Add asset desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/affordance/affordance_annot.json +408 -0
- dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/charging_cable_027.urdf +4 -3
.gitattributes
CHANGED
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@@ -6249,3 +6249,4 @@ dataset/desktop_supplies/electronic_accessories/85b81e91b75c5f8f8636825673197b14
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| 6249 |
dataset/desktop_supplies/electronic_accessories/8615eea2f9465160bef23bf1c29e5db1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6250 |
dataset/desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6251 |
dataset/desktop_supplies/electronic_accessories/8b8ea2bb556c50b2a793cdd67972eb44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6249 |
dataset/desktop_supplies/electronic_accessories/8615eea2f9465160bef23bf1c29e5db1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6250 |
dataset/desktop_supplies/electronic_accessories/87dc299f6dd75a2cb3816ef735f06322/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6251 |
dataset/desktop_supplies/electronic_accessories/8b8ea2bb556c50b2a793cdd67972eb44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6252 |
+
dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,408 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cable jacket",
|
| 5 |
+
"mask_color": "Teal",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the coiled cable body to pick up and move the cable",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cable jacket to stabilize it while plugging in a connector",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch a cable segment to pull or uncoil the cable",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"carry electrical conductors",
|
| 23 |
+
"provide flexible connection length",
|
| 24 |
+
"allow bending and routing",
|
| 25 |
+
"main grasp surface",
|
| 26 |
+
"protect internal wires"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long white plastic cable jacket with a matte smooth surface and flexible cylindrical shape, forming most of the coiled object between the two connectors.",
|
| 29 |
+
"id": 10,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_40": {
|
| 32 |
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"confidence": 0.9404585361480713,
|
| 33 |
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"position": [
|
| 34 |
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0.11234948190394789,
|
| 35 |
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-0.008669535804074258,
|
| 36 |
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0.0233238564178464
|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.6024803670811157,
|
| 40 |
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"xyz": [
|
| 41 |
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| 42 |
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-0.7962415116955447,
|
| 43 |
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0.051001907697043845
|
| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_43": {
|
| 48 |
+
"confidence": 0.910191535949707,
|
| 49 |
+
"position": [
|
| 50 |
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|
| 51 |
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0.05618269630940631,
|
| 52 |
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0.0433896557733533
|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.20536346845853437,
|
| 56 |
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"xyz": [
|
| 57 |
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|
| 58 |
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-0.2658291270057819,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_44": {
|
| 64 |
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"confidence": 0.8641778230667114,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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0.07538478338392451,
|
| 68 |
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0.006420290686946828
|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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"w": 0.371536322233582,
|
| 72 |
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"xyz": [
|
| 73 |
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0.652819996175332,
|
| 74 |
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-0.3246580589319865,
|
| 75 |
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|
| 76 |
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]
|
| 77 |
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}
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"part_name": "Lightning connector housing",
|
| 83 |
+
"mask_color": "Purple",
|
| 84 |
+
"graspable": true,
|
| 85 |
+
"grasp_scenarios": [
|
| 86 |
+
{
|
| 87 |
+
"scenario": "grasp the Lightning connector housing to align and insert it into a device port",
|
| 88 |
+
"confidence": 0.9
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"scenario": "hold the connector end to unplug the cable from a device",
|
| 92 |
+
"confidence": 0.87
|
| 93 |
+
}
|
| 94 |
+
],
|
| 95 |
+
"functional_labels": [
|
| 96 |
+
"connect to Lightning port",
|
| 97 |
+
"enable charging or data transfer",
|
| 98 |
+
"provide insertion end",
|
| 99 |
+
"support connector orientation"
|
| 100 |
+
],
|
| 101 |
+
"semantic_description": "Small white molded plastic connector housing with a smooth matte finish and compact tapered rectangular shape at one cable end, attached to a narrow metal Lightning plug.",
|
| 102 |
+
"id": 5,
|
| 103 |
+
"grasp_group": {
|
| 104 |
+
"grasp_0": {
|
| 105 |
+
"confidence": 0.9139954447746277,
|
| 106 |
+
"position": [
|
| 107 |
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0.04743943514768034,
|
| 108 |
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-0.1273408058914356,
|
| 109 |
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-0.007756521335977595
|
| 110 |
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],
|
| 111 |
+
"orientation": {
|
| 112 |
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"w": 0.43116246603398595,
|
| 113 |
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"xyz": [
|
| 114 |
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-0.5787850231860452,
|
| 115 |
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0.3597457104111528,
|
| 116 |
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0.5913457944889744
|
| 117 |
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]
|
| 118 |
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}
|
| 119 |
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},
|
| 120 |
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"grasp_9": {
|
| 121 |
+
"confidence": 0.9366942048072815,
|
| 122 |
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"position": [
|
| 123 |
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0.04609059321228415,
|
| 124 |
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-0.12163997924653813,
|
| 125 |
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0.015743479256343562
|
| 126 |
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],
|
| 127 |
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"orientation": {
|
| 128 |
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"w": 0.5231015776884959,
|
| 129 |
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"xyz": [
|
| 130 |
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-0.40793619505665824,
|
| 131 |
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|
| 132 |
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|
| 133 |
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]
|
| 134 |
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}
|
| 135 |
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},
|
| 136 |
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"grasp_13": {
|
| 137 |
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"confidence": 0.9204366207122803,
|
| 138 |
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"position": [
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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],
|
| 143 |
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"orientation": {
|
| 144 |
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"w": 0.6358617777560852,
|
| 145 |
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"xyz": [
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| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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]
|
| 150 |
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}
|
| 151 |
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},
|
| 152 |
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"grasp_14": {
|
| 153 |
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"confidence": 0.9195653200149536,
|
| 154 |
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"position": [
|
| 155 |
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0.08112374844495207,
|
| 156 |
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-0.10522276646224782,
|
| 157 |
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|
| 158 |
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],
|
| 159 |
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"orientation": {
|
| 160 |
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"w": 0.33028807444986896,
|
| 161 |
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"xyz": [
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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]
|
| 166 |
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}
|
| 167 |
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},
|
| 168 |
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"grasp_19": {
|
| 169 |
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"confidence": 0.9128216505050659,
|
| 170 |
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"position": [
|
| 171 |
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0.03816226276103407,
|
| 172 |
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|
| 173 |
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-0.003380429341632407
|
| 174 |
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],
|
| 175 |
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"orientation": {
|
| 176 |
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"w": 0.5737589368450304,
|
| 177 |
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"xyz": [
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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]
|
| 182 |
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}
|
| 183 |
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}
|
| 184 |
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}
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{
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"success": true,
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"message": "YES"
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}
|
dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/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:f4ac4018b46ba12829c00bcd9a017c16690dba786bd298efbaaa85bdd98c3fa3
|
| 3 |
+
size 3797264
|
dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14/charging_cable_027.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>43</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|