Add asset desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/affordance/affordance_annot.json +417 -0
- dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/fe02afd8aeda5474a8e3f487b3bb8b6a.urdf +1 -0
.gitattributes
CHANGED
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@@ -6696,3 +6696,4 @@ dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordanc
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| 6696 |
dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6697 |
dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6698 |
dataset/desktop_supplies/office_tools/fc01d179ce335b0da2f8f015bf0e7240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6696 |
dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6697 |
dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6698 |
dataset/desktop_supplies/office_tools/fc01d179ce335b0da2f8f015bf0e7240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6699 |
+
dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,417 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick barrel/body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main cylindrical body to pick up and reposition the glue stick",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to stabilize the glue stick during application or handling",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body while uncapping or recapping the applicator end",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main housing for the glue contents",
|
| 23 |
+
"primary hand/gripper hold area",
|
| 24 |
+
"structural body of the glue stick"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Long cylindrical plastic body, mostly red with a broad white wraparound middle band, smooth slightly glossy surface, forming most of the object's length.",
|
| 27 |
+
"id": 2,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_20": {
|
| 30 |
+
"confidence": 0.9869333505630493,
|
| 31 |
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"position": [
|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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],
|
| 36 |
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"orientation": {
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| 37 |
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"w": 0.4294393954706149,
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| 38 |
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"xyz": [
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| 39 |
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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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"grasp_21": {
|
| 46 |
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"confidence": 0.9860812425613403,
|
| 47 |
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"position": [
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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],
|
| 52 |
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"orientation": {
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| 53 |
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"w": 0.4914148105999119,
|
| 54 |
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"xyz": [
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| 55 |
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| 56 |
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|
| 57 |
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|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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"grasp_23": {
|
| 62 |
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"confidence": 0.9851347804069519,
|
| 63 |
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"position": [
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| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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],
|
| 68 |
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"orientation": {
|
| 69 |
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"w": 0.48433779939461163,
|
| 70 |
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"xyz": [
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| 71 |
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|
| 73 |
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| 74 |
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]
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
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"grasp_24": {
|
| 78 |
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"confidence": 0.9851111769676208,
|
| 79 |
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"position": [
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| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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],
|
| 84 |
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"orientation": {
|
| 85 |
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"w": 0.5107787427107856,
|
| 86 |
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"xyz": [
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| 87 |
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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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"grasp_26": {
|
| 94 |
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"confidence": 0.9847860932350159,
|
| 95 |
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"position": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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],
|
| 100 |
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"orientation": {
|
| 101 |
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"w": 0.5017348843182263,
|
| 102 |
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"xyz": [
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| 105 |
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|
| 106 |
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]
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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"grasp_27": {
|
| 110 |
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"confidence": 0.9847193956375122,
|
| 111 |
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"position": [
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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],
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"orientation": {
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"w": 0.521599067762505,
|
| 118 |
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"xyz": [
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| 120 |
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|
| 121 |
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|
| 122 |
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]
|
| 123 |
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}
|
| 124 |
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},
|
| 125 |
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"grasp_28": {
|
| 126 |
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"confidence": 0.9844892024993896,
|
| 127 |
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"position": [
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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],
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"orientation": {
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|
| 134 |
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| 137 |
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|
| 138 |
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]
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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"grasp_29": {
|
| 142 |
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"confidence": 0.9844664335250854,
|
| 143 |
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"position": [
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| 144 |
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|
| 146 |
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|
| 147 |
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],
|
| 148 |
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"orientation": {
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| 149 |
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"w": 0.5138608465305384,
|
| 150 |
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|
| 154 |
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]
|
| 155 |
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}
|
| 156 |
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},
|
| 157 |
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"grasp_30": {
|
| 158 |
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"confidence": 0.9844415783882141,
|
| 159 |
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"position": [
|
| 160 |
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|
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| 162 |
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|
| 163 |
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],
|
| 164 |
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"orientation": {
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| 165 |
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"w": 0.5157971602971275,
|
| 166 |
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"xyz": [
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|
| 170 |
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]
|
| 171 |
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}
|
| 172 |
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},
|
| 173 |
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"grasp_32": {
|
| 174 |
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"confidence": 0.9843136072158813,
|
| 175 |
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"position": [
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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],
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},
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}
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}
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}
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| 412 |
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],
|
| 413 |
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"quality_check": {
|
| 414 |
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"success": false,
|
| 415 |
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"message": "Object is a marker/bingo dauber, not a glue stick; functions and descriptions are incorrect."
|
| 416 |
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}
|
| 417 |
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}
|
dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:6cc43f0848afe7ac9e6a5d03316df1691720bf8989715da7bef105d22b79b684
|
| 3 |
+
size 1120156
|
dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/fe02afd8aeda5474a8e3f487b3bb8b6a.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>
|