Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
b3e8a7f
·
verified ·
1 Parent(s): 24ededd

Add asset desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affordance/affordance_annot.json +630 -0
  3. dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/eraser_012.urdf +1 -0
.gitattributes CHANGED
@@ -6496,4 +6496,4 @@ dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affo
6496
  dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6497
  dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6498
  dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6499
- dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6496
  dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6497
  dataset/desktop_supplies/office_stationery/c7b30a3506a851f4b6b607dcda22c3bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6498
  dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6499
+ dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affordance/affordance_annot.json ADDED
@@ -0,0 +1,630 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main eraser body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and move the eraser",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the eraser while rubbing a surface",
14
+ "confidence": 0.93
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "hold the eraser during use",
20
+ "provide structural body",
21
+ "support printed labeling"
22
+ ],
23
+ "semantic_description": "Large black plastic body with a matte smooth finish and a tapered rectangular wedge shape, covering most of the object and showing white printed branding on broad faces.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.9807150363922119,
28
+ "position": [
29
+ 0.04769239394227043,
30
+ 0.09094373593688942,
31
+ -0.0004647788082365878
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5887691274906293,
35
+ "xyz": [
36
+ 0.3598189314592846,
37
+ -0.6147119394832835,
38
+ 0.3821131802674722
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.9800316095352173,
44
+ "position": [
45
+ 0.04399800120154396,
46
+ 0.09058744172216393,
47
+ -0.001444471134163905
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5909549848866361,
51
+ "xyz": [
52
+ 0.3622643665659934,
53
+ -0.6096175793075178,
54
+ 0.3845817748586346
55
+ ]
56
+ }
57
+ },
58
+ "grasp_22": {
59
+ "confidence": 0.9796289801597595,
60
+ "position": [
61
+ 0.09037194965640083,
62
+ 0.0542289660370443,
63
+ -0.0004925290777464397
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6789679383924068,
67
+ "xyz": [
68
+ 0.17512707101176467,
69
+ -0.6895814501582234,
70
+ 0.18113660930824194
71
+ ]
72
+ }
73
+ },
74
+ "grasp_24": {
75
+ "confidence": 0.9784228205680847,
76
+ "position": [
77
+ 0.04453681601444259,
78
+ 0.09130218336940743,
79
+ -0.0036605379500542767
80
+ ],
81
+ "orientation": {
82
+ "w": 0.602848351759843,
83
+ "xyz": [
84
+ 0.3700138066621582,
85
+ -0.6015086273271012,
86
+ 0.37128293646609434
87
+ ]
88
+ }
89
+ },
90
+ "grasp_25": {
91
+ "confidence": 0.9782901406288147,
92
+ "position": [
93
+ 0.08913649438181892,
94
+ 0.054432962933788076,
95
+ 0.0022685435178573243
96
+ ],
97
+ "orientation": {
98
+ "w": 0.17812138550023027,
99
+ "xyz": [
100
+ 0.6958069142717717,
101
+ 0.1880870961121761,
102
+ -0.6698871206070192
103
+ ]
104
+ }
105
+ },
106
+ "grasp_26": {
107
+ "confidence": 0.9776602983474731,
108
+ "position": [
109
+ 0.04760372458258644,
110
+ 0.09154465506435372,
111
+ 0.0022879962853039615
112
+ ],
113
+ "orientation": {
114
+ "w": 0.3672147652165544,
115
+ "xyz": [
116
+ 0.6115758748240462,
117
+ 0.37574938604537633,
118
+ -0.5915578284721419
119
+ ]
120
+ }
121
+ },
122
+ "grasp_27": {
123
+ "confidence": 0.9776409268379211,
124
+ "position": [
125
+ 0.09109966276446357,
126
+ 0.05426213229657151,
127
+ -0.0007883720172685571
128
+ ],
129
+ "orientation": {
130
+ "w": 0.17888416116930023,
131
+ "xyz": [
132
+ 0.6874174857642041,
133
+ 0.1790579752500212,
134
+ -0.6807318845534847
135
+ ]
136
+ }
137
+ },
138
+ "grasp_28": {
139
+ "confidence": 0.9773216843605042,
140
+ "position": [
141
+ 0.044273411913309246,
142
+ 0.09181802431703545,
143
+ -0.0014221677047316916
144
+ ],
145
+ "orientation": {
146
+ "w": 0.37372542106867945,
147
+ "xyz": [
148
+ 0.6047494356887116,
149
+ 0.364666309069121,
150
+ -0.6013534008477267
151
+ ]
152
+ }
153
+ },
154
+ "grasp_29": {
155
+ "confidence": 0.9768217206001282,
156
+ "position": [
157
+ -0.047914469556417316,
158
+ 0.08539077351451851,
159
+ -0.0037007838909630664
160
+ ],
161
+ "orientation": {
162
+ "w": 0.3577202975844324,
163
+ "xyz": [
164
+ 0.5997797618851574,
165
+ -0.3665081172928857,
166
+ 0.614794458243984
167
+ ]
168
+ }
169
+ },
170
+ "grasp_30": {
171
+ "confidence": 0.976811945438385,
172
+ "position": [
173
+ 0.04412316723028198,
174
+ 0.09390950659872033,
175
+ -0.0007263000661623664
176
+ ],
177
+ "orientation": {
178
+ "w": 0.3790411278620142,
179
+ "xyz": [
180
+ 0.6057180569776116,
181
+ 0.37394841849720883,
182
+ -0.5912664705053007
183
+ ]
184
+ }
185
+ },
186
+ "grasp_31": {
187
+ "confidence": 0.976807177066803,
188
+ "position": [
189
+ 0.04627502529183403,
190
+ 0.08802460590959527,
191
+ 0.0011959873882005922
192
+ ],
193
+ "orientation": {
194
+ "w": 0.6035765104067382,
195
+ "xyz": [
196
+ 0.3469498762311474,
197
+ -0.6150325394067043,
198
+ 0.3702109600475876
199
+ ]
200
+ }
201
+ },
202
+ "grasp_32": {
203
+ "confidence": 0.976699709892273,
204
+ "position": [
205
+ 0.0912597012356855,
206
+ 0.052403279492864385,
207
+ -0.0005979571797070093
208
+ ],
209
+ "orientation": {
210
+ "w": 0.177621764010084,
211
+ "xyz": [
212
+ 0.6833827437407614,
213
+ 0.17629629007316505,
214
+ -0.6858266199366523
215
+ ]
216
+ }
217
+ },
218
+ "grasp_33": {
219
+ "confidence": 0.9764240980148315,
220
+ "position": [
221
+ 0.04133358789840713,
222
+ -0.09370004673837684,
223
+ -0.00966230239282595
224
+ ],
225
+ "orientation": {
226
+ "w": 0.6180287450177567,
227
+ "xyz": [
228
+ -0.35698549827848874,
229
+ -0.580477770831185,
230
+ -0.39197880289818504
231
+ ]
232
+ }
233
+ },
234
+ "grasp_34": {
235
+ "confidence": 0.9749075770378113,
236
+ "position": [
237
+ 0.041253848059568554,
238
+ 0.08805156956077553,
239
+ 0.0017694996713544242
240
+ ],
241
+ "orientation": {
242
+ "w": 0.5869591299217919,
243
+ "xyz": [
244
+ 0.368289039754337,
245
+ -0.6209034887006744,
246
+ 0.36649832293970047
247
+ ]
248
+ }
249
+ },
250
+ "grasp_35": {
251
+ "confidence": 0.9747360944747925,
252
+ "position": [
253
+ -0.08327182562788948,
254
+ 0.05732701803208329,
255
+ -0.004945845059410203
256
+ ],
257
+ "orientation": {
258
+ "w": 0.6834374489592598,
259
+ "xyz": [
260
+ 0.1988121491569395,
261
+ 0.6756505555927965,
262
+ -0.19205027840334796
263
+ ]
264
+ }
265
+ },
266
+ "grasp_37": {
267
+ "confidence": 0.9745249152183533,
268
+ "position": [
269
+ -0.046880921290721744,
270
+ 0.09007496843696572,
271
+ -0.0028629374646698125
272
+ ],
273
+ "orientation": {
274
+ "w": 0.5977334394209365,
275
+ "xyz": [
276
+ 0.3713632488039436,
277
+ 0.6144617780616531,
278
+ -0.3567082787616658
279
+ ]
280
+ }
281
+ },
282
+ "grasp_39": {
283
+ "confidence": 0.9742437601089478,
284
+ "position": [
285
+ -0.04907404811820015,
286
+ 0.08775365064502694,
287
+ -0.0014338412511278875
288
+ ],
289
+ "orientation": {
290
+ "w": 0.5993883343841613,
291
+ "xyz": [
292
+ 0.3724431016778254,
293
+ 0.6149095481513238,
294
+ -0.35200285255820996
295
+ ]
296
+ }
297
+ }
298
+ }
299
+ },
300
+ {
301
+ "part_name": "end cap",
302
+ "mask_color": "Red",
303
+ "graspable": true,
304
+ "grasp_scenarios": [
305
+ {
306
+ "scenario": "grasp the end cap to reorient the eraser during pickup",
307
+ "confidence": 0.58
308
+ },
309
+ {
310
+ "scenario": "hold the cap end to stabilize the object while placing it down",
311
+ "confidence": 0.52
312
+ }
313
+ ],
314
+ "functional_labels": [
315
+ "close off one end of the body",
316
+ "provide an additional contact surface",
317
+ "form the tapered end geometry"
318
+ ],
319
+ "semantic_description": "Black plastic end section with a matte smooth finish, shaped as a short rectangular cap attached at one end of the eraser body.",
320
+ "id": 0,
321
+ "grasp_group": {
322
+ "grasp_0": {
323
+ "confidence": 0.806676983833313,
324
+ "position": [
325
+ -0.026576552481856197,
326
+ 0.10036940584541298,
327
+ 0.0018427442337269895
328
+ ],
329
+ "orientation": {
330
+ "w": 0.45247344423833613,
331
+ "xyz": [
332
+ 0.5274060557867324,
333
+ -0.49118431650263805,
334
+ 0.525212910923195
335
+ ]
336
+ }
337
+ },
338
+ "grasp_1": {
339
+ "confidence": 0.7102515697479248,
340
+ "position": [
341
+ -0.06574832828482613,
342
+ 0.08898937414051034,
343
+ 0.0012364432259346358
344
+ ],
345
+ "orientation": {
346
+ "w": 0.3590895708698796,
347
+ "xyz": [
348
+ 0.6010392518430677,
349
+ -0.36480098774197045,
350
+ 0.6137806914353799
351
+ ]
352
+ }
353
+ },
354
+ "grasp_2": {
355
+ "confidence": 0.588104784488678,
356
+ "position": [
357
+ -0.0672563406988047,
358
+ 0.08887065658927895,
359
+ 0.013153211031749379
360
+ ],
361
+ "orientation": {
362
+ "w": 0.32495067102552155,
363
+ "xyz": [
364
+ 0.6294046164606172,
365
+ -0.3844520306479223,
366
+ 0.5919911539109481
367
+ ]
368
+ }
369
+ },
370
+ "grasp_3": {
371
+ "confidence": 0.8340048789978027,
372
+ "position": [
373
+ -0.06325885833939537,
374
+ 0.08412583629251458,
375
+ -6.146122905192897e-05
376
+ ],
377
+ "orientation": {
378
+ "w": 0.605147337916384,
379
+ "xyz": [
380
+ 0.3810447983229497,
381
+ 0.6051220527568532,
382
+ -0.34989836002912195
383
+ ]
384
+ }
385
+ },
386
+ "grasp_4": {
387
+ "confidence": 0.8162013292312622,
388
+ "position": [
389
+ -0.0655158776207827,
390
+ 0.0874626235163305,
391
+ -0.003939904920116533
392
+ ],
393
+ "orientation": {
394
+ "w": 0.6167899597548405,
395
+ "xyz": [
396
+ 0.35908473785929546,
397
+ 0.6038763028990616,
398
+ -0.3549108442681122
399
+ ]
400
+ }
401
+ },
402
+ "grasp_5": {
403
+ "confidence": 0.8139538168907166,
404
+ "position": [
405
+ -0.06904659600695595,
406
+ 0.0828726188337896,
407
+ -0.009353880952403415
408
+ ],
409
+ "orientation": {
410
+ "w": 0.6370234133041832,
411
+ "xyz": [
412
+ 0.3456253974915988,
413
+ 0.5958347337578628,
414
+ -0.34601333147547736
415
+ ]
416
+ }
417
+ },
418
+ "grasp_6": {
419
+ "confidence": 0.7959645986557007,
420
+ "position": [
421
+ -0.06628918828209862,
422
+ 0.08674668977619149,
423
+ -0.003360696784511674
424
+ ],
425
+ "orientation": {
426
+ "w": 0.3685386372701882,
427
+ "xyz": [
428
+ 0.5941461533057512,
429
+ -0.34046903865687517,
430
+ 0.6286894742773053
431
+ ]
432
+ }
433
+ },
434
+ "grasp_7": {
435
+ "confidence": 0.7885708808898926,
436
+ "position": [
437
+ -0.025604698748793453,
438
+ -0.10508434762596153,
439
+ -0.0009159062246908434
440
+ ],
441
+ "orientation": {
442
+ "w": 0.4760699054647424,
443
+ "xyz": [
444
+ -0.5202299848798589,
445
+ -0.47274029318175737,
446
+ -0.5284267434045321
447
+ ]
448
+ }
449
+ },
450
+ "grasp_9": {
451
+ "confidence": 0.6985984444618225,
452
+ "position": [
453
+ -0.06927906157216057,
454
+ -0.09144977768301032,
455
+ -0.008124909545585979
456
+ ],
457
+ "orientation": {
458
+ "w": 0.6175675364574308,
459
+ "xyz": [
460
+ -0.3535344047286842,
461
+ 0.6082087936973086,
462
+ 0.35171838998877997
463
+ ]
464
+ }
465
+ },
466
+ "grasp_10": {
467
+ "confidence": 0.6393647193908691,
468
+ "position": [
469
+ -0.070256540493574,
470
+ -0.02240125378011726,
471
+ -0.08391478303383337
472
+ ],
473
+ "orientation": {
474
+ "w": 0.6953749632723466,
475
+ "xyz": [
476
+ 0.11769917846744159,
477
+ 0.26418770583272344,
478
+ 0.657879487390293
479
+ ]
480
+ }
481
+ },
482
+ "grasp_11": {
483
+ "confidence": 0.582423210144043,
484
+ "position": [
485
+ -0.06904584349831566,
486
+ -0.0010108395072165877,
487
+ 0.08315802719880594
488
+ ],
489
+ "orientation": {
490
+ "w": 0.18769998370518157,
491
+ "xyz": [
492
+ 0.6831362382811597,
493
+ 0.6770988274881155,
494
+ 0.19907479468370756
495
+ ]
496
+ }
497
+ },
498
+ "grasp_12": {
499
+ "confidence": 0.48237165808677673,
500
+ "position": [
501
+ -0.07851775171002373,
502
+ -0.010345245798816904,
503
+ 0.07774137314845575
504
+ ],
505
+ "orientation": {
506
+ "w": 0.25619724455985854,
507
+ "xyz": [
508
+ -0.6823154777253331,
509
+ 0.6583588546192567,
510
+ -0.18807492996358535
511
+ ]
512
+ }
513
+ },
514
+ "grasp_13": {
515
+ "confidence": 0.43600165843963623,
516
+ "position": [
517
+ 0.012640468834433705,
518
+ -0.0007054258021526039,
519
+ 0.09380686637450708
520
+ ],
521
+ "orientation": {
522
+ "w": 0.12337764123056318,
523
+ "xyz": [
524
+ 0.7004467904059354,
525
+ -0.6930230836343187,
526
+ -0.1177763006906999
527
+ ]
528
+ }
529
+ },
530
+ "grasp_14": {
531
+ "confidence": 0.43155181407928467,
532
+ "position": [
533
+ -0.00037825017352588475,
534
+ -0.0032010314462240785,
535
+ 0.09537396189261926
536
+ ],
537
+ "orientation": {
538
+ "w": 0.09175259272938525,
539
+ "xyz": [
540
+ -0.6812243915579206,
541
+ -0.7249333704771354,
542
+ 0.044569030084100285
543
+ ]
544
+ }
545
+ },
546
+ "grasp_15": {
547
+ "confidence": 0.3941364586353302,
548
+ "position": [
549
+ 0.019277948944363743,
550
+ 0.0002760474744718522,
551
+ 0.08876521494676126
552
+ ],
553
+ "orientation": {
554
+ "w": 0.1491486790719658,
555
+ "xyz": [
556
+ -0.6801757625442723,
557
+ -0.7027771433599251,
558
+ 0.1456704855118855
559
+ ]
560
+ }
561
+ },
562
+ "grasp_16": {
563
+ "confidence": 0.36104464530944824,
564
+ "position": [
565
+ 0.025204319565091282,
566
+ 0.0015634104202035815,
567
+ 0.08856304344226373
568
+ ],
569
+ "orientation": {
570
+ "w": 0.15630472799019263,
571
+ "xyz": [
572
+ -0.7095715343087067,
573
+ -0.6644831971992888,
574
+ 0.17475454313553931
575
+ ]
576
+ }
577
+ },
578
+ "grasp_17": {
579
+ "confidence": 0.3446222245693207,
580
+ "position": [
581
+ 0.005548439046833664,
582
+ -0.02409577657817863,
583
+ 0.09400223549891962
584
+ ],
585
+ "orientation": {
586
+ "w": 0.18762009698124235,
587
+ "xyz": [
588
+ -0.7211043179227166,
589
+ -0.6668474114185041,
590
+ 0.011035930699473498
591
+ ]
592
+ }
593
+ },
594
+ "grasp_19": {
595
+ "confidence": 0.8461058139801025,
596
+ "position": [
597
+ -0.06705995829543099,
598
+ 0.08523210595012642,
599
+ -0.005967393699393142
600
+ ],
601
+ "orientation": {
602
+ "w": 0.36997208732210835,
603
+ "xyz": [
604
+ 0.5961103388152921,
605
+ -0.3294665496232537,
606
+ 0.6318424734373179
607
+ ]
608
+ }
609
+ }
610
+ }
611
+ },
612
+ {
613
+ "part_name": "printed branding text",
614
+ "mask_color": "Orange",
615
+ "graspable": false,
616
+ "grasp_scenarios": [],
617
+ "functional_labels": [
618
+ "show brand identity",
619
+ "identify the product"
620
+ ],
621
+ "semantic_description": "White printed text and logo markings on the black body surfaces, flat and non-structural visual labeling rather than a separate manipulable component.",
622
+ "id": 4,
623
+ "grasp_group": {}
624
+ }
625
+ ],
626
+ "quality_check": {
627
+ "success": true,
628
+ "message": "YES"
629
+ }
630
+ }
dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51297e89efadd15afd54566b888d697759d4d483fc1b1513ff08b6a42afd6e4d
3
+ size 3782684
dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/eraser_012.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>