Add asset kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/affordance_annot.json +313 -0
- dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/spoon_013.urdf +1 -0
.gitattributes
CHANGED
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@@ -8434,3 +8434,4 @@ dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/m
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| 8434 |
dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8435 |
dataset/kitchen_supplies/tableware/1328ed114176584e8c6eec439a93e75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8436 |
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8434 |
dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8435 |
dataset/kitchen_supplies/tableware/1328ed114176584e8c6eec439a93e75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8436 |
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8437 |
+
dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main spoon body including bowl and most of handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the narrow handle/body region to pick up and manipulate the spoon",
|
| 10 |
+
"confidence": 0.82
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the neck area to stabilize or reposition the spoon on a surface",
|
| 14 |
+
"confidence": 0.63
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop contents",
|
| 19 |
+
"hold small amounts of food or liquid",
|
| 20 |
+
"serve as the primary structural body of the spoon",
|
| 21 |
+
"provide a general area for grasping and manipulation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Gold-toned metal spoon body comprising the oval concave bowl, slender neck, and most of the handle, with a reflective worn finish and visible dark tarnish spots, extending from the eating end toward the decorative tip.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_2": {
|
| 27 |
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"confidence": 0.9600790143013,
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| 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": 0.39510566940692854,
|
| 35 |
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"xyz": [
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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_3": {
|
| 43 |
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"confidence": 0.9589086771011353,
|
| 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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| 49 |
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"orientation": {
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| 50 |
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| 51 |
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"xyz": [
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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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},
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| 58 |
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"grasp_4": {
|
| 59 |
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"confidence": 0.9588711857795715,
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| 60 |
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"position": [
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| 63 |
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| 64 |
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],
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| 65 |
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"confidence": 0.9582105278968811,
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"orientation": {
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| 86 |
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| 87 |
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| 88 |
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}
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| 89 |
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},
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| 90 |
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"grasp_8": {
|
| 91 |
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"confidence": 0.9547876715660095,
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| 92 |
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"position": [
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| 93 |
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| 96 |
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],
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| 97 |
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"orientation": {
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"w": 0.430486593009663,
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"xyz": [
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| 102 |
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| 103 |
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| 105 |
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| 106 |
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"grasp_9": {
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"confidence": 0.9540804028511047,
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| 112 |
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],
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"orientation": {
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| 115 |
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| 118 |
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| 119 |
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]
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| 120 |
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}
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| 121 |
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},
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| 122 |
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"grasp_12": {
|
| 123 |
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"confidence": 0.9529639482498169,
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| 124 |
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"position": [
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| 127 |
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],
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"orientation": {
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| 130 |
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| 134 |
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]
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}
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},
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| 138 |
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"grasp_13": {
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| 139 |
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"confidence": 0.9526243209838867,
|
| 140 |
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| 141 |
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| 142 |
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],
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| 151 |
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]
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| 152 |
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}
|
| 153 |
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},
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| 154 |
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"grasp_15": {
|
| 155 |
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"confidence": 0.9512689113616943,
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| 156 |
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"position": [
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| 157 |
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],
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"orientation": {
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| 162 |
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| 163 |
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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_18": {
|
| 171 |
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"confidence": 0.9495260715484619,
|
| 172 |
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"position": [
|
| 173 |
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| 174 |
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| 175 |
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|
| 176 |
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],
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| 177 |
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"orientation": {
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| 178 |
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"w": 0.40868142518475736,
|
| 179 |
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"xyz": [
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| 183 |
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]
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}
|
| 185 |
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},
|
| 186 |
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"grasp_19": {
|
| 187 |
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"confidence": 0.9491772055625916,
|
| 188 |
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"position": [
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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],
|
| 193 |
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"orientation": {
|
| 194 |
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"w": 0.4957997771298938,
|
| 195 |
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"xyz": [
|
| 196 |
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|
| 197 |
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| 198 |
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|
| 199 |
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]
|
| 200 |
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}
|
| 201 |
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}
|
| 202 |
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}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"part_name": "decorative handle tip of spoon",
|
| 206 |
+
"mask_color": "Orange",
|
| 207 |
+
"graspable": true,
|
| 208 |
+
"grasp_scenarios": [
|
| 209 |
+
{
|
| 210 |
+
"scenario": "pinch the decorative handle tip to lift or reposition the spoon",
|
| 211 |
+
"confidence": 0.74
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"scenario": "grasp the terminal end to orient the spoon during placement",
|
| 215 |
+
"confidence": 0.7
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"functional_labels": [
|
| 219 |
+
"serve as the terminal handle section",
|
| 220 |
+
"provide an auxiliary gripping point",
|
| 221 |
+
"add decorative styling"
|
| 222 |
+
],
|
| 223 |
+
"semantic_description": "Ornate gold-toned metal tip at the end of the handle, smaller than the rest of the spoon body, with embossed decorative patterning, a rounded terminal motif, and a reflective worn finish.",
|
| 224 |
+
"id": 4,
|
| 225 |
+
"grasp_group": {
|
| 226 |
+
"grasp_20": {
|
| 227 |
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|
dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/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 sha256:6be755c8e72547c6250cfac61b3561ae611af2c3aa6f9d72dc1be3d79556e623
|
| 3 |
+
size 3780692
|
dataset/kitchen_supplies/tableware/14bbaa909af054b186be8fab8e25530d/spoon_013.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>
|