Add asset bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/affordance/affordance_annot.json +381 -0
- dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.urdf +1 -0
.gitattributes
CHANGED
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@@ -8008,3 +8008,4 @@ dataset/bathroom_supplies/personal_care/882a63b95dc0510a82f27735eb241715/afforda
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| 8008 |
dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8009 |
dataset/bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8010 |
dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8008 |
dataset/bathroom_supplies/personal_care/884311bc5b075d6ba7cae7fd6b988064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8009 |
dataset/bathroom_supplies/personal_care/89926dd92a4e5c6eab77c2bdf33fb597/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8010 |
dataset/bathroom_supplies/personal_care/8a21d4e5a912596ca1f22ee50c854747/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8011 |
+
dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,381 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main brush body with bristle pad",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad handle/body to pick up and manipulate the brush",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the main body while brushing hair with the bristle pad",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the back of the brush body to reorient or place it down",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support brush structure",
|
| 24 |
+
"mount bristle pad",
|
| 25 |
+
"transfer force during grooming",
|
| 26 |
+
"stabilize during use"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large pink plastic brush body with an integrated pink bristle pad, smooth slightly glossy hard surface, rounded ergonomic shape, broad handle-like end, and printed cartoon graphics on one face.",
|
| 29 |
+
"id": 5,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_20": {
|
| 32 |
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"confidence": 0.9769971370697021,
|
| 33 |
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"position": [
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| 34 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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"w": 0.4330825890689544,
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| 40 |
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"xyz": [
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| 42 |
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| 43 |
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| 44 |
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]
|
| 45 |
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}
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| 46 |
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},
|
| 47 |
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"grasp_21": {
|
| 48 |
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"confidence": 0.9767667651176453,
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| 49 |
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"position": [
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| 50 |
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| 51 |
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| 54 |
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"orientation": {
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"xyz": [
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| 59 |
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| 60 |
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]
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| 61 |
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}
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| 62 |
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},
|
| 63 |
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"grasp_25": {
|
| 64 |
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"confidence": 0.9745814204216003,
|
| 65 |
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"position": [
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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| 72 |
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},
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"grasp_28": {
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| 80 |
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"confidence": 0.9735885262489319,
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| 81 |
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"position": [
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| 84 |
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| 85 |
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],
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| 86 |
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"orientation": {
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| 87 |
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"w": 0.651246047007403,
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| 88 |
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"xyz": [
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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_31": {
|
| 96 |
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"confidence": 0.9730936288833618,
|
| 97 |
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"position": [
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| 98 |
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| 99 |
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],
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"orientation": {
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"grasp_32": {
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| 128 |
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},
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},
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| 209 |
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{
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"part_name": "cartoon head ornament",
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| 211 |
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| 212 |
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| 213 |
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|
| 214 |
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{
|
| 215 |
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"scenario": "lightly pinch the protruding ornament to reorient the brush",
|
| 216 |
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"confidence": 0.38
|
| 217 |
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},
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| 218 |
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{
|
| 219 |
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"scenario": "use the ornament as a secondary hold while stabilizing the brush",
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| 220 |
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| 221 |
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}
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| 222 |
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],
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| 223 |
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| 224 |
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"decorate the brush",
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| 225 |
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"provide visual theme",
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| 226 |
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"indicate orientation",
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| 227 |
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"offer a small protrusion for light manipulation"
|
| 228 |
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],
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"semantic_description": "Small protruding cartoon-character head detail with black ears and a peach-colored face, smooth plastic, attached near the neck of the pink brush.",
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| 230 |
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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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|
| 329 |
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"confidence": 0.9071109294891357,
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| 334 |
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],
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| 335 |
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| 337 |
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]
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|
| 343 |
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},
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| 345 |
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|
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0.00026212506054434925
|
| 350 |
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],
|
| 351 |
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"orientation": {
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| 352 |
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|
| 353 |
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| 354 |
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|
| 355 |
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]
|
| 358 |
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}
|
| 359 |
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}
|
| 360 |
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}
|
| 361 |
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},
|
| 362 |
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{
|
| 363 |
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"part_name": "decorative bumps",
|
| 364 |
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"mask_color": "Maroon",
|
| 365 |
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"graspable": false,
|
| 366 |
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"grasp_scenarios": [],
|
| 367 |
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"functional_labels": [
|
| 368 |
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"add decoration",
|
| 369 |
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"provide slight edge texture",
|
| 370 |
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"indicate back-side orientation"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "A row of tiny rounded pink bumps along one outer edge of the brush, matching the body material with a smooth hard finish and serving as minor decorative texture.",
|
| 373 |
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"id": 12,
|
| 374 |
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"grasp_group": {}
|
| 375 |
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}
|
| 376 |
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],
|
| 377 |
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"quality_check": {
|
| 378 |
+
"success": false,
|
| 379 |
+
"message": "Main part mislabeled as brush with bristle pad; object is a comb with teeth, not a brush."
|
| 380 |
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}
|
| 381 |
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}
|
dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:21341e8cb60c6be7acfb51e04c548c07fe38e0c3fdef6b81f39ecf64517fbb68
|
| 3 |
+
size 3740800
|
dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/comb_040.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>YES</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>YES</PartSegChecker>
|