Add asset desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12
Browse files- .gitattributes +2 -1
- dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/affordance_annot.json +291 -0
- dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/cutter_knife_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -6554,4 +6554,5 @@ dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordanc
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dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/
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dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6555 |
dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6556 |
dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6557 |
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dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6558 |
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dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "blade of knife",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "contact the blade spine or sides only with a specialized fixture to stabilize the knife during inspection or maintenance, not for normal grasping",
|
| 10 |
+
"confidence": 0.12
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"functional_labels": [
|
| 14 |
+
"cut material",
|
| 15 |
+
"score surfaces",
|
| 16 |
+
"pierce material",
|
| 17 |
+
"provide the sharp working edge"
|
| 18 |
+
],
|
| 19 |
+
"semantic_description": "Small exposed dark gray metal blade with a smooth slightly reflective finish, wedge-shaped and sharp, protruding from the front end of the knife body.",
|
| 20 |
+
"id": 6,
|
| 21 |
+
"grasp_group": {}
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"part_name": "slider button",
|
| 25 |
+
"mask_color": "Blue",
|
| 26 |
+
"graspable": true,
|
| 27 |
+
"grasp_scenarios": [
|
| 28 |
+
{
|
| 29 |
+
"scenario": "pinch or press the ribbed slider to extend or retract the blade",
|
| 30 |
+
"confidence": 0.76
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"scenario": "hold the slider lightly to make a short blade adjustment while the handle is supported",
|
| 34 |
+
"confidence": 0.42
|
| 35 |
+
}
|
| 36 |
+
],
|
| 37 |
+
"functional_labels": [
|
| 38 |
+
"extend blade",
|
| 39 |
+
"retract blade",
|
| 40 |
+
"lock blade position",
|
| 41 |
+
"provide thumb actuation surface"
|
| 42 |
+
],
|
| 43 |
+
"semantic_description": "Small bright blue plastic slider with a matte finish and ribbed texture, mounted on top of the handle near the center as a short rectangular control tab.",
|
| 44 |
+
"id": 2,
|
| 45 |
+
"grasp_group": {
|
| 46 |
+
"grasp_0": {
|
| 47 |
+
"confidence": 0.9569927453994751,
|
| 48 |
+
"position": [
|
| 49 |
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-0.024742827506997855,
|
| 50 |
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0.041971747902152856,
|
| 51 |
+
0.08777901392022613
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.27425964460645424,
|
| 55 |
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"xyz": [
|
| 56 |
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0.9520351573899226,
|
| 57 |
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-0.019629275378604594,
|
| 58 |
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0.13425869797520662
|
| 59 |
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]
|
| 60 |
+
}
|
| 61 |
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},
|
| 62 |
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"grasp_2": {
|
| 63 |
+
"confidence": 0.9446921944618225,
|
| 64 |
+
"position": [
|
| 65 |
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-0.026576033549645217,
|
| 66 |
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0.05380855607700141,
|
| 67 |
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0.08692056547442917
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.12479840072441041,
|
| 71 |
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"xyz": [
|
| 72 |
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0.05560203491837496,
|
| 73 |
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0.9527814306555694,
|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9246602058410645,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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0.05441296207618507,
|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.26042250915117293,
|
| 87 |
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"xyz": [
|
| 88 |
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0.9448813286916301,
|
| 89 |
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-0.026893685758410113,
|
| 90 |
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0.19661159956542365
|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"part_name": "knife handle",
|
| 98 |
+
"mask_color": "Orange",
|
| 99 |
+
"graspable": true,
|
| 100 |
+
"grasp_scenarios": [
|
| 101 |
+
{
|
| 102 |
+
"scenario": "grasp the handle body to pick up and hold the cutter knife for transport",
|
| 103 |
+
"confidence": 0.96
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"scenario": "hold the handle firmly while cutting with the extended blade",
|
| 107 |
+
"confidence": 0.94
|
| 108 |
+
},
|
| 109 |
+
{
|
| 110 |
+
"scenario": "grasp the rear rounded handle to stabilize the knife while actuating the slider",
|
| 111 |
+
"confidence": 0.85
|
| 112 |
+
}
|
| 113 |
+
],
|
| 114 |
+
"functional_labels": [
|
| 115 |
+
"main grip",
|
| 116 |
+
"house blade mechanism",
|
| 117 |
+
"support cutting force",
|
| 118 |
+
"protect the user's hand",
|
| 119 |
+
"provide overall structure"
|
| 120 |
+
],
|
| 121 |
+
"semantic_description": "Large white plastic handle with blue end cap accents, a mostly matte smooth hard surface, and an elongated slightly tapered shape forming the main body of the utility knife.",
|
| 122 |
+
"id": 4,
|
| 123 |
+
"grasp_group": {
|
| 124 |
+
"grasp_4": {
|
| 125 |
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"confidence": 0.9883117079734802,
|
| 126 |
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"position": [
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| 127 |
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0.0961459011414263,
|
| 128 |
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0.011790290613589605,
|
| 129 |
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0.013110367130138911
|
| 130 |
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],
|
| 131 |
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"orientation": {
|
| 132 |
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"w": 0.6550786059177731,
|
| 133 |
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"xyz": [
|
| 134 |
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-0.004312375208613453,
|
| 135 |
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-0.7555463291620156,
|
| 136 |
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-0.0017798816506589576
|
| 137 |
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]
|
| 138 |
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}
|
| 139 |
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},
|
| 140 |
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"grasp_8": {
|
| 141 |
+
"confidence": 0.9876984357833862,
|
| 142 |
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"position": [
|
| 143 |
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0.09285190260197851,
|
| 144 |
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0.014097634841618856,
|
| 145 |
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0.02879150259832386
|
| 146 |
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],
|
| 147 |
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"orientation": {
|
| 148 |
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"w": 0.5974013479737652,
|
| 149 |
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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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},
|
| 156 |
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"grasp_10": {
|
| 157 |
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"confidence": 0.9865292310714722,
|
| 158 |
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"position": [
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| 159 |
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| 160 |
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0.009639828604576905,
|
| 161 |
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|
| 162 |
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],
|
| 163 |
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"orientation": {
|
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"w": 0.7094712242194878,
|
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"xyz": [
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| 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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"grasp_12": {
|
| 173 |
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"confidence": 0.9859012961387634,
|
| 174 |
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"position": [
|
| 175 |
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0.09593639826562139,
|
| 176 |
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0.019110887450096925,
|
| 177 |
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|
| 178 |
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],
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| 179 |
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"orientation": {
|
| 180 |
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"w": 0.6879290877175323,
|
| 181 |
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"xyz": [
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|
| 185 |
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]
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| 186 |
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}
|
| 187 |
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},
|
| 188 |
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"grasp_13": {
|
| 189 |
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"confidence": 0.9858507513999939,
|
| 190 |
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"position": [
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| 191 |
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|
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|
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],
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"orientation": {
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"xyz": [
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]
|
| 202 |
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}
|
| 203 |
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},
|
| 204 |
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"grasp_14": {
|
| 205 |
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"confidence": 0.9855589866638184,
|
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"position": [
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],
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"orientation": {
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"xyz": [
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|
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]
|
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}
|
| 219 |
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},
|
| 220 |
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"grasp_15": {
|
| 221 |
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"confidence": 0.9854798913002014,
|
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"position": [
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| 268 |
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|
| 269 |
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| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1fcc3fcc98eb335f6a4bf194712c73f43c6267fc63756d65738883bf9b8b33b9
|
| 3 |
+
size 3777428
|
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/cutter_knife_011.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>
|