Add asset desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/affordance_annot.json +435 -0
- dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/ballpoint_pen_008.urdf +1 -0
.gitattributes
CHANGED
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@@ -6365,3 +6365,4 @@ dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/affo
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| 6365 |
dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6366 |
dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6367 |
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6365 |
dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6366 |
dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6367 |
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6368 |
+
dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,435 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen barrel",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel at the center to pick up the pen",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to stabilize and orient the pen for use or placement",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the barrel while actuating the rear button with another finger or tool",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink mechanism",
|
| 24 |
+
"support writing control",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long white cylindrical plastic barrel with a smooth finish, medium thickness, extending through the middle of the pen between the green front grip/tip area and the rear clicker end.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
+
"confidence": 0.8204043507575989,
|
| 32 |
+
"position": [
|
| 33 |
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-0.11768558202311397,
|
| 34 |
+
0.007800597988534719,
|
| 35 |
+
0.05263876751996577
|
| 36 |
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],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.37674503465674053,
|
| 39 |
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"xyz": [
|
| 40 |
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0.6036942880566892,
|
| 41 |
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0.6313082404862226,
|
| 42 |
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0.3083282194730285
|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.8195126056671143,
|
| 48 |
+
"position": [
|
| 49 |
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-0.11367395101115108,
|
| 50 |
+
0.017488200042862445,
|
| 51 |
+
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.4214574686602017,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_5": {
|
| 63 |
+
"confidence": 0.8151386976242065,
|
| 64 |
+
"position": [
|
| 65 |
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-0.11699391482397914,
|
| 66 |
+
-0.017519900749903172,
|
| 67 |
+
0.05014417530037463
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.445611631740443,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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-0.22840505834301636
|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
+
"grasp_6": {
|
| 79 |
+
"confidence": 0.8122193813323975,
|
| 80 |
+
"position": [
|
| 81 |
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|
| 82 |
+
-0.015015420678537339,
|
| 83 |
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|
| 84 |
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],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.2521941405056081,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_8": {
|
| 95 |
+
"confidence": 0.7964714765548706,
|
| 96 |
+
"position": [
|
| 97 |
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-0.11248801229521632,
|
| 98 |
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-0.010486727755051106,
|
| 99 |
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-0.04951797588728368
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.5705503511486498,
|
| 103 |
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"xyz": [
|
| 104 |
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-0.4054869586333517,
|
| 105 |
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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 |
+
"grasp_10": {
|
| 111 |
+
"confidence": 0.7891877293586731,
|
| 112 |
+
"position": [
|
| 113 |
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-0.1382841425947845,
|
| 114 |
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0.00047475003520958126,
|
| 115 |
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0.005229113390669227
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.4134282794421136,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.5684369360971743,
|
| 121 |
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0.42549111941532924,
|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
+
"grasp_11": {
|
| 127 |
+
"confidence": 0.7852340936660767,
|
| 128 |
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"position": [
|
| 129 |
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-0.13017825363203883,
|
| 130 |
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0.0029461850062943995,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.4331701687175183,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_12": {
|
| 143 |
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"confidence": 0.7849189639091492,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.45692874873206957,
|
| 151 |
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"xyz": [
|
| 152 |
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|
| 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 |
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"grasp_13": {
|
| 159 |
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"confidence": 0.7626410722732544,
|
| 160 |
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"position": [
|
| 161 |
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-0.11872106371447444,
|
| 162 |
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0.0006331044714897871,
|
| 163 |
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0.051138064125552773
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.3412615386908558,
|
| 167 |
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"xyz": [
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
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},
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{
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"part_name": "combined tip, front grip, clip, and clicker components",
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|
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{
|
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"scenario": "lightly grasp the front grip area near the tip for precise alignment or stabilization",
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"confidence": 0.42
|
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},
|
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{
|
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"scenario": "lightly grasp the rear clicker end to reorient the pen during placement",
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|
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},
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{
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"allow pocket attachment via clip",
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| 231 |
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"indicate pen orientation"
|
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],
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"semantic_description": "Smaller green and white plastic components around both ends and along one side of the pen, including the green front grip section with white conical tip area, the small green rear push button, and the side clip; smooth hard surfaces and compact features.",
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"id": 5,
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| 411 |
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},
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| 413 |
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],
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| 419 |
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| 421 |
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}
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| 428 |
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}
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| 430 |
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],
|
| 431 |
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"quality_check": {
|
| 432 |
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"success": false,
|
| 433 |
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"message": "Purple mask merges multiple distinct pen parts; part name too combined and description/colors partly incorrect."
|
| 434 |
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}
|
| 435 |
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}
|
dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c880999d1975086b73974e832b05eeeb5f8a8a605ed920814c242fefd7276b32
|
| 3 |
+
size 3798136
|
dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/ballpoint_pen_008.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>NO: {"summary":"Tip cone, clicker, and body are merged inconsistently across two colors; not actionable by merge-only.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>NO: {"summary":"Tip cone, clicker, and body are merged inconsistently across two colors; not actionable by merge-only.","merge_groups":[]}</PartSegChecker>
|