Add asset desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/affordance/affordance_annot.json +346 -0
- dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/correction_tape_018.urdf +1 -0
.gitattributes
CHANGED
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@@ -8603,3 +8603,4 @@ dataset/tools/repair_tools/a70d63e05e5f5593837b23a3d02f8684/affordance/mesh_part
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| 8603 |
dataset/tools/repair_tools/a8cda4121d575f788a53f07c62990c77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8604 |
dataset/tools/repair_tools/a9eb94287c8e56edb6423404a3e692fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8605 |
dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8603 |
dataset/tools/repair_tools/a8cda4121d575f788a53f07c62990c77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8604 |
dataset/tools/repair_tools/a9eb94287c8e56edb6423404a3e692fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8605 |
dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8606 |
+
dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,346 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "housing",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer housing to pick up and reposition the correction tape dispenser",
|
| 10 |
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"confidence": 0.95
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the housing to stabilize the tool while applying correction tape",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
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},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp the housing from the sides to place it into storage",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enclose internal mechanism",
|
| 24 |
+
"support tape dispenser parts",
|
| 25 |
+
"protect internal components"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large teardrop-shaped outer shell forming most of the dispenser body. It appears smooth plastic with a pale mint/white translucent look and printed white branding visible on the top face.",
|
| 28 |
+
"id": 4,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_2": {
|
| 31 |
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|
| 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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],
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| 37 |
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"orientation": {
|
| 38 |
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| 39 |
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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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},
|
| 46 |
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"grasp_3": {
|
| 47 |
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| 63 |
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"grasp_6": {
|
| 79 |
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|
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|
| 94 |
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"grasp_7": {
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| 95 |
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"orientation": {
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"grasp_9": {
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| 111 |
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| 123 |
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-0.04148946108762175
|
| 212 |
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],
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| 213 |
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"orientation": {
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| 214 |
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"w": 0.8480504128569577,
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| 215 |
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"xyz": [
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| 216 |
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-0.5284024506413436,
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| 217 |
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0.032799801214319135,
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| 218 |
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-0.02292423280433175
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| 219 |
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]
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
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{
|
| 225 |
+
"part_name": "tape reel gear",
|
| 226 |
+
"mask_color": "Cyan",
|
| 227 |
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"graspable": false,
|
| 228 |
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"grasp_scenarios": [],
|
| 229 |
+
"functional_labels": [
|
| 230 |
+
"drive tape feed",
|
| 231 |
+
"transfer motion",
|
| 232 |
+
"support tape winding",
|
| 233 |
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"reel internal tape mechanism"
|
| 234 |
+
],
|
| 235 |
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"semantic_description": "Large circular exposed toothed reel visible through the top, made of pale mint translucent plastic with evenly spaced outer teeth and a central opening.",
|
| 236 |
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"id": 6,
|
| 237 |
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"grasp_group": {}
|
| 238 |
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},
|
| 239 |
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{
|
| 240 |
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"part_name": "center hub",
|
| 241 |
+
"mask_color": "Pink",
|
| 242 |
+
"graspable": false,
|
| 243 |
+
"grasp_scenarios": [],
|
| 244 |
+
"functional_labels": [
|
| 245 |
+
"provide axle opening",
|
| 246 |
+
"center the reel",
|
| 247 |
+
"support rotation"
|
| 248 |
+
],
|
| 249 |
+
"semantic_description": "Small circular central hub area inside the reel, appearing as a recessed round opening/rim at the middle of the large toothed wheel.",
|
| 250 |
+
"id": 8,
|
| 251 |
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"grasp_group": {}
|
| 252 |
+
},
|
| 253 |
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{
|
| 254 |
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"part_name": "front applicator cap",
|
| 255 |
+
"mask_color": "Teal",
|
| 256 |
+
"graspable": true,
|
| 257 |
+
"grasp_scenarios": [
|
| 258 |
+
{
|
| 259 |
+
"scenario": "pinch the small front cap area to help orient or stabilize the dispenser during precise placement",
|
| 260 |
+
"confidence": 0.43
|
| 261 |
+
},
|
| 262 |
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{
|
| 263 |
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"scenario": "lightly grip the front cap area while repositioning the object",
|
| 264 |
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"confidence": 0.35
|
| 265 |
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}
|
| 266 |
+
],
|
| 267 |
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"functional_labels": [
|
| 268 |
+
"form the front nose",
|
| 269 |
+
"protect or cover the dispensing tip area",
|
| 270 |
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"indicate dispensing end"
|
| 271 |
+
],
|
| 272 |
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"semantic_description": "Small rounded triangular front piece at the narrow end of the dispenser, darker teal-green than the main body with a smooth plastic surface and a shallow raised ridge.",
|
| 273 |
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"id": 10,
|
| 274 |
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"grasp_group": {
|
| 275 |
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"grasp_20": {
|
| 276 |
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"confidence": 0.5987187027931213,
|
| 277 |
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"position": [
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| 278 |
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|
| 279 |
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0.08339423150755465,
|
| 280 |
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0.05410361138638109
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| 281 |
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],
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| 282 |
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| 283 |
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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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"grasp_21": {
|
| 292 |
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"confidence": 0.14306855201721191,
|
| 293 |
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"position": [
|
| 294 |
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-0.0506777087575756,
|
| 295 |
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0.04834810481406748,
|
| 296 |
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0.08697072265204042
|
| 297 |
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],
|
| 298 |
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"orientation": {
|
| 299 |
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"w": 0.11036712339827885,
|
| 300 |
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"xyz": [
|
| 301 |
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|
| 302 |
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|
| 303 |
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-0.29152183074203725
|
| 304 |
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]
|
| 305 |
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}
|
| 306 |
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},
|
| 307 |
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"grasp_22": {
|
| 308 |
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"confidence": 0.5516911149024963,
|
| 309 |
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"position": [
|
| 310 |
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|
| 311 |
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|
| 312 |
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0.05698110756929964
|
| 313 |
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],
|
| 314 |
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"orientation": {
|
| 315 |
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"w": 0.2282046231928007,
|
| 316 |
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"xyz": [
|
| 317 |
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|
| 318 |
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|
| 319 |
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-0.45368213748413616
|
| 320 |
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]
|
| 321 |
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}
|
| 322 |
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},
|
| 323 |
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"grasp_23": {
|
| 324 |
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"confidence": 0.46592724323272705,
|
| 325 |
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"position": [
|
| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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],
|
| 330 |
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"orientation": {
|
| 331 |
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"w": 0.22460010673977956,
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| 332 |
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"xyz": [
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| 333 |
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|
| 334 |
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|
| 335 |
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-0.08432782067280159
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| 336 |
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]
|
| 337 |
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}
|
| 338 |
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}
|
| 339 |
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}
|
| 340 |
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}
|
| 341 |
+
],
|
| 342 |
+
"quality_check": {
|
| 343 |
+
"success": true,
|
| 344 |
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"message": "YES"
|
| 345 |
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}
|
| 346 |
+
}
|
dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/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:a93a58f8e7ae73d727c157a0b9750c3e5350d9379e61c77b3f10a753af0793ec
|
| 3 |
+
size 3789376
|
dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/correction_tape_018.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>
|