Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
0127a60
·
verified ·
1 Parent(s): 185b54f

Add asset desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/affordance/affordance_annot.json +625 -0
  3. dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/stapler_034.urdf +1 -0
.gitattributes CHANGED
@@ -8200,3 +8200,4 @@ dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/affo
8200
  dataset/desktop_supplies/office_stationery/22ba451e4e095c55bea7efcc99501355/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8201
  dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8202
  dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8200
  dataset/desktop_supplies/office_stationery/22ba451e4e095c55bea7efcc99501355/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8201
  dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8202
  dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8203
+ dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,625 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top arm",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top arm to pick up and reposition the stapler",
10
+ "confidence": 0.89
11
+ },
12
+ {
13
+ "scenario": "hold the top arm while pressing it downward to actuate stapling",
14
+ "confidence": 0.86
15
+ },
16
+ {
17
+ "scenario": "grasp the top arm to open the stapler for reloading or clearing jams",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "press to staple",
23
+ "cover the staple channel",
24
+ "open for reloading",
25
+ "main upper grip surface"
26
+ ],
27
+ "semantic_description": "Large mint-green plastic top arm with a mostly matte smooth hard surface and a dark rubber-like thumb pad near the rear, forming the elongated upper housing above the base.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9840598106384277,
32
+ "position": [
33
+ -0.00226681336062029,
34
+ 0.03209762112237513,
35
+ 0.10222928901202977
36
+ ],
37
+ "orientation": {
38
+ "w": 0.026597417961274118,
39
+ "xyz": [
40
+ 0.9995557693252752,
41
+ 7.871721003964785e-05,
42
+ 0.013447496791281013
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9829888939857483,
48
+ "position": [
49
+ -0.005065800913143903,
50
+ 0.0019235516665503383,
51
+ 0.10571993072517216
52
+ ],
53
+ "orientation": {
54
+ "w": 0.040800641635243426,
55
+ "xyz": [
56
+ -0.9989559620241444,
57
+ 0.00244885184199984,
58
+ -0.02040335029411992
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.981648325920105,
64
+ "position": [
65
+ -0.0019070663838647306,
66
+ 0.019814532482996583,
67
+ 0.10580085148103535
68
+ ],
69
+ "orientation": {
70
+ "w": 0.02267388573314382,
71
+ "xyz": [
72
+ 0.01857726231684125,
73
+ 0.9990915017090576,
74
+ -0.030934631779154797
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9813253879547119,
80
+ "position": [
81
+ -0.004940196231473237,
82
+ 0.02508860663510859,
83
+ 0.10545328934676945
84
+ ],
85
+ "orientation": {
86
+ "w": 0.023977321043425696,
87
+ "xyz": [
88
+ 0.01637765240324956,
89
+ 0.99851506406278,
90
+ -0.04609259611956834
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9808022975921631,
96
+ "position": [
97
+ -0.0031913156271912158,
98
+ 0.04437016905285418,
99
+ 0.10162725974805653
100
+ ],
101
+ "orientation": {
102
+ "w": 0.16022283157830497,
103
+ "xyz": [
104
+ 0.9867318078948479,
105
+ -0.016236284087226688,
106
+ 0.020624417776845233
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9803639650344849,
112
+ "position": [
113
+ 0.0055775518412701786,
114
+ 0.029294349486008286,
115
+ 0.1058658801484853
116
+ ],
117
+ "orientation": {
118
+ "w": 0.00905270447843661,
119
+ "xyz": [
120
+ -0.01738672844922065,
121
+ -0.9992619079875759,
122
+ 0.033036184109065524
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9802621603012085,
128
+ "position": [
129
+ 0.006477033894043416,
130
+ 0.004869529278948903,
131
+ 0.10512740095146
132
+ ],
133
+ "orientation": {
134
+ "w": 0.042170965897771015,
135
+ "xyz": [
136
+ -0.998826093986673,
137
+ 0.022297616625845708,
138
+ 0.008417832225808936
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.978951632976532,
144
+ "position": [
145
+ -0.009973570529837161,
146
+ 0.04706160933710635,
147
+ 0.09756376524455845
148
+ ],
149
+ "orientation": {
150
+ "w": 0.2600557626439252,
151
+ "xyz": [
152
+ 0.9646088462860133,
153
+ -0.007144990438770038,
154
+ 0.043008407248841814
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9789470434188843,
160
+ "position": [
161
+ -0.003575547190848738,
162
+ 0.030608983943238854,
163
+ 0.10301195760257542
164
+ ],
165
+ "orientation": {
166
+ "w": 0.019368109844117742,
167
+ "xyz": [
168
+ 0.019930786768353248,
169
+ 0.9990957139516198,
170
+ -0.03217754532844488
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9786213040351868,
176
+ "position": [
177
+ -0.0017579423147253692,
178
+ 0.044565471122041345,
179
+ 0.10117576946504414
180
+ ],
181
+ "orientation": {
182
+ "w": 0.23824270787646123,
183
+ "xyz": [
184
+ 0.9710874681426113,
185
+ -0.009266447167997849,
186
+ 0.01198642219125051
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9784424901008606,
192
+ "position": [
193
+ -0.002130469714757055,
194
+ 0.04255572916008532,
195
+ 0.10309114237315953
196
+ ],
197
+ "orientation": {
198
+ "w": 0.15953135153585624,
199
+ "xyz": [
200
+ 0.9868867310775298,
201
+ -0.02192400694866048,
202
+ 0.011120513457815718
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9768376350402832,
208
+ "position": [
209
+ 0.011474394414108247,
210
+ 0.033227818319574,
211
+ 0.10570684005506337
212
+ ],
213
+ "orientation": {
214
+ "w": 0.040190549662717366,
215
+ "xyz": [
216
+ -0.0376362397192987,
217
+ -0.9954947117624091,
218
+ 0.0771913986832568
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9768177270889282,
224
+ "position": [
225
+ 0.004837404179852456,
226
+ 0.02505479590035975,
227
+ 0.1027729504276067
228
+ ],
229
+ "orientation": {
230
+ "w": 0.0056180228257722235,
231
+ "xyz": [
232
+ 0.010472361171200572,
233
+ 0.9994275813085223,
234
+ -0.03167455115430686
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9767755270004272,
240
+ "position": [
241
+ -0.0037997819599695504,
242
+ 0.05985157401300967,
243
+ 0.09370154817588627
244
+ ],
245
+ "orientation": {
246
+ "w": 0.2860272348428983,
247
+ "xyz": [
248
+ 0.958029096998156,
249
+ -0.0026947279042895955,
250
+ 0.019010751551297864
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9765672087669373,
256
+ "position": [
257
+ -0.007380981289315969,
258
+ 0.018280455144122243,
259
+ 0.10859110136516392
260
+ ],
261
+ "orientation": {
262
+ "w": 0.028592942191245765,
263
+ "xyz": [
264
+ 0.011063264450781412,
265
+ 0.9990409060277746,
266
+ -0.03126205239172651
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9763086438179016,
272
+ "position": [
273
+ -0.001913379703182727,
274
+ -0.012666839873418212,
275
+ 0.10499525000341237
276
+ ],
277
+ "orientation": {
278
+ "w": 0.011744065790768534,
279
+ "xyz": [
280
+ 0.015767343986084145,
281
+ 0.99344146818228,
282
+ 0.11263887907007604
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9762426614761353,
288
+ "position": [
289
+ -0.007029181637335569,
290
+ 0.019790837774053216,
291
+ 0.10837648739106953
292
+ ],
293
+ "orientation": {
294
+ "w": 0.04262760041197832,
295
+ "xyz": [
296
+ 0.9986357420591931,
297
+ -0.0026663531727290427,
298
+ 0.030040521396267658
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9758481979370117,
304
+ "position": [
305
+ -0.006583008740562946,
306
+ 0.025438135722652078,
307
+ 0.10698176105506718
308
+ ],
309
+ "orientation": {
310
+ "w": 0.03812600342069504,
311
+ "xyz": [
312
+ 0.9990651575988566,
313
+ -0.0036604088160564763,
314
+ 0.020045451913992263
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9756348729133606,
320
+ "position": [
321
+ -0.011517245147842914,
322
+ 0.02860781946219504,
323
+ 0.10458450694568455
324
+ ],
325
+ "orientation": {
326
+ "w": 0.03347506107772715,
327
+ "xyz": [
328
+ 0.9989373902155252,
329
+ 0.005381080455898621,
330
+ 0.031217858484609375
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9751439094543457,
336
+ "position": [
337
+ -0.0017783028888516128,
338
+ 0.06318675936199725,
339
+ 0.09609062154777348
340
+ ],
341
+ "orientation": {
342
+ "w": 0.2854719822489161,
343
+ "xyz": [
344
+ 0.9582892607309936,
345
+ -0.0039031292042508436,
346
+ 0.013122716979912932
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "base",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the base from the sides to lift or carry the stapler",
359
+ "confidence": 0.78
360
+ },
361
+ {
362
+ "scenario": "hold the base to stabilize the stapler while the top arm is pressed",
363
+ "confidence": 0.83
364
+ },
365
+ {
366
+ "scenario": "grasp the base to reposition the stapler on a desk",
367
+ "confidence": 0.8
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "support on desk",
372
+ "stabilize during stapling",
373
+ "align paper beneath head",
374
+ "provide lower grip surface"
375
+ ],
376
+ "semantic_description": "Broad mint-green plastic base with rounded rectangular shape, matte smooth hard surfaces, and a darker edge trim, positioned as the lower platform supporting the stapler.",
377
+ "id": 1,
378
+ "grasp_group": {
379
+ "grasp_20": {
380
+ "confidence": 0.9783480763435364,
381
+ "position": [
382
+ 0.005101714457850903,
383
+ 0.020971244433894753,
384
+ -0.11026538978330791
385
+ ],
386
+ "orientation": {
387
+ "w": 0.03941058633725068,
388
+ "xyz": [
389
+ -0.021896392935576967,
390
+ 0.009696067132348718,
391
+ 0.9989361040342518
392
+ ]
393
+ }
394
+ },
395
+ "grasp_21": {
396
+ "confidence": 0.9755679965019226,
397
+ "position": [
398
+ 0.0020825990359298885,
399
+ 0.016260956646874547,
400
+ -0.10952265630476177
401
+ ],
402
+ "orientation": {
403
+ "w": 0.9999875565652467,
404
+ "xyz": [
405
+ 0.0034434920228257255,
406
+ -0.0034639637047912952,
407
+ -0.0010149053200745161
408
+ ]
409
+ }
410
+ },
411
+ "grasp_22": {
412
+ "confidence": 0.9735026359558105,
413
+ "position": [
414
+ -0.0005944508811808191,
415
+ 0.029215779388323426,
416
+ -0.10771136055700481
417
+ ],
418
+ "orientation": {
419
+ "w": 0.9976932875996858,
420
+ "xyz": [
421
+ 0.06675110919341569,
422
+ 0.008709643007026924,
423
+ -0.008748452358559226
424
+ ]
425
+ }
426
+ },
427
+ "grasp_24": {
428
+ "confidence": 0.9695580005645752,
429
+ "position": [
430
+ -0.004625642497558147,
431
+ 0.018302737968042493,
432
+ -0.11181009630672634
433
+ ],
434
+ "orientation": {
435
+ "w": 0.9997445102431571,
436
+ "xyz": [
437
+ -0.006787443476225247,
438
+ 0.02098824840018576,
439
+ 0.0049333841143835554
440
+ ]
441
+ }
442
+ },
443
+ "grasp_25": {
444
+ "confidence": 0.9694925546646118,
445
+ "position": [
446
+ 0.018783386040013283,
447
+ 0.007215380435809493,
448
+ -0.10864862124435604
449
+ ],
450
+ "orientation": {
451
+ "w": 0.04094345997860403,
452
+ "xyz": [
453
+ -0.05099517768268697,
454
+ 0.05182025497022147,
455
+ 0.9965128128192398
456
+ ]
457
+ }
458
+ },
459
+ "grasp_26": {
460
+ "confidence": 0.9691267609596252,
461
+ "position": [
462
+ 0.02219552657334134,
463
+ 0.019817985827103257,
464
+ -0.10961404512636364
465
+ ],
466
+ "orientation": {
467
+ "w": 0.040247130537540705,
468
+ "xyz": [
469
+ -0.07223037524959817,
470
+ 0.010374593603189375,
471
+ 0.996521604975208
472
+ ]
473
+ }
474
+ },
475
+ "grasp_28": {
476
+ "confidence": 0.9672226309776306,
477
+ "position": [
478
+ 0.00440065300790593,
479
+ 0.0031416511883435305,
480
+ -0.11068283091299236
481
+ ],
482
+ "orientation": {
483
+ "w": 0.03550148153511348,
484
+ "xyz": [
485
+ -0.015264363202417305,
486
+ 0.025373257561586593,
487
+ 0.9989308493712414
488
+ ]
489
+ }
490
+ },
491
+ "grasp_29": {
492
+ "confidence": 0.9664018750190735,
493
+ "position": [
494
+ -0.001574572001118213,
495
+ 0.020355610409751534,
496
+ -0.11039605806581676
497
+ ],
498
+ "orientation": {
499
+ "w": 0.9997699227314871,
500
+ "xyz": [
501
+ 0.012389039966257566,
502
+ -0.0075111393416992245,
503
+ -0.015817587552470945
504
+ ]
505
+ }
506
+ },
507
+ "grasp_30": {
508
+ "confidence": 0.9653365015983582,
509
+ "position": [
510
+ 0.005209957424085587,
511
+ -0.026747442549094558,
512
+ -0.10466363350860775
513
+ ],
514
+ "orientation": {
515
+ "w": 0.9770906689461648,
516
+ "xyz": [
517
+ -0.21113080469884138,
518
+ -0.018200439185566908,
519
+ -0.019655838293186966
520
+ ]
521
+ }
522
+ },
523
+ "grasp_32": {
524
+ "confidence": 0.963499128818512,
525
+ "position": [
526
+ 0.008764675061684102,
527
+ 0.008829391794279218,
528
+ -0.11059074918739498
529
+ ],
530
+ "orientation": {
531
+ "w": 0.03784141599333887,
532
+ "xyz": [
533
+ -0.018896798066869704,
534
+ 0.0008867765573060682,
535
+ 0.9991046751395853
536
+ ]
537
+ }
538
+ },
539
+ "grasp_33": {
540
+ "confidence": 0.961600661277771,
541
+ "position": [
542
+ 0.010855618107598275,
543
+ 0.009297743672505021,
544
+ -0.11098262737505138
545
+ ],
546
+ "orientation": {
547
+ "w": 0.999869132464152,
548
+ "xyz": [
549
+ -0.0005066077354784576,
550
+ -0.015334876837506006,
551
+ 0.005128630067113832
552
+ ]
553
+ }
554
+ },
555
+ "grasp_35": {
556
+ "confidence": 0.9610402584075928,
557
+ "position": [
558
+ 0.0011647086939774454,
559
+ 0.01847459585405886,
560
+ -0.1141476787161082
561
+ ],
562
+ "orientation": {
563
+ "w": 0.03637937142307365,
564
+ "xyz": [
565
+ -0.005148810413021395,
566
+ 0.008694989397379005,
567
+ 0.9992869599097011
568
+ ]
569
+ }
570
+ },
571
+ "grasp_37": {
572
+ "confidence": 0.9605271220207214,
573
+ "position": [
574
+ 0.0066959496471099555,
575
+ 0.042526075849309564,
576
+ -0.11342694680206478
577
+ ],
578
+ "orientation": {
579
+ "w": 0.9962333537415679,
580
+ "xyz": [
581
+ 0.08581011222812426,
582
+ -0.009208196345368513,
583
+ -0.008422508669614491
584
+ ]
585
+ }
586
+ },
587
+ "grasp_39": {
588
+ "confidence": 0.9601004719734192,
589
+ "position": [
590
+ 0.011687025602441281,
591
+ 0.06738227070309222,
592
+ -0.09800513158552349
593
+ ],
594
+ "orientation": {
595
+ "w": 0.0418824945961783,
596
+ "xyz": [
597
+ -0.022020247743510656,
598
+ -0.2285026631900121,
599
+ 0.9723926666994092
600
+ ]
601
+ }
602
+ }
603
+ }
604
+ },
605
+ {
606
+ "part_name": "staple mechanism",
607
+ "mask_color": "Orange",
608
+ "graspable": false,
609
+ "grasp_scenarios": [],
610
+ "functional_labels": [
611
+ "drive staples",
612
+ "hold staple strip",
613
+ "guide staple ejection",
614
+ "clinch paper fastener"
615
+ ],
616
+ "semantic_description": "Small silver metal internal mechanism with a reflective smooth hard finish, compact and partially exposed between the top arm and base near the front stapling head.",
617
+ "id": 4,
618
+ "grasp_group": {}
619
+ }
620
+ ],
621
+ "quality_check": {
622
+ "success": true,
623
+ "message": "YES"
624
+ }
625
+ }
dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d8c906ea347e2ed85d42a4b65c4ecb4556b1e6800850285e68c7f432e4984b6
3
+ size 3781392
dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/stapler_034.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>