump nozzle to pull up or unlock the pump during setup",
|
| 14 |
+
"confidence": 0.41
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense lotion",
|
| 19 |
+
"direct the output flow",
|
| 20 |
+
"provide a press target",
|
| 21 |
+
"indicate dispensing direction"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small white plastic pump head with a glossy smooth hard surface, curved spout shape, mounted at the top and projecting outward as the lotion outlet.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_42": {
|
| 27 |
+
"confidence": 0.9541011452674866,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.06309251347738609,
|
| 30 |
+
0.06263062399739283,
|
| 31 |
+
0.16571972519159317
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.194142738868297,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.3083655124764506,
|
| 37 |
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0.8105838736603128,
|
| 38 |
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-0.4584463888195593
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| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_43": {
|
| 43 |
+
"confidence": 0.9534702301025391,
|
| 44 |
+
"position": [
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| 45 |
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0.02928927494031086,
|
| 46 |
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0.07864820999020594,
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| 47 |
+
0.16439030319452286
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| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
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| 51 |
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| 52 |
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0.8501973609008667,
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| 53 |
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|
| 54 |
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| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_44": {
|
| 59 |
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"confidence": 0.9532592296600342,
|
| 60 |
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"position": [
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| 61 |
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0.0839511244539608,
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| 62 |
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| 63 |
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0.16876652091741562
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| 64 |
+
],
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| 65 |
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"orientation": {
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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0.28736331533785914
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_46": {
|
| 75 |
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"confidence": 0.9519791603088379,
|
| 76 |
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"position": [
|
| 77 |
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-0.026120126714886283,
|
| 78 |
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0.08246312332266825,
|
| 79 |
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0.164756678044796
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.5026546048821855,
|
| 83 |
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"xyz": [
|
| 84 |
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0.8493019982317482,
|
| 85 |
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0.13719108507306443,
|
| 86 |
+
0.08487090294540851
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
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"grasp_47": {
|
| 91 |
+
"confidence": 0.9514694809913635,
|
| 92 |
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"position": [
|
| 93 |
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0.09938151528876915,
|
| 94 |
+
0.022014242083969293,
|
| 95 |
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0.12222256511449814
|
| 96 |
+
],
|
| 97 |
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"orientation": {
|
| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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| 102 |
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0.5323870506220754
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| 103 |
+
]
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| 104 |
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}
|
| 105 |
+
},
|
| 106 |
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"grasp_48": {
|
| 107 |
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"confidence": 0.9509189128875732,
|
| 108 |
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"position": [
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| 109 |
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|
| 110 |
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0.03140017432087916,
|
| 111 |
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0.16746879369020462
|
| 112 |
+
],
|
| 113 |
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"orientation": {
|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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0.7368354793275409,
|
| 118 |
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|
| 119 |
+
]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_50": {
|
| 123 |
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"confidence": 0.949945867061615,
|
| 124 |
+
"position": [
|
| 125 |
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|
| 126 |
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0.044028774322214304,
|
| 127 |
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0.16634149104356766
|
| 128 |
+
],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.24228230157310207,
|
| 131 |
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"xyz": [
|
| 132 |
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-0.4431157171499572,
|
| 133 |
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0.7451481960777171,
|
| 134 |
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|
| 135 |
+
]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_52": {
|
| 139 |
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"confidence": 0.9490635991096497,
|
| 140 |
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"position": [
|
| 141 |
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-0.001740772278935765,
|
| 142 |
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0.08435446810835856,
|
| 143 |
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0.16902396827936172
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5008204847386148,
|
| 147 |
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"xyz": [
|
| 148 |
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0.8644444713993398,
|
| 149 |
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0.04354305301897898,
|
| 150 |
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0.004312825881177287
|
| 151 |
+
]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_59": {
|
| 155 |
+
"confidence": 0.9462010860443115,
|
| 156 |
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"position": [
|
| 157 |
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0.00614549731653824,
|
| 158 |
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0.00036204482239554636,
|
| 159 |
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0.22624396532773972
|
| 160 |
+
],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.002448035461288267,
|
| 163 |
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"xyz": [
|
| 164 |
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0.8308009925575951,
|
| 165 |
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0.5565541412454529,
|
| 166 |
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-0.003347499101079005
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
+
}
|
| 170 |
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}
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"part_name": "pump collar",
|
| 174 |
+
"mask_color": "Red",
|
| 175 |
+
"graspable": true,
|
| 176 |
+
"grasp_scenarios": [
|
| 177 |
+
{
|
| 178 |
+
"scenario": "grasp the collar to twist and unscrew the pump assembly from the bottle",
|
| 179 |
+
"confidence": 0.71
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"scenario": "hold the collar to stabilize the pump while aligning the nozzle",
|
| 183 |
+
"confidence": 0.49
|
| 184 |
+
}
|
| 185 |
+
],
|
| 186 |
+
"functional_labels": [
|
| 187 |
+
"connect pump to bottle",
|
| 188 |
+
"secure the dispenser head",
|
| 189 |
+
"support pump rotation",
|
| 190 |
+
"seal the bottle opening"
|
| 191 |
+
],
|
| 192 |
+
"semantic_description": "White plastic collar below the nozzle with a glossy smooth hard finish, circular and slightly raised around the bottle top.",
|
| 193 |
+
"id": 0,
|
| 194 |
+
"grasp_group": {
|
| 195 |
+
"grasp_0": {
|
| 196 |
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"confidence": 0.9550576210021973,
|
| 197 |
+
"position": [
|
| 198 |
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0.07208670815271034,
|
| 199 |
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-0.07587036448603612,
|
| 200 |
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0.09899385273456573
|
| 201 |
+
],
|
| 202 |
+
"orientation": {
|
| 203 |
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"w": 0.25380268076595097,
|
| 204 |
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"xyz": [
|
| 205 |
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0.2691169293137017,
|
| 206 |
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|
| 207 |
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-0.6702375169803669
|
| 208 |
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]
|
| 209 |
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}
|
| 210 |
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},
|
| 211 |
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"grasp_1": {
|
| 212 |
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"confidence": 0.9507026076316833,
|
| 213 |
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"position": [
|
| 214 |
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0.05827124556344643,
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| 215 |
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0.09139017760753632
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| 217 |
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],
|
| 218 |
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"orientation": {
|
| 219 |
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"w": 0.20944902894486364,
|
| 220 |
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|
| 1208 |
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}
|
| 1209 |
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},
|
| 1210 |
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{
|
| 1211 |
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"part_name": "base of lotion bottle",
|
| 1212 |
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"mask_color": "Orange",
|
| 1213 |
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"graspable": false,
|
| 1214 |
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"grasp_scenarios": [],
|
| 1215 |
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"functional_labels": [
|
| 1216 |
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"support upright standing",
|
| 1217 |
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"stabilize the bottle",
|
| 1218 |
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"form the bottom closure"
|
| 1219 |
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],
|
| 1220 |
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"semantic_description": "Flat circular white plastic bottom with a smooth slightly glossy hard surface, broad and located at the base to support standing.",
|
| 1221 |
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"id": 4,
|
| 1222 |
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"grasp_group": {}
|
| 1223 |
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},
|
| 1224 |
+
{
|
| 1225 |
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"part_name": "front label panel",
|
| 1226 |
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"mask_color": "Green",
|
| 1227 |
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"graspable": false,
|
| 1228 |
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"grasp_scenarios": [],
|
| 1229 |
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"functional_labels": [
|
| 1230 |
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"display branding",
|
| 1231 |
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"identify product",
|
| 1232 |
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"provide orientation cue"
|
| 1233 |
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],
|
| 1234 |
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"semantic_description": "Small vertical front panel area on the bottle body with black printed branding/text, smooth glossy finish, and a flat visible front-facing appearance.",
|
| 1235 |
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"id": 1,
|
| 1236 |
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"grasp_group": {}
|
| 1237 |
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}
|
| 1238 |
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],
|
| 1239 |
+
"quality_check": {
|
| 1240 |
+
"success": false,
|
| 1241 |
+
"message": "Pump head function mislabeled and pump stem marked graspable though too small; label panel description too specific."
|
| 1242 |
+
}
|
| 1243 |
+
}
|
dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:43ffed07b9b4be2b130b167913195d622b75e53dd85ffffbe562b81a4efb7a4e
|
| 3 |
+
size 3787104
|