Add asset bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/affordance_annot.json +417 -0
- dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/remote_holder_039.urdf +1 -0
.gitattributes
CHANGED
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@@ -6038,3 +6038,4 @@ dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/affordance/mes
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| 6038 |
dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6039 |
dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6040 |
dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6038 |
dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6039 |
dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6040 |
dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6041 |
+
dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,417 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "holder body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up and reposition the holder",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the holder while inserting or removing an item",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the upper shell to rotate and orient the holder on a surface",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain remotes or small items",
|
| 23 |
+
"provide the main structure",
|
| 24 |
+
"form the side and rear enclosure",
|
| 25 |
+
"protect contents on the sides"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white plastic shell with a smooth matte finish, rounded-rectangular hollow box shape, open at the front, forming the main body of the holder with printed labels visible on one exterior side.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_20": {
|
| 31 |
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"confidence": 0.9838483929634094,
|
| 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": 0.5922331013887773,
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| 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": 0.9813544750213623,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.5592930482461285,
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| 55 |
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"xyz": [
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
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| 62 |
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"grasp_22": {
|
| 63 |
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"confidence": 0.9801713228225708,
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| 64 |
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"position": [
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| 66 |
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| 67 |
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],
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| 69 |
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"orientation": {
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| 70 |
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"w": 0.6816215480811922,
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| 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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}
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| 77 |
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},
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| 78 |
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"grasp_23": {
|
| 79 |
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"confidence": 0.979361355304718,
|
| 80 |
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"position": [
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| 81 |
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| 83 |
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| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.6633944707978972,
|
| 87 |
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"xyz": [
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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_24": {
|
| 95 |
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"confidence": 0.9784376621246338,
|
| 96 |
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"position": [
|
| 97 |
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| 98 |
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|
| 99 |
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],
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| 101 |
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"orientation": {
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"xyz": [
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]
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}
|
| 109 |
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},
|
| 110 |
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"grasp_25": {
|
| 111 |
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"confidence": 0.9783111214637756,
|
| 112 |
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"position": [
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| 113 |
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| 114 |
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|
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],
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"orientation": {
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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_26": {
|
| 127 |
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"confidence": 0.9778409600257874,
|
| 128 |
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"position": [
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| 129 |
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],
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"orientation": {
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}
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| 141 |
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},
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| 142 |
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"grasp_27": {
|
| 143 |
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"confidence": 0.9745263457298279,
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| 144 |
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"position": [
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| 148 |
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],
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"orientation": {
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| 155 |
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| 156 |
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}
|
| 157 |
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},
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| 158 |
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"grasp_28": {
|
| 159 |
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"confidence": 0.9744418263435364,
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| 160 |
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"position": [
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| 161 |
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| 164 |
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],
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| 165 |
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"orientation": {
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| 166 |
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"w": 0.6682864752134491,
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| 167 |
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"xyz": [
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| 171 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_29": {
|
| 175 |
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"confidence": 0.9737787246704102,
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| 176 |
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| 356 |
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},
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| 374 |
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| 375 |
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],
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| 376 |
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"semantic_description": "Flat medium-gray plastic platform with a smooth matte finish, broad rounded-rectangular shape, located at the bottom as the supporting foot of the holder.",
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| 377 |
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| 378 |
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},
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| 397 |
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{
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| 398 |
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"part_name": "interior front panel",
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| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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| 403 |
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"partially close the front opening",
|
| 404 |
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"help retain stored items",
|
| 405 |
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"provide front structural support",
|
| 406 |
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"define the lower front boundary of the cavity"
|
| 407 |
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],
|
| 408 |
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"semantic_description": "White interior plastic panel visible at the front inside the holder, shaped like a broad top lip with a central vertical section extending downward, smooth matte surface, forming a T-like front interior feature rather than a separate divider.",
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| 409 |
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"id": 3,
|
| 410 |
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],
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| 413 |
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"quality_check": {
|
| 414 |
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"success": true,
|
| 415 |
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"message": "YES"
|
| 416 |
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}
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| 417 |
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}
|
dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:592d2693c5389062b16e18e8cb4912502d87cb1395ec8ba704cab2d8a8ff6a4f
|
| 3 |
+
size 3802164
|
dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/remote_holder_039.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>
|