Add asset food/snack/e33d34b26a265b3785e4b6d54e088554
Browse files
.gitattributes
CHANGED
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@@ -6894,3 +6894,4 @@ dataset/food/snack/b80f9d5023f6516393cd15d77d561070/affordance/mesh_part_seg.glb
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| 6894 |
dataset/food/snack/d7879e73e54754d995ab4d2f9e5360a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6895 |
dataset/food/snack/dabf601448aa59f580418c87ad1902de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6896 |
dataset/food/snack/df28cf9d7e4752f8a04ae3c62a824dd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6894 |
dataset/food/snack/d7879e73e54754d995ab4d2f9e5360a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6895 |
dataset/food/snack/dabf601448aa59f580418c87ad1902de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6896 |
dataset/food/snack/df28cf9d7e4752f8a04ae3c62a824dd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6897 |
+
dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,418 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the narrowed middle of the bottle body to pick up and carry the container",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the bottle body to stabilize it while twisting the cap open or closed",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to reposition the bottle on a surface",
|
| 18 |
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"confidence": 0.84
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"contain the contents",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support the cap and neck",
|
| 25 |
+
"display product labeling"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Medium-sized curvy plastic bottle body with a glossy pale mint and white appearance, smooth hard surface, narrowed waist, rounded base, and a front product label with printed graphics and text.",
|
| 28 |
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"id": 3,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_9": {
|
| 31 |
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"confidence": 0.9872933626174927,
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| 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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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.7552487534703844,
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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_16": {
|
| 47 |
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"confidence": 0.9866378307342529,
|
| 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": {
|
| 54 |
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"w": 0.5235373199221178,
|
| 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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}
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"part_name": "screw cap",
|
| 66 |
+
"mask_color": "Orange",
|
| 67 |
+
"graspable": true,
|
| 68 |
+
"grasp_scenarios": [
|
| 69 |
+
{
|
| 70 |
+
"scenario": "grasp and twist the cap to open the bottle",
|
| 71 |
+
"confidence": 0.95
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"scenario": "grasp and twist the cap to close and seal the bottle",
|
| 75 |
+
"confidence": 0.95
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"scenario": "pinch the cap to stabilize the top during handling",
|
| 79 |
+
"confidence": 0.58
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"functional_labels": [
|
| 83 |
+
"seal the container",
|
| 84 |
+
"enable opening and closing",
|
| 85 |
+
"protect the contents",
|
| 86 |
+
"provide twisting interface"
|
| 87 |
+
],
|
| 88 |
+
"semantic_description": "Small cylindrical turquoise plastic cap at the top with a ribbed sidewall, glossy finish, hard texture, and flat circular top sized for twisting.",
|
| 89 |
+
"id": 4,
|
| 90 |
+
"grasp_group": {
|
| 91 |
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"grasp_20": {
|
| 92 |
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"confidence": 0.9531307816505432,
|
| 93 |
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"position": [
|
| 94 |
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0.09709746465364333,
|
| 95 |
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-0.029244242963613942,
|
| 96 |
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0.04793408955447376
|
| 97 |
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],
|
| 98 |
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"orientation": {
|
| 99 |
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"w": 0.5572652477446561,
|
| 100 |
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"xyz": [
|
| 101 |
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| 102 |
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|
| 103 |
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|
| 104 |
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]
|
| 105 |
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}
|
| 106 |
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},
|
| 107 |
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"grasp_21": {
|
| 108 |
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"confidence": 0.9400473833084106,
|
| 109 |
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"position": [
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| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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],
|
| 114 |
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"orientation": {
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| 115 |
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"w": 0.2619720461064119,
|
| 116 |
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"xyz": [
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| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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]
|
| 121 |
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}
|
| 122 |
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},
|
| 123 |
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"grasp_22": {
|
| 124 |
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"confidence": 0.938835084438324,
|
| 125 |
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"position": [
|
| 126 |
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|
| 127 |
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-0.007261461374582723,
|
| 128 |
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|
| 129 |
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],
|
| 130 |
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"orientation": {
|
| 131 |
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"w": 0.4972779392564688,
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| 132 |
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"xyz": [
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| 133 |
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| 135 |
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| 136 |
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]
|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
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"grasp_23": {
|
| 140 |
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"confidence": 0.937404215335846,
|
| 141 |
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"position": [
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| 142 |
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| 143 |
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| 144 |
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|
| 145 |
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],
|
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"orientation": {
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| 147 |
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"w": 0.5799968484474607,
|
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"xyz": [
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| 152 |
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]
|
| 153 |
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}
|
| 154 |
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},
|
| 155 |
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"grasp_24": {
|
| 156 |
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"confidence": 0.934297502040863,
|
| 157 |
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"position": [
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| 158 |
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| 159 |
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| 161 |
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],
|
| 162 |
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"orientation": {
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| 163 |
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"w": 0.33981454316774984,
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| 164 |
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"xyz": [
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| 167 |
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|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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},
|
| 171 |
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"grasp_25": {
|
| 172 |
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"confidence": 0.9287644624710083,
|
| 173 |
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"position": [
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| 174 |
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| 176 |
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],
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"orientation": {
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"w": 0.43579510583398867,
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"xyz": [
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}
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},
|
| 187 |
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"grasp_26": {
|
| 188 |
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"confidence": 0.9274511337280273,
|
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dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
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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 sha256:4038294e96902e28f0a80be64b803c6cb1b9c328e87fddeec711478c1b156361
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| 3 |
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size 3780708
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dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/candy_005.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>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
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</geometry>
|
| 56 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 58 |
</affordance>
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| 59 |
<quality>
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| 60 |
<PartSegChecker>YES</PartSegChecker>
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