Add asset bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/affordance/affordance_annot.json +424 -0
- dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/mouthwash_cup_040.urdf +1 -0
.gitattributes
CHANGED
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@@ -5815,3 +5815,4 @@ dataset/bathroom_supplies/personal_care/ac75c3a3c687535d91553673e72086af/afforda
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| 5815 |
dataset/bathroom_supplies/personal_care/ad0105b98e5d5f0f9ec4cbc0e9eeeba1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5816 |
dataset/bathroom_supplies/personal_care/ad2b0971aaad5bd095b41039d85c5e0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5817 |
dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5815 |
dataset/bathroom_supplies/personal_care/ad0105b98e5d5f0f9ec4cbc0e9eeeba1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5816 |
dataset/bathroom_supplies/personal_care/ad2b0971aaad5bd095b41039d85c5e0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5817 |
dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5818 |
+
dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewall to pick up the cup",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the upper sidewall below the rim to reorient the cup upright",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support drinking or rinsing",
|
| 25 |
+
"form the cup sidewall"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered light-blue plastic cup body with a semi-translucent glossy finish, smooth hard surface, and printed floral graphics on one side, forming the main central container.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_20": {
|
| 31 |
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"confidence": 0.9562339186668396,
|
| 32 |
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"position": [
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| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.2034093332852523,
|
| 39 |
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"xyz": [
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| 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_21": {
|
| 47 |
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"confidence": 0.9542809724807739,
|
| 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": {
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| 54 |
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"w": 0.24791877475385632,
|
| 55 |
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"xyz": [
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| 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_22": {
|
| 63 |
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"confidence": 0.9519915580749512,
|
| 64 |
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"position": [
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| 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": {
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| 70 |
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"w": 0.137973619101652,
|
| 71 |
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"xyz": [
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| 74 |
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_24": {
|
| 79 |
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"confidence": 0.9487207531929016,
|
| 80 |
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"position": [
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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": {
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| 86 |
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"w": 0.30432270432584313,
|
| 87 |
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"xyz": [
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| 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_25": {
|
| 95 |
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"confidence": 0.9482232928276062,
|
| 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": {
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| 102 |
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"w": 0.2558442871502752,
|
| 103 |
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"xyz": [
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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_26": {
|
| 111 |
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"confidence": 0.9473350048065186,
|
| 112 |
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"position": [
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
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"orientation": {
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| 118 |
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"w": 0.17414091669096385,
|
| 119 |
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"xyz": [
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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_27": {
|
| 127 |
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"confidence": 0.9456663131713867,
|
| 128 |
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"position": [
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| 129 |
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| 132 |
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],
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"orientation": {
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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_28": {
|
| 143 |
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"confidence": 0.9440904259681702,
|
| 144 |
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"position": [
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| 145 |
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|
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],
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"orientation": {
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]
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| 156 |
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}
|
| 157 |
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},
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| 158 |
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"grasp_29": {
|
| 159 |
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"confidence": 0.9411073327064514,
|
| 160 |
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"position": [
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| 161 |
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| 162 |
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],
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"orientation": {
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| 166 |
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"w": 0.19846302181994405,
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| 167 |
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},
|
| 174 |
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"grasp_30": {
|
| 175 |
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"confidence": 0.9403444528579712,
|
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],
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"semantic_description": "Short wavy-edged blue plastic base/foot with a glossy finish and smooth hard surface, surrounding the bottom of the cup as a supporting stand.",
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],
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],
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"semantic_description": "Small narrow blue plastic vertical stem hanging from the upper side of the cup just below the rim, with a glossy smooth hard surface.",
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},
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{
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}
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],
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"hook over a rim or edge",
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"indicate cup orientation",
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"form a small clip feature near the rim"
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],
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],
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"quality_check": {
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| 421 |
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"success": false,
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| 422 |
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"message": "Hook/clip part identities and functions are mismatched; stem and hook colors/roles are swapped."
|
| 423 |
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}
|
| 424 |
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}
|
dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:f3c6a7341d0975657565fdddfa978e2084eb4cae51a7c025ae8bcf72d0423ee6
|
| 3 |
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size 3779612
|
dataset/bathroom_supplies/personal_care/aefc5cb7b5cd570baaa5122d1f137798/mouthwash_cup_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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|