Add asset bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/affordance/affordance_annot.json +386 -0
- dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/soap_dish_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -5559,3 +5559,4 @@ dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/afforda
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| 5559 |
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5560 |
dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5561 |
dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5559 |
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5560 |
dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5561 |
dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5562 |
+
dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "soap tray body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body from the sides to pick up or reposition the soap dish",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while placing the dish on a sink edge or countertop",
|
| 14 |
+
"confidence": 0.81
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the dish by pinching the body while cleaning it",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the bar of soap",
|
| 23 |
+
"drain water through slots",
|
| 24 |
+
"provide the main structure",
|
| 25 |
+
"keep soap elevated",
|
| 26 |
+
"define the dish shape"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Leaf-shaped light green plastic body with a smooth slightly glossy hard surface, medium size, forming the main tray with raised edges, drainage slats, and a gently curved upright profile.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
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"confidence": 0.9835432767868042,
|
| 33 |
+
"position": [
|
| 34 |
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-0.00032450025901198387,
|
| 35 |
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-0.09626225553802215,
|
| 36 |
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|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.4662032711762307,
|
| 40 |
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"xyz": [
|
| 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_21": {
|
| 48 |
+
"confidence": 0.9833659529685974,
|
| 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": {
|
| 55 |
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"w": 0.49262779457553735,
|
| 56 |
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"xyz": [
|
| 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_22": {
|
| 64 |
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"confidence": 0.98305743932724,
|
| 65 |
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"position": [
|
| 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": 0.4550233430533201,
|
| 72 |
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"xyz": [
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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_23": {
|
| 80 |
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"confidence": 0.982926607131958,
|
| 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": 0.4448780196517235,
|
| 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_24": {
|
| 96 |
+
"confidence": 0.9825959205627441,
|
| 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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"w": 0.464483151771973,
|
| 104 |
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"xyz": [
|
| 105 |
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| 107 |
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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_25": {
|
| 112 |
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"confidence": 0.9825756549835205,
|
| 113 |
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"position": [
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| 114 |
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|
| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
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| 119 |
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"w": 0.182837723396788,
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| 120 |
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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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},
|
| 127 |
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"grasp_26": {
|
| 128 |
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"confidence": 0.9821832180023193,
|
| 129 |
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"position": [
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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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"orientation": {
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| 135 |
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"w": 0.2095496652850366,
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| 136 |
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"xyz": [
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| 139 |
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| 140 |
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]
|
| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_27": {
|
| 144 |
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"confidence": 0.98215252161026,
|
| 145 |
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"position": [
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| 146 |
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| 147 |
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|
| 148 |
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|
| 149 |
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],
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"orientation": {
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"xyz": [
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| 156 |
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| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_28": {
|
| 160 |
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"confidence": 0.9820448160171509,
|
| 161 |
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"position": [
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| 162 |
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| 163 |
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| 165 |
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],
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"orientation": {
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| 167 |
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"w": 0.2552215750460477,
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| 168 |
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"xyz": [
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| 169 |
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| 171 |
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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_29": {
|
| 176 |
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"confidence": 0.9820051193237305,
|
| 177 |
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"position": [
|
| 178 |
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|
| 179 |
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|
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|
| 181 |
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],
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| 182 |
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"orientation": {
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"xyz": [
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|
| 189 |
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|
| 190 |
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},
|
| 191 |
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],
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"success": true,
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| 384 |
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"message": "YES"
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| 385 |
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}
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}
|
dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5729d99fb4bde28b69c03e3ad5b035dfd75e6ffb0a90e30fbcad9abc4551e92b
|
| 3 |
+
size 3778660
|
dataset/bathroom_supplies/bath_products/1ad119b2fd1656e6b876ab2f20d0919d/soap_dish_019.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>
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| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
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