Add asset bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/affordance/affordance_annot.json +307 -0
- dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/storage_bin_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -5977,3 +5977,4 @@ dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/affordance/mes
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| 5977 |
dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5978 |
dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5979 |
dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5977 |
dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5978 |
dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5979 |
dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5980 |
+
dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "storage bin body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls of the bin body to pick up or reposition the empty bin",
|
| 10 |
+
"confidence": 0.68
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the rim and side of the bin body to stabilize it while loading items",
|
| 14 |
+
"confidence": 0.61
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the bin body from opposite outer faces for shelf placement",
|
| 18 |
+
"confidence": 0.64
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain stored items",
|
| 23 |
+
"provide structural support",
|
| 24 |
+
"form the bin walls and base",
|
| 25 |
+
"define interior storage space",
|
| 26 |
+
"support placement on a surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large open-top turquoise fabric body with a matte finish and slightly textured woven surface, rectangular tapered box shape, fish-and-white-dot print, forming the sides, base, and interior of the bin.",
|
| 29 |
+
"id": 3,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_20": {
|
| 32 |
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"confidence": 0.9196836352348328,
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| 33 |
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"position": [
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| 34 |
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| 35 |
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|
| 36 |
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|
| 37 |
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],
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| 38 |
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"orientation": {
|
| 39 |
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"w": 0.4925153603690046,
|
| 40 |
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"xyz": [
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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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},
|
| 47 |
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"grasp_22": {
|
| 48 |
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"confidence": 0.9145477414131165,
|
| 49 |
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"position": [
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| 50 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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| 55 |
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"w": 0.4719558673702171,
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| 56 |
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"xyz": [
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| 57 |
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| 59 |
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| 60 |
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]
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| 61 |
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}
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| 62 |
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},
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| 63 |
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"grasp_24": {
|
| 64 |
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"confidence": 0.9128139019012451,
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| 65 |
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"position": [
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| 69 |
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],
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"orientation": {
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| 77 |
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| 78 |
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},
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"grasp_26": {
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"confidence": 0.910182535648346,
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"position": [
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| 85 |
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],
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"orientation": {
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"w": 0.5115603106345955,
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"xyz": [
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| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_27": {
|
| 96 |
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"confidence": 0.9097326993942261,
|
| 97 |
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"position": [
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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],
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| 102 |
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"orientation": {
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"w": 0.44656921263094035,
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"xyz": [
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| 110 |
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| 111 |
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"grasp_30": {
|
| 112 |
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"confidence": 0.9079976677894592,
|
| 113 |
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"position": [
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|
| 117 |
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],
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"orientation": {
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"xyz": [
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| 123 |
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| 124 |
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]
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| 125 |
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}
|
| 126 |
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},
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"grasp_32": {
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| 128 |
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"confidence": 0.9079586267471313,
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| 129 |
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| 133 |
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],
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"orientation": {
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| 139 |
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| 140 |
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]
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| 141 |
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}
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| 142 |
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},
|
| 143 |
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"grasp_33": {
|
| 144 |
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"confidence": 0.9078415036201477,
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"position": [
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| 148 |
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],
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"orientation": {
|
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"xyz": [
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|
| 155 |
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|
| 156 |
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]
|
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}
|
| 158 |
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},
|
| 159 |
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"grasp_38": {
|
| 160 |
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"confidence": 0.9053941369056702,
|
| 161 |
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"position": [
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| 162 |
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| 163 |
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|
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| 165 |
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],
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"orientation": {
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| 167 |
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"w": 0.4996827978649926,
|
| 168 |
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"xyz": [
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| 169 |
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| 171 |
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|
| 172 |
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]
|
| 173 |
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}
|
| 174 |
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},
|
| 175 |
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"grasp_39": {
|
| 176 |
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"confidence": 0.9049171209335327,
|
| 177 |
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"position": [
|
| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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],
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"orientation": {
|
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"w": 0.49122371081635313,
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"xyz": [
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]
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}
|
| 190 |
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}
|
| 191 |
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}
|
| 192 |
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},
|
| 193 |
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{
|
| 194 |
+
"part_name": "handle",
|
| 195 |
+
"mask_color": "Red",
|
| 196 |
+
"graspable": true,
|
| 197 |
+
"grasp_scenarios": [
|
| 198 |
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{
|
| 199 |
+
"scenario": "grasp a handle to pull the storage bin off a shelf",
|
| 200 |
+
"confidence": 0.94
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"scenario": "grasp both side handles to lift and carry the storage bin",
|
| 204 |
+
"confidence": 0.91
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"scenario": "grasp one handle to rotate or reorient the bin during placement",
|
| 208 |
+
"confidence": 0.83
|
| 209 |
+
}
|
| 210 |
+
],
|
| 211 |
+
"functional_labels": [
|
| 212 |
+
"provide a carrying grip",
|
| 213 |
+
"pull the bin from storage",
|
| 214 |
+
"assist lifting",
|
| 215 |
+
"assist reorientation"
|
| 216 |
+
],
|
| 217 |
+
"semantic_description": "Two small white loop handles made of woven fabric with a matte finish and soft textured feel, attached near the top of the short sides and sized for pulling or carrying.",
|
| 218 |
+
"id": 0,
|
| 219 |
+
"grasp_group": {
|
| 220 |
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"grasp_4": {
|
| 221 |
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"confidence": 0.7731853723526001,
|
| 222 |
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"position": [
|
| 223 |
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| 224 |
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| 225 |
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0.1241083056665957
|
| 226 |
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],
|
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"orientation": {
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"w": 0.04501770869026275,
|
| 229 |
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"xyz": [
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| 230 |
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|
dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:81b2551f9929eb1e027ae6a9ea8c610c2695026fa21b071e704ff5fc78971bc8
|
| 3 |
+
size 3779624
|
dataset/bedroom_supplies/storage/21c038333fe65adcb55ec978d751710a/storage_bin_019.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>
|