Add asset bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/affordance/affordance_annot.json +402 -0
- dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/shampoo_bottle_008.urdf +1 -0
.gitattributes
CHANGED
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@@ -5683,3 +5683,4 @@ dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/afforda
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| 5683 |
dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5684 |
dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5685 |
dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5683 |
dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5684 |
dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5685 |
dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5686 |
+
dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,402 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body at the midsection to pick up and carry the bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while pressing or turning the pump top",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to orient the bottle for dispensing",
|
| 18 |
+
"confidence": 0.85
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain product",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"display product branding"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large pale pink plastic bottle body with a smooth glossy surface and a slim faceted tapered shape, forming most of the object below the neck. The front shows black branding text and a long vertical gray panel.",
|
| 29 |
+
"id": 4,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9727432727813721,
|
| 33 |
+
"position": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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],
|
| 38 |
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"orientation": {
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| 39 |
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"w": 0.8009339594757269,
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| 40 |
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"xyz": [
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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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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9719874858856201,
|
| 49 |
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"position": [
|
| 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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"orientation": {
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| 55 |
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"w": 0.7865450860848829,
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| 56 |
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"xyz": [
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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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},
|
| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.9718182682991028,
|
| 65 |
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"position": [
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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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"orientation": {
|
| 71 |
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"w": 0.7778514380862435,
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| 72 |
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"xyz": [
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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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},
|
| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9690272212028503,
|
| 81 |
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"position": [
|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.00647810228394223,
|
| 88 |
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"xyz": [
|
| 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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},
|
| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.9686499238014221,
|
| 97 |
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"position": [
|
| 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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"orientation": {
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| 103 |
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"xyz": [
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| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_5": {
|
| 112 |
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"confidence": 0.9675878286361694,
|
| 113 |
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"position": [
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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],
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"orientation": {
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| 119 |
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| 123 |
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|
| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_6": {
|
| 128 |
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"confidence": 0.9674033522605896,
|
| 129 |
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"position": [
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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],
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| 134 |
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"orientation": {
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| 135 |
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"w": 0.8113621929788454,
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"xyz": [
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|
| 140 |
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]
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| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_7": {
|
| 144 |
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"confidence": 0.9667778015136719,
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| 145 |
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"position": [
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],
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"orientation": {
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"xyz": [
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| 155 |
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|
| 156 |
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]
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| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_8": {
|
| 160 |
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"confidence": 0.9664204716682434,
|
| 161 |
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"position": [
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| 162 |
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| 164 |
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| 165 |
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],
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| 166 |
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"orientation": {
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| 167 |
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"w": 0.7258876180259858,
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| 168 |
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"xyz": [
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| 172 |
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| 173 |
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}
|
| 174 |
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},
|
| 175 |
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"grasp_9": {
|
| 176 |
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"confidence": 0.9663601517677307,
|
| 177 |
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"orientation": {
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| 183 |
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},
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| 358 |
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| 362 |
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| 363 |
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],
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"semantic_description": "Small white plastic collar at the bottle neck with a glossy smooth finish, encircling the top connection between the bottle body and pump head.",
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"part_name": "pump head",
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| 378 |
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],
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"semantic_description": "Medium translucent clear to whitish plastic pump head with a glossy smooth hard surface, featuring an angled nozzle-like shape and a broad faceted top, positioned at the very top of the bottle.",
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| 380 |
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"id": 7,
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| 381 |
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},
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{
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"part_name": "front branding text",
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"mask_color": "Pink",
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| 386 |
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| 387 |
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| 388 |
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"display branding details",
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"indicate product identity",
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| 391 |
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"provide decorative text"
|
| 392 |
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],
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| 393 |
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"semantic_description": "Small printed branding marks on the front face of the bottle body, appearing as light pink to white text elements near the upper front area.",
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| 394 |
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"id": 8,
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| 395 |
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}
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],
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| 398 |
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"quality_check": {
|
| 399 |
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"success": false,
|
| 400 |
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"message": "Branding text color and body description are inaccurate; missing bottom cap part visible in RGB/mask."
|
| 401 |
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}
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| 402 |
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}
|
dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:86792021107edd4054dc4c78b8b869a817e4cf607355eb02427f5372823eefc6
|
| 3 |
+
size 3782460
|
dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/shampoo_bottle_008.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|