Add asset bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/affordance_annot.json +439 -0
- dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/toothbrush_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -5844,4 +5844,4 @@ dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/afforda
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| 5844 |
dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5845 |
dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5846 |
dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5847 |
-
dataset/bathroom_supplies/personal_care/
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| 5844 |
dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5845 |
dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5846 |
dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5847 |
+
dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,439 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothbrush handle",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and manipulate the toothbrush",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the brush head during brushing",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to place or retrieve the toothbrush from storage",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support brushing manipulation",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"connect brush head to user grip"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long light pink plastic handle with a smooth slightly glossy surface, gently contoured with a broader midsection and a narrower neck leading to the head.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
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"confidence": 0.889028012752533,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.4985309705633818,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
+
"confidence": 0.8880904912948608,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5236767468212052,
|
| 55 |
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"xyz": [
|
| 56 |
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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_2": {
|
| 63 |
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"confidence": 0.8829915523529053,
|
| 64 |
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"position": [
|
| 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": {
|
| 70 |
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"w": 0.5313924558653418,
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| 71 |
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"xyz": [
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| 72 |
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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_3": {
|
| 79 |
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"confidence": 0.8827651143074036,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.5214246774971267,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.8813483119010925,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.5030266247972822,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.8805199861526489,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5138020149990352,
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| 119 |
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"xyz": [
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| 121 |
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| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_6": {
|
| 127 |
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"confidence": 0.876969575881958,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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|
| 132 |
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],
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| 133 |
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"orientation": {
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| 135 |
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"xyz": [
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| 139 |
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]
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| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.8749170303344727,
|
| 144 |
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"position": [
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| 145 |
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|
| 148 |
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],
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| 149 |
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"orientation": {
|
| 150 |
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"w": 0.49716051268278205,
|
| 151 |
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"xyz": [
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| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.8729165196418762,
|
| 160 |
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"position": [
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| 161 |
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| 163 |
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| 164 |
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],
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| 165 |
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"orientation": {
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| 166 |
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|
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|
| 394 |
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"support bristles",
|
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|
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|
| 398 |
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"define the brushing end"
|
| 399 |
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],
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"semantic_description": "Small rounded rectangular light pink plastic head at the tip, with a smooth hard finish surrounding the bristle area.",
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| 401 |
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{
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"part_name": "outer bristles",
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"help spread toothpaste"
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],
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"semantic_description": "Short fine synthetic bristles around the perimeter of the head, appearing white to off-white, arranged in compact upright rows.",
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},
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{
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"part_name": "inner bristles",
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"scrub tooth surfaces",
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"reach the central contact area"
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| 429 |
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],
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"semantic_description": "Short fine central bristle tufts in alternating blue and green colors, closely packed and upright within the middle of the brush head.",
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| 431 |
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"id": 5,
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}
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],
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"quality_check": {
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| 436 |
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"success": false,
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"message": "Several semantic descriptions misstate visible colors/materials; grip pad and bristle colors do not match images."
|
| 438 |
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}
|
| 439 |
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}
|
dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e69acb4c008da7c8f39b18b7ccaf1ec5b3fbb645e72b98c7c4e540b7ccf88000
|
| 3 |
+
size 3791068
|
dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/toothbrush_011.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|