Add asset bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/affordance_annot.json +1157 -0
- dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/dental_floss_038.urdf +1 -0
.gitattributes
CHANGED
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@@ -5744,3 +5744,4 @@ dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/afforda
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| 5744 |
dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5745 |
dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5746 |
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5744 |
dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5745 |
dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5746 |
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5747 |
+
dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1157 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp or pinch the top lid to open the floss container",
|
| 10 |
+
"confidence": 0.87
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid edge briefly while manipulating the case",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the floss compartment",
|
| 19 |
+
"open for access",
|
| 20 |
+
"protect internal floss",
|
| 21 |
+
"provide top thumb contact area"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded rectangular light blue plastic top lid with a smooth slightly glossy finish and a shallow ribbed thumb area centered on top.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9115400910377502,
|
| 28 |
+
"position": [
|
| 29 |
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|
| 30 |
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|
| 31 |
+
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|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.017591003376047736,
|
| 35 |
+
"xyz": [
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| 36 |
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|
| 37 |
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| 38 |
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| 39 |
+
]
|
| 40 |
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}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9105825424194336,
|
| 44 |
+
"position": [
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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": {
|
| 50 |
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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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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.9056686162948608,
|
| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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],
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| 65 |
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| 66 |
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| 67 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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|
| 73 |
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},
|
| 74 |
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|
| 75 |
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"confidence": 0.9024659991264343,
|
| 76 |
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| 80 |
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| 81 |
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| 83 |
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| 86 |
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| 87 |
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| 88 |
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}
|
| 89 |
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},
|
| 90 |
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|
| 91 |
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"confidence": 0.9005972743034363,
|
| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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],
|
| 97 |
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|
| 98 |
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| 99 |
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| 103 |
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| 104 |
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| 105 |
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},
|
| 106 |
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|
| 107 |
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"confidence": 0.9005524516105652,
|
| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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],
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| 113 |
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| 115 |
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| 116 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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},
|
| 122 |
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|
| 123 |
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"confidence": 0.8987420201301575,
|
| 124 |
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|
| 125 |
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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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|
| 130 |
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| 131 |
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| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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]
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| 136 |
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}
|
| 137 |
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},
|
| 138 |
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|
| 139 |
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"confidence": 0.8987115621566772,
|
| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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],
|
| 145 |
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| 146 |
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| 147 |
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| 148 |
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|
| 150 |
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|
| 151 |
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]
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| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_9": {
|
| 155 |
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"confidence": 0.897963285446167,
|
| 156 |
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| 163 |
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| 168 |
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| 169 |
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},
|
| 170 |
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|
| 171 |
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| 172 |
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| 183 |
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]
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},
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| 187 |
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},
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|
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"grasp_36": {
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"orientation": {
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"w": 0.33169767230260205,
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"xyz": [
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|
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| 1117 |
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]
|
| 1118 |
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| 1119 |
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},
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"grasp_39": {
|
| 1121 |
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|
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"position": [
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|
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| 1129 |
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|
| 1131 |
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|
| 1132 |
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|
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]
|
| 1134 |
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}
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| 1135 |
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}
|
| 1136 |
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}
|
| 1137 |
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},
|
| 1138 |
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{
|
| 1139 |
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"part_name": "bottom perimeter rim",
|
| 1140 |
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"mask_color": "Yellow Green",
|
| 1141 |
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"graspable": false,
|
| 1142 |
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"grasp_scenarios": [],
|
| 1143 |
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"functional_labels": [
|
| 1144 |
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"define base boundary",
|
| 1145 |
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"frame the bottom panel",
|
| 1146 |
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"protect the bottom edge",
|
| 1147 |
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"separate bottom panel from side wall"
|
| 1148 |
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],
|
| 1149 |
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"semantic_description": "Thin yellow-green highlighted edge region around the bottom panel, tracing the rounded perimeter of the container base as a slim border.",
|
| 1150 |
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"id": null
|
| 1151 |
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}
|
| 1152 |
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],
|
| 1153 |
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"quality_check": {
|
| 1154 |
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"success": false,
|
| 1155 |
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"message": "Several mask colors and part descriptions mismatch images; brown region is body trim, not dispensing slot, and pink is side/bottom panels."
|
| 1156 |
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}
|
| 1157 |
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}
|
dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7cfb0077a8d675c95772c3488d528e7c990937bebe4c0ebf900aa22605b500b3
|
| 3 |
+
size 3811800
|
dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/dental_floss_038.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>NO: {"summary":"Container body is split into several colors without clear functional boundaries; cap/body separation is plausible.","merge_groups":[{"colors":["Blue","Crimson","Brown"],"target_part":"main body","reason":"Same housing surface wraps around sides and front"},{"colors":["Pink","Lime Green"],"target_part":"bottom/base surface","reason":"Inset bottom and rim are one base region"}]}</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>NO: {"summary":"Container body is split into several colors without clear functional boundaries; cap/body separation is plausible.","merge_groups":[{"colors":["Blue","Crimson","Brown"],"target_part":"main body","reason":"Same housing surface wraps around sides and front"},{"colors":["Pink","Lime Green"],"target_part":"bottom/base surface","reason":"Inset bottom and rim are one base region"}]}</PartSegChecker>
|