Add asset bedroom_supplies/storage/19634cde897b56b083794ed7df300741
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/affordance_annot.json +434 -0
- dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.urdf +1 -0
.gitattributes
CHANGED
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@@ -5968,3 +5968,4 @@ dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/affordance/mes
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| 5968 |
dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5969 |
dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5970 |
dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5968 |
dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5969 |
dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5970 |
dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5971 |
+
dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,434 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to lift and carry the basket",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to pull the basket closer",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grip the handle to stabilize the basket during transport",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"carry the basket",
|
| 23 |
+
"provide a top grip",
|
| 24 |
+
"support lifting load",
|
| 25 |
+
"swing upward for access"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Arched pink plastic handle with a matte smooth hard surface, medium thickness, spanning the basket top and attached at both side rims with round gray pivots.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
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"confidence": 0.8572607040405273,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.050528529382682964,
|
| 39 |
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"xyz": [
|
| 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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},
|
| 46 |
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"grasp_2": {
|
| 47 |
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"confidence": 0.8162572383880615,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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|
| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.4681746393136218,
|
| 55 |
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"xyz": [
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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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},
|
| 62 |
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"grasp_3": {
|
| 63 |
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"confidence": 0.8159562349319458,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
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| 70 |
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"w": 0.2186940169300397,
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| 71 |
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"xyz": [
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| 72 |
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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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},
|
| 78 |
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"grasp_5": {
|
| 79 |
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"confidence": 0.7950856685638428,
|
| 80 |
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"position": [
|
| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
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| 86 |
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"w": 0.42201489749238186,
|
| 87 |
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"xyz": [
|
| 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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},
|
| 94 |
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"grasp_6": {
|
| 95 |
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"confidence": 0.7894477844238281,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.06860413741799519,
|
| 103 |
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"xyz": [
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| 104 |
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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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},
|
| 110 |
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"grasp_8": {
|
| 111 |
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"confidence": 0.7502429485321045,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.447453351511217,
|
| 119 |
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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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},
|
| 126 |
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"grasp_12": {
|
| 127 |
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"confidence": 0.7363908290863037,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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],
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| 133 |
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"orientation": {
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| 134 |
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| 135 |
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| 138 |
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| 139 |
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]
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| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_13": {
|
| 143 |
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"confidence": 0.7321556806564331,
|
| 144 |
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"position": [
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|
| 147 |
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|
| 148 |
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],
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| 149 |
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"orientation": {
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| 150 |
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"w": 0.14210211243649865,
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| 151 |
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"xyz": [
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| 154 |
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|
| 155 |
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]
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| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_15": {
|
| 159 |
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"confidence": 0.7205086350440979,
|
| 160 |
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"position": [
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| 161 |
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| 163 |
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| 164 |
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],
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| 165 |
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"orientation": {
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| 166 |
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"w": 0.6631244088802764,
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| 167 |
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"xyz": [
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]
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| 172 |
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}
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| 173 |
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},
|
| 174 |
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"grasp_18": {
|
| 175 |
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|
dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b16190a8f69a5456652ba71ea7e831a07ffd35d62f0970626cf0ffee6e2f838e
|
| 3 |
+
size 3779896
|
dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.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>
|