Add asset bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552
Browse files
.gitattributes
CHANGED
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@@ -5736,3 +5736,4 @@ dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/afforda
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| 5736 |
dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5737 |
dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5738 |
dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5736 |
dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5737 |
dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5738 |
dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5739 |
+
dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,467 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main tube body to pick up and move the tube",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "squeeze and hold the tube body to help dispense contents",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tube body while the other gripper twists the cap",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain contents",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"deform for dispensing",
|
| 25 |
+
"display printed product information"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large black flexible tube body with a mostly matte to satin finish, smooth surface, tapered shape, and white printed graphics/text on the front.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9932645559310913,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.0974999520694837,
|
| 34 |
+
0.012465525760489982,
|
| 35 |
+
-0.019691321067512035
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4662323530452517,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.46047803300699275,
|
| 41 |
+
0.5398815646006042,
|
| 42 |
+
-0.5283136097965887
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9929772019386292,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.08817833696957678,
|
| 50 |
+
0.03792831522150664,
|
| 51 |
+
-0.0178001606836915
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.3860306563682415,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.38073125595045226,
|
| 57 |
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0.5833700725551657,
|
| 58 |
+
-0.6047341577365016
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.992950439453125,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.09836611931677908,
|
| 66 |
+
0.017080666839319747,
|
| 67 |
+
-0.018414354883134365
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4529748872317903,
|
| 71 |
+
"xyz": [
|
| 72 |
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-0.45054597280857916,
|
| 73 |
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0.5521932333937158,
|
| 74 |
+
-0.5356348671600003
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9926899075508118,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.09327355807181448,
|
| 82 |
+
-0.03318607586697908,
|
| 83 |
+
-0.01110242959111929
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5692415858045998,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5710346783419429,
|
| 89 |
+
0.425827957000679,
|
| 90 |
+
-0.4105532415633871
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9923906922340393,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.10114381497260183,
|
| 98 |
+
0.010621652349072974,
|
| 99 |
+
-0.02119817864149809
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5374049243536032,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5274152867679356,
|
| 105 |
+
0.4648541986463084,
|
| 106 |
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0.46576779253711037
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9923403263092041,
|
| 112 |
+
"position": [
|
| 113 |
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-0.09846460854168981,
|
| 114 |
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-0.004083661020558793,
|
| 115 |
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-0.009319967590272427
|
| 116 |
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],
|
| 117 |
+
"orientation": {
|
| 118 |
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"w": 0.5004556914531548,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9923377633094788,
|
| 128 |
+
"position": [
|
| 129 |
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-0.10071165894623846,
|
| 130 |
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-0.009823183187108953,
|
| 131 |
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-0.016361993737518787
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.48393311578622633,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
+
]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9922731518745422,
|
| 144 |
+
"position": [
|
| 145 |
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-0.04214839672204107,
|
| 146 |
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0.08880147558375029,
|
| 147 |
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-0.011828077025711536
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.13859735331914375,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.18288752652527582,
|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9920856356620789,
|
| 160 |
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"position": [
|
| 161 |
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|
| 162 |
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0.09932888519688277,
|
| 163 |
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|
| 164 |
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],
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"part_name": "cap",
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|
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"graspable": true,
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"confidence": 0.86
|
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},
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}
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],
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"close the opening",
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"protect contents",
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"enable opening and resealing",
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| 370 |
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"provide a standing base"
|
| 371 |
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],
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| 372 |
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"semantic_description": "Round black plastic cap with a smooth hard surface and short cylindrical form at the bottom of the tube.",
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| 373 |
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"id": 6,
|
| 374 |
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"grasp_group": {
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| 375 |
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}
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},
|
| 393 |
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{
|
| 394 |
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"part_name": "neck ring",
|
| 395 |
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"mask_color": "Magenta",
|
| 396 |
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"graspable": false,
|
| 397 |
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"grasp_scenarios": [],
|
| 398 |
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"functional_labels": [
|
| 399 |
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"connect the cap area to the tube body",
|
| 400 |
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"support the closure interface",
|
| 401 |
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"form the transition above the cap"
|
| 402 |
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],
|
| 403 |
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"semantic_description": "Narrow black ring-shaped section directly above the cap, smooth and slightly glossy, encircling the lower neck of the tube.",
|
| 404 |
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"id": 7,
|
| 405 |
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"grasp_group": {}
|
| 406 |
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},
|
| 407 |
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{
|
| 408 |
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"part_name": "lower shoulder",
|
| 409 |
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"mask_color": "Purple",
|
| 410 |
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"graspable": false,
|
| 411 |
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"grasp_scenarios": [],
|
| 412 |
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"functional_labels": [
|
| 413 |
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"transition from tube body to neck",
|
| 414 |
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"support attachment to the closure area",
|
| 415 |
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"provide structural taper near the bottom"
|
| 416 |
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],
|
| 417 |
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"semantic_description": "Rounded black shoulder section between the main tube body and the neck ring, with a smooth slightly glossy surface and tapered profile near the cap.",
|
| 418 |
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"id": 5,
|
| 419 |
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"grasp_group": {}
|
| 420 |
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},
|
| 421 |
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{
|
| 422 |
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"part_name": "accent stripe",
|
| 423 |
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"mask_color": "Green",
|
| 424 |
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"graspable": false,
|
| 425 |
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"grasp_scenarios": [],
|
| 426 |
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"functional_labels": [
|
| 427 |
+
"visual accent",
|
| 428 |
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"mark styling near the lower body",
|
| 429 |
+
"highlight branding design"
|
| 430 |
+
],
|
| 431 |
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"semantic_description": "Thin colored accent stripe encircling the tube near the lower body above the shoulder area; it appears as a narrow bright band in the product design, not as a separate structural feature.",
|
| 432 |
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"id": 1,
|
| 433 |
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"grasp_group": {}
|
| 434 |
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},
|
| 435 |
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{
|
| 436 |
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"part_name": "crimped top seal",
|
| 437 |
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"mask_color": "Orange",
|
| 438 |
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"graspable": false,
|
| 439 |
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"grasp_scenarios": [],
|
| 440 |
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"functional_labels": [
|
| 441 |
+
"seal the filled tube end",
|
| 442 |
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"prevent leakage from the sealed end",
|
| 443 |
+
"mark the tube termination"
|
| 444 |
+
],
|
| 445 |
+
"semantic_description": "Thin flattened sealed edge at the top of the tube, black and slightly creased, forming a narrow crimped strip across the upper end.",
|
| 446 |
+
"id": 4,
|
| 447 |
+
"grasp_group": {}
|
| 448 |
+
},
|
| 449 |
+
{
|
| 450 |
+
"part_name": "front logo graphic",
|
| 451 |
+
"mask_color": "Yellow",
|
| 452 |
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"graspable": false,
|
| 453 |
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"grasp_scenarios": [],
|
| 454 |
+
"functional_labels": [
|
| 455 |
+
"display branding graphic",
|
| 456 |
+
"provide visual identification"
|
| 457 |
+
],
|
| 458 |
+
"semantic_description": "Small tooth-shaped yellow printed logo on the front upper area of the black tube body; it is a flat printed marking rather than a separate physical component.",
|
| 459 |
+
"id": 3,
|
| 460 |
+
"grasp_group": {}
|
| 461 |
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}
|
| 462 |
+
],
|
| 463 |
+
"quality_check": {
|
| 464 |
+
"success": false,
|
| 465 |
+
"message": "Several part descriptions are wrong: stripe color/placement, logo shape/color, and lower segmented bands are misidentified versus the mask and RGB images."
|
| 466 |
+
}
|
| 467 |
+
}
|
dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:25a7e20f67a1f7c1b6c98c25b4f993b98b129e066105abd4de1693622eed11ca
|
| 3 |
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size 3779916
|