Add asset bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef
Browse files
.gitattributes
CHANGED
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@@ -5990,3 +5990,4 @@ dataset/bedroom_supplies/storage/2ac781ae697f5c9089c7e04443797c0b/affordance/mes
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| 5990 |
dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5991 |
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5992 |
dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5990 |
dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5991 |
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5992 |
dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5993 |
+
dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,363 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "basket body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up or reposition the basket",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the basket while loading or unloading contents",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain items",
|
| 19 |
+
"form the main storage cavity",
|
| 20 |
+
"support the basket structure",
|
| 21 |
+
"provide broad stabilizing surfaces"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large blue fabric body with a matte finish and slightly textured woven surface, forming a soft rectangular tapered bin with flexible side walls and no obvious markings.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "top rim",
|
| 29 |
+
"mask_color": "Yellow",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "pinch the rim to straighten or open the basket mouth",
|
| 34 |
+
"confidence": 0.71
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the rim edge to reposition an empty lightweight basket",
|
| 38 |
+
"confidence": 0.58
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"reinforce the opening",
|
| 43 |
+
"define the basket mouth",
|
| 44 |
+
"help keep the shape open",
|
| 45 |
+
"provide an edge for handling"
|
| 46 |
+
],
|
| 47 |
+
"semantic_description": "Narrow blue fabric rim around the basket opening, slightly structured and smooth-matte, forming a continuous band at the top edge with a firm but still flexible feel.",
|
| 48 |
+
"id": 3,
|
| 49 |
+
"grasp_group": {
|
| 50 |
+
"grasp_64": {
|
| 51 |
+
"confidence": 0.13412247598171234,
|
| 52 |
+
"position": [
|
| 53 |
+
0.10834690683986992,
|
| 54 |
+
0.07964215171523392,
|
| 55 |
+
0.005142456910107285
|
| 56 |
+
],
|
| 57 |
+
"orientation": {
|
| 58 |
+
"w": 0.435840378563563,
|
| 59 |
+
"xyz": [
|
| 60 |
+
-0.21637704581874168,
|
| 61 |
+
-0.6009259571380003,
|
| 62 |
+
0.6341231209269241
|
| 63 |
+
]
|
| 64 |
+
}
|
| 65 |
+
},
|
| 66 |
+
"grasp_65": {
|
| 67 |
+
"confidence": 0.8579198122024536,
|
| 68 |
+
"position": [
|
| 69 |
+
-0.03290349862072617,
|
| 70 |
+
0.08342575025744736,
|
| 71 |
+
0.1043441147194244
|
| 72 |
+
],
|
| 73 |
+
"orientation": {
|
| 74 |
+
"w": 0.08173535493029133,
|
| 75 |
+
"xyz": [
|
| 76 |
+
-0.15346847710856143,
|
| 77 |
+
-0.9283153743145515,
|
| 78 |
+
0.32862946322512193
|
| 79 |
+
]
|
| 80 |
+
}
|
| 81 |
+
},
|
| 82 |
+
"grasp_69": {
|
| 83 |
+
"confidence": 0.08031266927719116,
|
| 84 |
+
"position": [
|
| 85 |
+
-0.14102096355054528,
|
| 86 |
+
0.05081069958396256,
|
| 87 |
+
0.03145085653522983
|
| 88 |
+
],
|
| 89 |
+
"orientation": {
|
| 90 |
+
"w": 0.5278961669259211,
|
| 91 |
+
"xyz": [
|
| 92 |
+
-0.41589205019496994,
|
| 93 |
+
0.5950256816673726,
|
| 94 |
+
-0.4407991353052134
|
| 95 |
+
]
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"grasp_74": {
|
| 99 |
+
"confidence": 0.6778544783592224,
|
| 100 |
+
"position": [
|
| 101 |
+
0.07587654644157737,
|
| 102 |
+
0.10860501718707383,
|
| 103 |
+
0.046853575913701206
|
| 104 |
+
],
|
| 105 |
+
"orientation": {
|
| 106 |
+
"w": 0.625527542763709,
|
| 107 |
+
"xyz": [
|
| 108 |
+
0.7668811116054227,
|
| 109 |
+
0.08822829715619884,
|
| 110 |
+
-0.1132449623062546
|
| 111 |
+
]
|
| 112 |
+
}
|
| 113 |
+
}
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"part_name": "short-side handles",
|
| 118 |
+
"mask_color": "Blue",
|
| 119 |
+
"graspable": true,
|
| 120 |
+
"grasp_scenarios": [
|
| 121 |
+
{
|
| 122 |
+
"scenario": "grasp a short-side handle to lift or carry the basket",
|
| 123 |
+
"confidence": 0.94
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"scenario": "hold one short-side handle to drag or rotate the basket into position",
|
| 127 |
+
"confidence": 0.87
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"functional_labels": [
|
| 131 |
+
"lift the basket",
|
| 132 |
+
"carry the load",
|
| 133 |
+
"pull or drag the basket",
|
| 134 |
+
"assist repositioning"
|
| 135 |
+
],
|
| 136 |
+
"semantic_description": "Two small loop handles made of matching blue fabric, soft and slightly padded with a matte woven texture, attached near the upper ends on the short sides of the basket.",
|
| 137 |
+
"id": 2,
|
| 138 |
+
"grasp_group": {
|
| 139 |
+
"grasp_42": {
|
| 140 |
+
"confidence": 0.9476901292800903,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.08753580099437386,
|
| 143 |
+
0.051891808630898595,
|
| 144 |
+
0.12675920879701152
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.12281463841483564,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.06322472339527743,
|
| 150 |
+
0.9744039026521241,
|
| 151 |
+
-0.1773590523174215
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_43": {
|
| 156 |
+
"confidence": 0.9376380443572998,
|
| 157 |
+
"position": [
|
| 158 |
+
-0.07828174030873924,
|
| 159 |
+
0.0019273324869573116,
|
| 160 |
+
0.13312496995786205
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.052778820597076344,
|
| 164 |
+
"xyz": [
|
| 165 |
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-0.07798451277128969,
|
| 166 |
+
0.9890132787540891,
|
| 167 |
+
-0.11395414126872504
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_48": {
|
| 172 |
+
"confidence": 0.9510525465011597,
|
| 173 |
+
"position": [
|
| 174 |
+
-0.07223741209600121,
|
| 175 |
+
0.036420435877516866,
|
| 176 |
+
0.13145456468919292
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
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"w": 0.039686344826717776,
|
| 180 |
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"xyz": [
|
| 181 |
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0.070415459258994,
|
| 182 |
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0.9920516913013377,
|
| 183 |
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-0.09643702047344228
|
| 184 |
+
]
|
| 185 |
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}
|
| 186 |
+
},
|
| 187 |
+
"grasp_50": {
|
| 188 |
+
"confidence": 0.9197854399681091,
|
| 189 |
+
"position": [
|
| 190 |
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-0.08465436345431954,
|
| 191 |
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0.0749865670222789,
|
| 192 |
+
0.12004277860978618
|
| 193 |
+
],
|
| 194 |
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"orientation": {
|
| 195 |
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"w": 0.10883848797194576,
|
| 196 |
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"xyz": [
|
| 197 |
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0.03933294525611952,
|
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0.9482811560955542,
|
| 199 |
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-0.29558408608641046
|
| 200 |
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]
|
| 201 |
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}
|
| 202 |
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},
|
| 203 |
+
"grasp_51": {
|
| 204 |
+
"confidence": 0.915797770023346,
|
| 205 |
+
"position": [
|
| 206 |
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-0.04964476695749909,
|
| 207 |
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0.0651507128495723,
|
| 208 |
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|
| 209 |
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],
|
| 210 |
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"orientation": {
|
| 211 |
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"w": 0.26160478175283364,
|
| 212 |
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"xyz": [
|
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| 219 |
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| 222 |
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| 250 |
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|
| 251 |
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|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
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"part_name": "long-side handles",
|
| 255 |
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"mask_color": "Green",
|
| 256 |
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"graspable": true,
|
| 257 |
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"grasp_scenarios": [
|
| 258 |
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{
|
| 259 |
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"scenario": "grasp a long-side handle to pull the basket toward the user",
|
| 260 |
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"confidence": 0.91
|
| 261 |
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},
|
| 262 |
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{
|
| 263 |
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"scenario": "use a long-side handle as a handhold while repositioning the basket",
|
| 264 |
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"confidence": 0.89
|
| 265 |
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}
|
| 266 |
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],
|
| 267 |
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"functional_labels": [
|
| 268 |
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"pull the basket",
|
| 269 |
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"assist carrying",
|
| 270 |
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"provide a dedicated handhold",
|
| 271 |
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"help reposition the basket"
|
| 272 |
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],
|
| 273 |
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"semantic_description": "Two arched blue fabric handles with a matte finish and soft woven texture, mounted near the upper edges on the long sides of the basket as flexible grasp loops.",
|
| 274 |
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"id": 1,
|
| 275 |
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"grasp_group": {
|
| 276 |
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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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"grasp_31": {
|
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|
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|
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0.07567480707075447,
|
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0.05093299341388047,
|
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0.13067806517938152
|
| 314 |
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],
|
| 315 |
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"orientation": {
|
| 316 |
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|
| 317 |
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"xyz": [
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|
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|
| 320 |
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|
| 321 |
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]
|
| 322 |
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}
|
| 323 |
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},
|
| 324 |
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"grasp_33": {
|
| 325 |
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"confidence": 0.9364029169082642,
|
| 326 |
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|
| 327 |
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0.06564271950628608,
|
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0.00968055916018784,
|
| 329 |
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0.13767854130128399
|
| 330 |
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],
|
| 331 |
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"orientation": {
|
| 332 |
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|
| 333 |
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|
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|
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|
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]
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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"grasp_34": {
|
| 341 |
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"confidence": 0.9156963229179382,
|
| 342 |
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"position": [
|
| 343 |
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0.058236633776687086,
|
| 344 |
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0.013281120220199227,
|
| 345 |
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0.13019426917890087
|
| 346 |
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],
|
| 347 |
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"orientation": {
|
| 348 |
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| 349 |
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| 350 |
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|
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| 352 |
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|
| 354 |
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}
|
| 355 |
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}
|
| 356 |
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}
|
| 357 |
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}
|
| 358 |
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],
|
| 359 |
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"quality_check": {
|
| 360 |
+
"success": false,
|
| 361 |
+
"message": "Handle parts are swapped with mask colors and side identities; top rim/handle descriptions need correction."
|
| 362 |
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}
|
| 363 |
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}
|
dataset/bedroom_supplies/storage/2c050c4c21c055c78e522d222ff79cef/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:3611fca3ab751185a1e9a0e06a589ff8de972fb2973d1d69dce1233dc3c52030
|
| 3 |
+
size 3783884
|