Add asset bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf
Browse files
.gitattributes
CHANGED
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@@ -5710,3 +5710,4 @@ dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/afforda
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| 5710 |
dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5711 |
dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5712 |
dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5710 |
dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5711 |
dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5712 |
dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5713 |
+
dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,449 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upper basket",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rim of the upper basket to lift or reposition the rack",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper basket to stabilize the unit while loading or unloading items",
|
| 14 |
+
"confidence": 0.8
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"hold soap or small toiletries",
|
| 19 |
+
"provide drainage through slots",
|
| 20 |
+
"provide the top tray",
|
| 21 |
+
"support items above the lower basket"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rectangular white plastic basket with a smooth slightly glossy surface, open slotted walls and base, medium size, positioned on top as the upper tray.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_9": {
|
| 27 |
+
"confidence": 0.7279683351516724,
|
| 28 |
+
"position": [
|
| 29 |
+
0.09068390354514122,
|
| 30 |
+
0.05757100007031113,
|
| 31 |
+
0.08513028779998422
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3926307343768413,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.11047458013667129,
|
| 37 |
+
-0.8740153337764315,
|
| 38 |
+
0.2640713348510222
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_13": {
|
| 43 |
+
"confidence": 0.6456976532936096,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.002535054925829172,
|
| 46 |
+
-0.09292221569921821,
|
| 47 |
+
0.08075249055400491
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.43819835917120176,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.8975374347883849,
|
| 53 |
+
-0.014644107722738331,
|
| 54 |
+
-0.04684336967124335
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "side panel",
|
| 62 |
+
"mask_color": "Green",
|
| 63 |
+
"graspable": true,
|
| 64 |
+
"grasp_scenarios": [
|
| 65 |
+
{
|
| 66 |
+
"scenario": "grasp a side panel to lift the rack from the side",
|
| 67 |
+
"confidence": 0.73
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"scenario": "hold a side panel to steady the rack during placement",
|
| 71 |
+
"confidence": 0.7
|
| 72 |
+
}
|
| 73 |
+
],
|
| 74 |
+
"functional_labels": [
|
| 75 |
+
"side support",
|
| 76 |
+
"retain items laterally",
|
| 77 |
+
"connect upper and lower sections",
|
| 78 |
+
"stabilize the frame"
|
| 79 |
+
],
|
| 80 |
+
"semantic_description": "Rounded rectangular gray plastic side piece with a smooth surface, broad and hard, mounted on each side between the upper and lower baskets.",
|
| 81 |
+
"id": 1,
|
| 82 |
+
"grasp_group": {
|
| 83 |
+
"grasp_22": {
|
| 84 |
+
"confidence": 0.6600860357284546,
|
| 85 |
+
"position": [
|
| 86 |
+
-0.05704636499285698,
|
| 87 |
+
-0.06802125775720924,
|
| 88 |
+
0.10582555690780282
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.17763432634968918,
|
| 92 |
+
"xyz": [
|
| 93 |
+
-0.9427595853715874,
|
| 94 |
+
-0.10709792091380893,
|
| 95 |
+
-0.26111385568028406
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_24": {
|
| 100 |
+
"confidence": 0.2162635326385498,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.08632153645157814,
|
| 103 |
+
-0.00950047594960779,
|
| 104 |
+
0.09805447468534112
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.22930549476655682,
|
| 108 |
+
"xyz": [
|
| 109 |
+
0.6853414468513226,
|
| 110 |
+
0.6442991680352758,
|
| 111 |
+
0.2502092591545163
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_25": {
|
| 116 |
+
"confidence": 0.18991586565971375,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.06632991507649422,
|
| 119 |
+
0.0007120707596186548,
|
| 120 |
+
0.11337182531133294
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.16662532411522968,
|
| 124 |
+
"xyz": [
|
| 125 |
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0.6718671063200029,
|
| 126 |
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0.6998459773979367,
|
| 127 |
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0.1761993210219811
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_28": {
|
| 132 |
+
"confidence": 0.7650189399719238,
|
| 133 |
+
"position": [
|
| 134 |
+
0.00470109871821478,
|
| 135 |
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-0.022785310982726514,
|
| 136 |
+
0.12351436773315072
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
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"w": 0.00013105470959286366,
|
| 140 |
+
"xyz": [
|
| 141 |
+
0.9999165507932103,
|
| 142 |
+
0.010070922164197877,
|
| 143 |
+
0.008090166947282786
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_29": {
|
| 148 |
+
"confidence": 0.7231505513191223,
|
| 149 |
+
"position": [
|
| 150 |
+
-0.08509806171059608,
|
| 151 |
+
0.03706512844655663,
|
| 152 |
+
0.09646294871345162
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.09428431950110656,
|
| 156 |
+
"xyz": [
|
| 157 |
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0.9228413838343311,
|
| 158 |
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-0.01618202406275221,
|
| 159 |
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0.37311176539501223
|
| 160 |
+
]
|
| 161 |
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}
|
| 162 |
+
},
|
| 163 |
+
"grasp_30": {
|
| 164 |
+
"confidence": 0.6984556913375854,
|
| 165 |
+
"position": [
|
| 166 |
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0.0023348296526819468,
|
| 167 |
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-0.127488506375812,
|
| 168 |
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0.016441693995147943
|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.7160807146823178,
|
| 172 |
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"xyz": [
|
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| 265 |
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|
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{
|
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"scenario": "pinch a support rod to carefully reposition or align the rack",
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| 268 |
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|
| 269 |
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},
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| 270 |
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{
|
| 271 |
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"scenario": "use a support rod as a secondary stabilizing grasp while another gripper holds a basket",
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| 272 |
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|
| 273 |
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}
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| 274 |
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],
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"connect tiers",
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"brace the structure",
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| 279 |
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"maintain basket alignment"
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| 280 |
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],
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| 281 |
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"semantic_description": "Thin light gray plastic rod with a smooth hard surface, narrow and straight, running vertically along the side between the baskets.",
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|
| 284 |
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},
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| 285 |
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{
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| 286 |
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"part_name": "lower basket",
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| 290 |
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{
|
| 291 |
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"scenario": "grasp the rim of the lower basket to lift the rack",
|
| 292 |
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|
| 293 |
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},
|
| 294 |
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{
|
| 295 |
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"scenario": "hold the lower basket to stabilize the unit while placing it on a surface",
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| 296 |
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|
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}
|
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],
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| 300 |
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"hold soap or accessories",
|
| 301 |
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"collect draining items",
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| 302 |
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"provide drainage through slots",
|
| 303 |
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"support the overall structure"
|
| 304 |
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],
|
| 305 |
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"semantic_description": "Rectangular white plastic basket with a smooth slightly glossy surface, slotted walls and base, positioned below the upper basket as the bottom tray.",
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| 306 |
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| 307 |
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}
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| 325 |
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},
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| 326 |
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{
|
| 327 |
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"part_name": "base runner",
|
| 328 |
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"mask_color": "Orange",
|
| 329 |
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"graspable": true,
|
| 330 |
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|
| 331 |
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{
|
| 332 |
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"scenario": "grasp the base runner from the front or side to slide or reposition the rack",
|
| 333 |
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"confidence": 0.68
|
| 334 |
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},
|
| 335 |
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{
|
| 336 |
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"scenario": "hold the base runner to stabilize the object during pickup",
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| 337 |
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|
| 338 |
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}
|
| 339 |
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],
|
| 340 |
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| 341 |
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"support on countertop",
|
| 342 |
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"stabilize the base",
|
| 343 |
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"elevate the baskets",
|
| 344 |
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"spread contact with the surface"
|
| 345 |
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],
|
| 346 |
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"semantic_description": "Curved gray plastic bottom support with a smooth finish, elongated and moderately thick, located at the lower outer sides as the contact base.",
|
| 347 |
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"id": 4,
|
| 348 |
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|
| 349 |
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],
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},
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|
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|
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|
| 403 |
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],
|
| 404 |
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"orientation": {
|
| 405 |
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|
| 406 |
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0.3396207535092327,
|
| 409 |
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]
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| 411 |
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|
| 412 |
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}
|
| 413 |
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}
|
| 414 |
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},
|
| 415 |
+
{
|
| 416 |
+
"part_name": "side connector bar",
|
| 417 |
+
"mask_color": "Purple",
|
| 418 |
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"graspable": false,
|
| 419 |
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"grasp_scenarios": [],
|
| 420 |
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"functional_labels": [
|
| 421 |
+
"connect side structures",
|
| 422 |
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"reinforce the frame",
|
| 423 |
+
"maintain spacing",
|
| 424 |
+
"provide structural bracing"
|
| 425 |
+
],
|
| 426 |
+
"semantic_description": "Slim gray plastic connector bar with a smooth hard surface, very narrow and rod-like, visible along the side as a small structural brace between the side pieces.",
|
| 427 |
+
"id": 5,
|
| 428 |
+
"grasp_group": {}
|
| 429 |
+
},
|
| 430 |
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{
|
| 431 |
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"part_name": "small side cap",
|
| 432 |
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"mask_color": "Magenta",
|
| 433 |
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"graspable": false,
|
| 434 |
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"grasp_scenarios": [],
|
| 435 |
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"functional_labels": [
|
| 436 |
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"cover connection point",
|
| 437 |
+
"finish exposed edge",
|
| 438 |
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"retain side assembly"
|
| 439 |
+
],
|
| 440 |
+
"semantic_description": "Small gray plastic end cap, rounded and compact, attached near the outer side edge as a minor finishing piece.",
|
| 441 |
+
"id": 7,
|
| 442 |
+
"grasp_group": {}
|
| 443 |
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}
|
| 444 |
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],
|
| 445 |
+
"quality_check": {
|
| 446 |
+
"success": false,
|
| 447 |
+
"message": "Several mask colors and part identities mismatch; magenta is upper rim patch, not side cap."
|
| 448 |
+
}
|
| 449 |
+
}
|
dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6a4ba171731ca6fd42b9e4f84adf71eb53619d628250c60959985417c93ca31d
|
| 3 |
+
size 3781972
|