Add asset bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/affordance_annot.json +860 -0
- dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.urdf +1 -0
.gitattributes
CHANGED
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@@ -5711,3 +5711,4 @@ dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/afforda
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| 5711 |
dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5712 |
dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5713 |
dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5711 |
dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5712 |
dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5713 |
dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5714 |
+
dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,860 @@
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| 854 |
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| 855 |
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| 856 |
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| 857 |
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"success": true,
|
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| 859 |
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|
| 860 |
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|
dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f5ff611c38ef6a049b5f37bedfed8c8a840331ab6d622c29d3606c7fde32280e
|
| 3 |
+
size 3743588
|
dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/lotion_014.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>
|