Add asset bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e
Browse files
.gitattributes
CHANGED
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@@ -5637,3 +5637,4 @@ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/afforda
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| 5637 |
dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5638 |
dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5639 |
dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5637 |
dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5638 |
dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5639 |
dataset/bathroom_supplies/bath_products/8510dffb9d6f552ba4c1ae0967d224d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5640 |
+
dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1027 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch or grasp the pump head to rotate it for unlocking or orienting the spout",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pump head lightly to stabilize the dispenser top during manipulation",
|
| 14 |
+
"confidence": 0.32
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense soap when pressed",
|
| 19 |
+
"provide finger press surface",
|
| 20 |
+
"control spout orientation",
|
| 21 |
+
"cover pump outlet mechanism"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small white plastic pump head with a smooth slightly glossy surface and a short curved spout, positioned at the very top of the bottle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
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|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.8443371653556824,
|
| 28 |
+
"position": [
|
| 29 |
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|
| 30 |
+
0.00025486999948043376,
|
| 31 |
+
0.10188069054856896
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3423657040548305,
|
| 35 |
+
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|
| 36 |
+
0.6206017541235259,
|
| 37 |
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0.6173987290489584,
|
| 38 |
+
0.34125942746622223
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| 39 |
+
]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_4": {
|
| 43 |
+
"confidence": 0.7337636351585388,
|
| 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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],
|
| 49 |
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"orientation": {
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| 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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]
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| 56 |
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|
| 57 |
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},
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| 58 |
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|
| 59 |
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"confidence": 0.9118805527687073,
|
| 60 |
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| 64 |
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],
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| 67 |
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| 70 |
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| 71 |
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]
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| 72 |
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| 73 |
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},
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|
| 75 |
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"confidence": 0.8551298379898071,
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],
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| 81 |
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| 86 |
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]
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| 88 |
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}
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| 89 |
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},
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| 90 |
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|
| 91 |
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"confidence": 0.9608224034309387,
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| 92 |
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| 96 |
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],
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| 97 |
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]
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| 104 |
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}
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| 105 |
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},
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| 106 |
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|
| 107 |
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| 108 |
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0.04693353656330146,
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0.1339180232025683
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| 112 |
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],
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| 113 |
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| 115 |
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]
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| 120 |
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}
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| 121 |
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},
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|
| 123 |
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| 124 |
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| 126 |
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| 127 |
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| 128 |
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],
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| 129 |
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| 131 |
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| 135 |
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]
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| 136 |
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}
|
| 137 |
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},
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| 138 |
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|
| 139 |
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| 140 |
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| 142 |
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| 143 |
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0.1340269655920565
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| 144 |
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],
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| 145 |
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| 146 |
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| 147 |
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| 150 |
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0.17114802722784372
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| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_18": {
|
| 155 |
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"confidence": 0.9132309556007385,
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| 156 |
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| 158 |
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| 159 |
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0.13252623984590173
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| 160 |
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],
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| 161 |
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|
| 162 |
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| 163 |
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0.6749427036957574,
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| 166 |
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| 167 |
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]
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| 168 |
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}
|
| 169 |
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},
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| 170 |
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"grasp_19": {
|
| 171 |
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| 172 |
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| 174 |
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| 176 |
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],
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| 177 |
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| 182 |
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0.1303889730901509
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| 183 |
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]
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| 184 |
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}
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| 185 |
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}
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| 186 |
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}
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"part_name": "pump stem",
|
| 190 |
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|
| 191 |
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"graspable": false,
|
| 192 |
+
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|
| 193 |
+
"functional_labels": [
|
| 194 |
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"connect pump head to bottle",
|
| 195 |
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"transmit pressing motion",
|
| 196 |
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"guide vertical pump travel"
|
| 197 |
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],
|
| 198 |
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"semantic_description": "Short narrow white plastic stem with a smooth slightly glossy cylindrical shape, centered below the pump head at the bottle top.",
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| 199 |
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"id": 5,
|
| 200 |
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|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"part_name": "pump collar",
|
| 204 |
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"mask_color": "Yellow",
|
| 205 |
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"graspable": false,
|
| 206 |
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"grasp_scenarios": [],
|
| 207 |
+
"functional_labels": [
|
| 208 |
+
"secure pump assembly",
|
| 209 |
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"connect dispenser to bottle opening",
|
| 210 |
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"stabilize top mechanism",
|
| 211 |
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"seal around the neck"
|
| 212 |
+
],
|
| 213 |
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"semantic_description": "White plastic ring-shaped collar with a smooth slightly glossy finish, surrounding the neck directly beneath the pump stem.",
|
| 214 |
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"id": 3,
|
| 215 |
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"grasp_group": {}
|
| 216 |
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},
|
| 217 |
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{
|
| 218 |
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"part_name": "bottle body",
|
| 219 |
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"mask_color": "Green",
|
| 220 |
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"graspable": true,
|
| 221 |
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"grasp_scenarios": [
|
| 222 |
+
{
|
| 223 |
+
"scenario": "grasp the bottle body to pick up and move the soap dispenser",
|
| 224 |
+
"confidence": 0.95
|
| 225 |
+
},
|
| 226 |
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{
|
| 227 |
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"scenario": "hold the bottle body while pressing the pump to dispense soap",
|
| 228 |
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"confidence": 0.94
|
| 229 |
+
},
|
| 230 |
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{
|
| 231 |
+
"scenario": "grasp the bottle body to reposition or place it on a surface",
|
| 232 |
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"confidence": 0.94
|
| 233 |
+
}
|
| 234 |
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],
|
| 235 |
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"functional_labels": [
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| 236 |
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"contain liquid soap",
|
| 237 |
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"main grasp surface",
|
| 238 |
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"support standing",
|
| 239 |
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"provide structural housing"
|
| 240 |
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],
|
| 241 |
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"semantic_description": "Large white plastic bottle body with a smooth mostly matte-to-satin finish, rounded rectangular form, and printed black text on its broad faces.",
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| 242 |
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"id": 1,
|
| 243 |
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| 244 |
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"grasp_20": {
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| 245 |
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"confidence": 0.9791423082351685,
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| 246 |
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0.012409793678671122
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],
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]
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},
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],
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]
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}
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},
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],
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},
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],
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]
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}
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},
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],
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|
dataset/bathroom_supplies/bath_products/85156c936b855ed495ca26b6f069af9e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:f3366d69363fd7fe0a0e436973df529c5119478f26afacf7d6e8dda91cb9d676
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| 3 |
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size 3782104
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