Add asset desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/affordance_annot.json +398 -0
- dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.urdf +1 -0
.gitattributes
CHANGED
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@@ -6687,3 +6687,4 @@ dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordanc
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| 6687 |
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6688 |
dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6689 |
dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6687 |
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6688 |
dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6689 |
dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6690 |
+
dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body from the sides to pick up and move the sharpener",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady on a work surface while inserting or twisting a pencil",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main housing",
|
| 19 |
+
"main grasp surface",
|
| 20 |
+
"support the sharpener",
|
| 21 |
+
"stabilize during sharpening"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large dark gray to black plastic housing with a smooth matte-to-satin finish and a rounded wedge-like shape forming most of the sharpener exterior.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.9683258533477783,
|
| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.999937335819038,
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| 35 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
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"confidence": 0.9667901396751404,
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| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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],
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| 49 |
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"orientation": {
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| 50 |
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"w": 0.9993600440788262,
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| 51 |
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"xyz": [
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.9648438096046448,
|
| 60 |
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"position": [
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| 61 |
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| 63 |
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| 64 |
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],
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| 65 |
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"orientation": {
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| 66 |
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"w": 0.9991699996478438,
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| 67 |
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"xyz": [
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| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
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| 74 |
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"grasp_3": {
|
| 75 |
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"confidence": 0.9642756581306458,
|
| 76 |
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"position": [
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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],
|
| 81 |
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"orientation": {
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| 82 |
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"w": 0.9999037875650102,
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| 83 |
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"xyz": [
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| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_4": {
|
| 91 |
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"confidence": 0.9641575217247009,
|
| 92 |
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"position": [
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| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.9997880844046578,
|
| 99 |
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"xyz": [
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| 101 |
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| 102 |
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| 103 |
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]
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| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_5": {
|
| 107 |
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"confidence": 0.9636725783348083,
|
| 108 |
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"position": [
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],
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"orientation": {
|
| 114 |
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"w": 0.999990128454463,
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"xyz": [
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| 118 |
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| 119 |
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]
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| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_6": {
|
| 123 |
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"confidence": 0.9621399641036987,
|
| 124 |
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"position": [
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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],
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| 129 |
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"orientation": {
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| 130 |
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| 134 |
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| 135 |
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]
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| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_7": {
|
| 139 |
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"confidence": 0.9619958996772766,
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| 140 |
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"position": [
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| 141 |
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],
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"orientation": {
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]
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}
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| 153 |
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},
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| 154 |
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"grasp_8": {
|
| 155 |
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"confidence": 0.9618691205978394,
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| 156 |
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"position": [
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|
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],
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"orientation": {
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| 163 |
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"xyz": [
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| 166 |
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| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_9": {
|
| 171 |
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"confidence": 0.9618138670921326,
|
| 172 |
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"position": [
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| 173 |
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| 175 |
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| 176 |
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],
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"orientation": {
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| 178 |
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| 179 |
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| 185 |
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},
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| 186 |
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"grasp_10": {
|
| 187 |
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"confidence": 0.9607862234115601,
|
| 188 |
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| 358 |
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],
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],
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],
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| 390 |
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| 391 |
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"success": true,
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| 397 |
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| 398 |
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}
|
dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:9dfc6222d1706c9833d7ea9e5d406367d86a74e6469b58db4bfd0111b1715944
|
| 3 |
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size 2584052
|
dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|