Add asset desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/affordance_annot.json +316 -0
- dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/cutter_knife_022.urdf +1 -0
.gitattributes
CHANGED
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@@ -6558,3 +6558,4 @@ dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordanc
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| 6558 |
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6559 |
dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6560 |
dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6558 |
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6559 |
dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6560 |
dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6561 |
+
dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife handle",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the handle body to pick up and carry the utility knife",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
+
"scenario": "hold the handle while extending or retracting the blade with another manipulator",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the knife during cutting motions",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"house internal blade track",
|
| 24 |
+
"support cutting manipulation",
|
| 25 |
+
"protect hand from blade mechanism"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated pink plastic handle with a mostly matte smooth hard surface, rounded contours, a larger rear end with a lanyard hole, and the main body of the knife.",
|
| 28 |
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"id": 4,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_23": {
|
| 31 |
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"confidence": 0.9303823113441467,
|
| 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": {
|
| 38 |
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"w": 0.7069341565414619,
|
| 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_26": {
|
| 47 |
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"confidence": 0.9252580404281616,
|
| 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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"orientation": {
|
| 54 |
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| 58 |
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| 59 |
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"grasp_33": {
|
| 63 |
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"orientation": {
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| 74 |
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| 75 |
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}
|
| 77 |
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},
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"grasp_35": {
|
| 79 |
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"confidence": 0.9052184820175171,
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| 80 |
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"position": [
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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],
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| 85 |
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"orientation": {
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| 86 |
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| 87 |
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"xyz": [
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| 88 |
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| 89 |
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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_39": {
|
| 95 |
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"confidence": 0.9002290368080139,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.47780729287140467,
|
| 103 |
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| 104 |
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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 |
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}
|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"part_name": "knife blade",
|
| 114 |
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"mask_color": "Purple",
|
| 115 |
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"graspable": false,
|
| 116 |
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"grasp_scenarios": [],
|
| 117 |
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"functional_labels": [
|
| 118 |
+
"cut material",
|
| 119 |
+
"score surfaces",
|
| 120 |
+
"pierce thin material",
|
| 121 |
+
"provide sharp working edge"
|
| 122 |
+
],
|
| 123 |
+
"semantic_description": "Small exposed silver-gray metal blade with a reflective hard finish, sharp angled tip, and segmented utility-knife form protruding from the front of the handle.",
|
| 124 |
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"id": 5,
|
| 125 |
+
"grasp_group": {}
|
| 126 |
+
},
|
| 127 |
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{
|
| 128 |
+
"part_name": "blade slider",
|
| 129 |
+
"mask_color": "Blue",
|
| 130 |
+
"graspable": true,
|
| 131 |
+
"grasp_scenarios": [
|
| 132 |
+
{
|
| 133 |
+
"scenario": "pinch the slider to extend or retract the blade",
|
| 134 |
+
"confidence": 0.88
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"scenario": "push the slider along the slot to adjust blade length",
|
| 138 |
+
"confidence": 0.82
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
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"functional_labels": [
|
| 142 |
+
"extend blade",
|
| 143 |
+
"retract blade",
|
| 144 |
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"adjust blade length",
|
| 145 |
+
"control blade position"
|
| 146 |
+
],
|
| 147 |
+
"semantic_description": "Small dark gray plastic thumb slider with ribbed texture and a matte finish, raised along the top slot near the center for tactile actuation.",
|
| 148 |
+
"id": 2,
|
| 149 |
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"grasp_group": {
|
| 150 |
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"grasp_2": {
|
| 151 |
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"confidence": 0.9276542067527771,
|
| 152 |
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"position": [
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| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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],
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"orientation": {
|
| 158 |
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"w": 0.5250121845442687,
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| 159 |
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| 162 |
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| 163 |
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]
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| 164 |
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}
|
| 165 |
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},
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| 166 |
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|
| 167 |
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"confidence": 0.8417708277702332,
|
| 168 |
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"position": [
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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],
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"orientation": {
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},
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| 183 |
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"confidence": 0.7999466061592102,
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"grasp_8": {
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"confidence": 0.931526780128479,
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"position": [
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"orientation": {
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"xyz": [
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}
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},
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"grasp_9": {
|
| 215 |
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|
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}
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| 294 |
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}
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| 295 |
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},
|
| 296 |
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{
|
| 297 |
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"part_name": "blade track",
|
| 298 |
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"mask_color": "Pink",
|
| 299 |
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"graspable": false,
|
| 300 |
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|
| 301 |
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"functional_labels": [
|
| 302 |
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"guide slider motion",
|
| 303 |
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"expose blade position path",
|
| 304 |
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"house blade channel",
|
| 305 |
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"constrain blade movement"
|
| 306 |
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],
|
| 307 |
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"semantic_description": "Narrow light gray inset strip running lengthwise along the handle, with a smooth slightly matte surface that marks the slider channel and blade path.",
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| 308 |
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|
| 309 |
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"grasp_group": {}
|
| 310 |
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}
|
| 311 |
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],
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| 312 |
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"quality_check": {
|
| 313 |
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"success": true,
|
| 314 |
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"message": "YES"
|
| 315 |
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}
|
| 316 |
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}
|
dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:41fab84a893713a3b50091b2d4e98a0dd018f2de7d5624eabd2d8eee60100da2
|
| 3 |
+
size 3784316
|
dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/cutter_knife_022.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>
|