xinjjj commited on
Commit
d03e8e8
·
verified ·
1 Parent(s): e7ec432

Add asset desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116

Browse files
.gitattributes CHANGED
@@ -8136,4 +8136,4 @@ dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0
8136
  dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8137
  dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8138
  dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8139
- dataset/desktop_supplies/electronic_accessories/db0fd39f15f557cba6f7b0110943b15a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
8136
  dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8137
  dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8138
  dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8139
+ dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/affordance_annot.json ADDED
@@ -0,0 +1,605 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "charger body",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and move the charger",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body while inserting or removing the charger from a wall outlet",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "stabilize the charger body while aligning a cable with the ports",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "house internal electronics",
23
+ "main grasp surface",
24
+ "support plug insertion and removal",
25
+ "protect internal components"
26
+ ],
27
+ "semantic_description": "Large black plastic housing with a matte smooth hard surface, rounded rectangular block shape, occupying most of the charger and showing printed brand and wattage text on the sides.",
28
+ "id": 5,
29
+ "grasp_group": {
30
+ "grasp_41": {
31
+ "confidence": 0.9849539995193481,
32
+ "position": [
33
+ -0.05488346196943894,
34
+ 0.09881325997412205,
35
+ 0.010444866526086116
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5813803006190971,
39
+ "xyz": [
40
+ 0.36438678855383794,
41
+ 0.651229374014222,
42
+ -0.32422140089838886
43
+ ]
44
+ }
45
+ },
46
+ "grasp_46": {
47
+ "confidence": 0.9836376905441284,
48
+ "position": [
49
+ 0.002428162086289376,
50
+ 0.11392810381948948,
51
+ 0.014861723440844798
52
+ ],
53
+ "orientation": {
54
+ "w": 0.46301169137488163,
55
+ "xyz": [
56
+ 0.5380481746876413,
57
+ 0.5292492072896947,
58
+ -0.46477910016339913
59
+ ]
60
+ }
61
+ },
62
+ "grasp_47": {
63
+ "confidence": 0.98356032371521,
64
+ "position": [
65
+ -0.053281277942005545,
66
+ 0.10130956210196018,
67
+ 0.01432170535917976
68
+ ],
69
+ "orientation": {
70
+ "w": 0.3107720693155855,
71
+ "xyz": [
72
+ 0.62745066050233,
73
+ -0.40828276482754666,
74
+ 0.5856889733581069
75
+ ]
76
+ }
77
+ },
78
+ "grasp_48": {
79
+ "confidence": 0.9835435152053833,
80
+ "position": [
81
+ -0.05887182109290734,
82
+ 0.09578114934265614,
83
+ 0.008628212879557395
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5850881329761602,
87
+ "xyz": [
88
+ 0.3703440425375561,
89
+ 0.6459990656383128,
90
+ -0.321251263035398
91
+ ]
92
+ }
93
+ },
94
+ "grasp_50": {
95
+ "confidence": 0.9826687574386597,
96
+ "position": [
97
+ -0.0019830582314170897,
98
+ 0.10919536836445332,
99
+ 0.014543733592290664
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4675900125211948,
103
+ "xyz": [
104
+ 0.5104101149391971,
105
+ -0.5461513033137892,
106
+ 0.47176249177614177
107
+ ]
108
+ }
109
+ },
110
+ "grasp_54": {
111
+ "confidence": 0.9817419648170471,
112
+ "position": [
113
+ -0.005609076528344303,
114
+ 0.10987396724522114,
115
+ 0.008090978521067882
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4958960991449958,
119
+ "xyz": [
120
+ 0.5561881282359193,
121
+ 0.4873602629719248,
122
+ -0.4552162111987417
123
+ ]
124
+ }
125
+ },
126
+ "grasp_56": {
127
+ "confidence": 0.981391191482544,
128
+ "position": [
129
+ 0.04812837712233886,
130
+ 0.10368191637098789,
131
+ 0.01013759713168838
132
+ ],
133
+ "orientation": {
134
+ "w": 0.35786074037448296,
135
+ "xyz": [
136
+ 0.6217278028978664,
137
+ 0.39919314417923357,
138
+ -0.5709948014147906
139
+ ]
140
+ }
141
+ },
142
+ "grasp_57": {
143
+ "confidence": 0.9811567068099976,
144
+ "position": [
145
+ 0.0017497022054158151,
146
+ 0.1109642181545496,
147
+ 0.01207619163687923
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4807021478240992,
151
+ "xyz": [
152
+ 0.5255512598044244,
153
+ 0.5211048787643716,
154
+ -0.4702882347276503
155
+ ]
156
+ }
157
+ }
158
+ }
159
+ },
160
+ {
161
+ "part_name": "front port panel",
162
+ "mask_color": "Pink",
163
+ "graspable": false,
164
+ "grasp_scenarios": [],
165
+ "functional_labels": [
166
+ "mount charging ports",
167
+ "provide cable connection face",
168
+ "indicate port locations",
169
+ "protect port openings"
170
+ ],
171
+ "semantic_description": "Small black front face panel with a slightly recessed smooth hard finish at one end of the charger, carrying the visible USB port openings and tiny printed labels.",
172
+ "id": 8,
173
+ "grasp_group": {}
174
+ },
175
+ {
176
+ "part_name": "USB-C port",
177
+ "mask_color": "Cyan",
178
+ "graspable": false,
179
+ "grasp_scenarios": [],
180
+ "functional_labels": [
181
+ "accept USB-C cable",
182
+ "provide power output",
183
+ "enable charging connection",
184
+ "define cable insertion point"
185
+ ],
186
+ "semantic_description": "Small oval charging port opening on the front panel with a dark interior and smooth hard plastic edges, positioned beside the USB-A port.",
187
+ "id": 6,
188
+ "grasp_group": {}
189
+ },
190
+ {
191
+ "part_name": "USB-A port",
192
+ "mask_color": "Magenta",
193
+ "graspable": false,
194
+ "grasp_scenarios": [],
195
+ "functional_labels": [
196
+ "accept USB-A cable",
197
+ "provide power output",
198
+ "enable device charging",
199
+ "define cable insertion point"
200
+ ],
201
+ "semantic_description": "Small rectangular port opening with an orange interior set on the front panel, appearing as a hard smooth plastic-lined connector socket for cable insertion.",
202
+ "id": 7,
203
+ "grasp_group": {}
204
+ },
205
+ {
206
+ "part_name": "AC prong base",
207
+ "mask_color": "Orange",
208
+ "graspable": true,
209
+ "grasp_scenarios": [
210
+ {
211
+ "scenario": "grasp the plug base to orient the charger before outlet insertion",
212
+ "confidence": 0.52
213
+ },
214
+ {
215
+ "scenario": "pinch the plug base to assist removal when body access is constrained",
216
+ "confidence": 0.38
217
+ }
218
+ ],
219
+ "functional_labels": [
220
+ "support metal prongs",
221
+ "space prongs from housing",
222
+ "transfer insertion force",
223
+ "join plug assembly to body"
224
+ ],
225
+ "semantic_description": "Compact black plastic block at the rear of the charger with a matte hard smooth finish, attached between the main body and the two wall prongs.",
226
+ "id": 4,
227
+ "grasp_group": {
228
+ "grasp_29": {
229
+ "confidence": 0.9191035032272339,
230
+ "position": [
231
+ -0.00036753551103174686,
232
+ -0.07449760846793652,
233
+ 0.0773933744385431
234
+ ],
235
+ "orientation": {
236
+ "w": 0.018892314011465544,
237
+ "xyz": [
238
+ 0.02003294369397033,
239
+ 0.9581926158109828,
240
+ 0.28479584379613515
241
+ ]
242
+ }
243
+ },
244
+ "grasp_38": {
245
+ "confidence": 0.9588531255722046,
246
+ "position": [
247
+ 0.002066598681267351,
248
+ -0.01603830885142088,
249
+ -0.099053197507601
250
+ ],
251
+ "orientation": {
252
+ "w": 0.9995007415814869,
253
+ "xyz": [
254
+ 0.024982051615499764,
255
+ -0.00125565261552818,
256
+ -0.019302538994814523
257
+ ]
258
+ }
259
+ }
260
+ }
261
+ },
262
+ {
263
+ "part_name": "left AC prong",
264
+ "mask_color": "Red",
265
+ "graspable": false,
266
+ "grasp_scenarios": [],
267
+ "functional_labels": [
268
+ "connect to wall outlet",
269
+ "conduct electrical power",
270
+ "position charger in socket"
271
+ ],
272
+ "semantic_description": "Thin flat silver metal blade with a smooth reflective hard finish and a rounded tip hole, protruding from the plug base as one of the two outlet prongs.",
273
+ "id": 0,
274
+ "grasp_group": {}
275
+ },
276
+ {
277
+ "part_name": "right AC prong",
278
+ "mask_color": "Green",
279
+ "graspable": false,
280
+ "grasp_scenarios": [],
281
+ "functional_labels": [
282
+ "connect to wall outlet",
283
+ "conduct electrical power",
284
+ "position charger in socket"
285
+ ],
286
+ "semantic_description": "Thin flat silver metal blade with a smooth reflective hard finish and a rounded tip hole, protruding parallel to the other prong from the plug base.",
287
+ "id": 1,
288
+ "grasp_group": {}
289
+ },
290
+ {
291
+ "part_name": "side accent panel",
292
+ "mask_color": "Yellow",
293
+ "graspable": false,
294
+ "grasp_scenarios": [],
295
+ "functional_labels": [
296
+ "cover side section",
297
+ "provide visual accent",
298
+ "protect side surface"
299
+ ],
300
+ "semantic_description": "Rectangular orange side insert panel on one side of the charger body, with a slightly textured or ribbed hard finish, contrasting with the black housing.",
301
+ "id": 3,
302
+ "grasp_group": {}
303
+ },
304
+ {
305
+ "part_name": "top face of charger body near prongs",
306
+ "mask_color": "Blue",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "press a gripper on this broad face together with the opposite side to hold the charger body",
311
+ "confidence": 0.7
312
+ },
313
+ {
314
+ "scenario": "use this face to stabilize the charger against a fixture during cable insertion",
315
+ "confidence": 0.56
316
+ }
317
+ ],
318
+ "functional_labels": [
319
+ "provide support surface",
320
+ "form outer enclosure",
321
+ "aid stable handling"
322
+ ],
323
+ "semantic_description": "Broad black outer face of the charger body near the AC prong assembly, with a matte smooth hard plastic finish, gently rounded corners, and a flat rectangular area on the main housing.",
324
+ "id": 2,
325
+ "grasp_group": {
326
+ "grasp_0": {
327
+ "confidence": 0.9789980053901672,
328
+ "position": [
329
+ -0.009372955712024122,
330
+ -0.10613015852868557,
331
+ 0.054504389907378936
332
+ ],
333
+ "orientation": {
334
+ "w": 0.5036791485562893,
335
+ "xyz": [
336
+ -0.8627215249120965,
337
+ -0.009798396901392725,
338
+ -0.04385062349751777
339
+ ]
340
+ }
341
+ },
342
+ "grasp_1": {
343
+ "confidence": 0.9713841080665588,
344
+ "position": [
345
+ 0.00014962040586397052,
346
+ -0.10869773291051388,
347
+ 0.05491464122678735
348
+ ],
349
+ "orientation": {
350
+ "w": 0.5014273614585596,
351
+ "xyz": [
352
+ -0.865014917366132,
353
+ -0.01454814989303399,
354
+ -0.010399290815289355
355
+ ]
356
+ }
357
+ },
358
+ "grasp_2": {
359
+ "confidence": 0.9711179137229919,
360
+ "position": [
361
+ 0.0028326475876383483,
362
+ -0.11376029066741467,
363
+ -0.040626597558002686
364
+ ],
365
+ "orientation": {
366
+ "w": 0.02005473934196203,
367
+ "xyz": [
368
+ -0.0025906505575866872,
369
+ -0.5220280943982003,
370
+ -0.8526885507725538
371
+ ]
372
+ }
373
+ },
374
+ "grasp_3": {
375
+ "confidence": 0.9691886901855469,
376
+ "position": [
377
+ 0.0006053449469618499,
378
+ -0.10831144265830517,
379
+ 0.05508367627408006
380
+ ],
381
+ "orientation": {
382
+ "w": 0.5062370109707943,
383
+ "xyz": [
384
+ -0.8619651593938885,
385
+ -0.02237364373414008,
386
+ -0.015478138792550906
387
+ ]
388
+ }
389
+ },
390
+ "grasp_4": {
391
+ "confidence": 0.9641531705856323,
392
+ "position": [
393
+ 0.004363226180430502,
394
+ -0.08143722079694271,
395
+ 0.08566298245932558
396
+ ],
397
+ "orientation": {
398
+ "w": 0.31366511768952354,
399
+ "xyz": [
400
+ -0.9492964028710528,
401
+ 0.013980088644131194,
402
+ 0.01597155478967049
403
+ ]
404
+ }
405
+ },
406
+ "grasp_5": {
407
+ "confidence": 0.9611099362373352,
408
+ "position": [
409
+ 0.01803848095005378,
410
+ -0.07403997890651226,
411
+ 0.0858193924977968
412
+ ],
413
+ "orientation": {
414
+ "w": 0.2877954647685962,
415
+ "xyz": [
416
+ -0.9538954424426548,
417
+ -0.0393264457184731,
418
+ 0.0755690810643598
419
+ ]
420
+ }
421
+ },
422
+ "grasp_6": {
423
+ "confidence": 0.9604626893997192,
424
+ "position": [
425
+ 0.004285058414097875,
426
+ -0.12367255799472332,
427
+ -0.0024006843705137726
428
+ ],
429
+ "orientation": {
430
+ "w": 0.7432481953062827,
431
+ "xyz": [
432
+ -0.6687017298891016,
433
+ -0.020492604562354244,
434
+ -0.00041203825993375143
435
+ ]
436
+ }
437
+ },
438
+ "grasp_7": {
439
+ "confidence": 0.9598404169082642,
440
+ "position": [
441
+ -0.0033989321091212332,
442
+ -0.12122181616723537,
443
+ -0.005171323162358021
444
+ ],
445
+ "orientation": {
446
+ "w": 0.030605025072602016,
447
+ "xyz": [
448
+ 0.0011983370373288605,
449
+ 0.6709790186216081,
450
+ 0.7408434740201433
451
+ ]
452
+ }
453
+ },
454
+ "grasp_8": {
455
+ "confidence": 0.9489565491676331,
456
+ "position": [
457
+ 0.0010608870652504265,
458
+ -0.12057596258819103,
459
+ 0.0008956102283264045
460
+ ],
461
+ "orientation": {
462
+ "w": 0.7397577748149211,
463
+ "xyz": [
464
+ -0.6719366838425969,
465
+ -0.028344873070222376,
466
+ -0.02135639665589233
467
+ ]
468
+ }
469
+ },
470
+ "grasp_9": {
471
+ "confidence": 0.9271533489227295,
472
+ "position": [
473
+ 0.028375775960739702,
474
+ -0.07248961739242077,
475
+ 0.08542852013852098
476
+ ],
477
+ "orientation": {
478
+ "w": 0.27363170942082915,
479
+ "xyz": [
480
+ -0.9524461412421575,
481
+ -0.07508243708453649,
482
+ 0.11106152922504622
483
+ ]
484
+ }
485
+ },
486
+ "grasp_10": {
487
+ "confidence": 0.9197555184364319,
488
+ "position": [
489
+ 0.003115709114354104,
490
+ -0.1174918320029974,
491
+ -0.005375779201131081
492
+ ],
493
+ "orientation": {
494
+ "w": 0.7486944957959878,
495
+ "xyz": [
496
+ -0.6626748517038604,
497
+ -0.016860493537323995,
498
+ -0.0058580407762626845
499
+ ]
500
+ }
501
+ },
502
+ "grasp_11": {
503
+ "confidence": 0.9146090149879456,
504
+ "position": [
505
+ 0.024581441131886095,
506
+ -0.06705223955214024,
507
+ 0.09225626945044496
508
+ ],
509
+ "orientation": {
510
+ "w": 0.23487195445213588,
511
+ "xyz": [
512
+ -0.9626323748216107,
513
+ -0.07579843038089717,
514
+ 0.11148396256382474
515
+ ]
516
+ }
517
+ },
518
+ "grasp_12": {
519
+ "confidence": 0.8922048211097717,
520
+ "position": [
521
+ 0.0019424515194259584,
522
+ -0.11670077405869961,
523
+ -0.005994849339913344
524
+ ],
525
+ "orientation": {
526
+ "w": 0.7519965403880614,
527
+ "xyz": [
528
+ -0.6590650651131849,
529
+ -0.00864287362966587,
530
+ -0.007729419587688909
531
+ ]
532
+ }
533
+ },
534
+ "grasp_13": {
535
+ "confidence": 0.8914962410926819,
536
+ "position": [
537
+ -0.007886776758823544,
538
+ -0.10578327439725399,
539
+ -0.04601017475579283
540
+ ],
541
+ "orientation": {
542
+ "w": 0.8785523813993498,
543
+ "xyz": [
544
+ -0.4761219803620575,
545
+ 0.031283204652217345,
546
+ -0.021792981905439626
547
+ ]
548
+ }
549
+ },
550
+ "grasp_17": {
551
+ "confidence": 0.9709290862083435,
552
+ "position": [
553
+ 0.008933407661970705,
554
+ -0.07433119975030422,
555
+ 0.08479677050854662
556
+ ],
557
+ "orientation": {
558
+ "w": 0.292745452311822,
559
+ "xyz": [
560
+ -0.9555402454541919,
561
+ -0.0166378877722978,
562
+ 0.031082473494976073
563
+ ]
564
+ }
565
+ },
566
+ "grasp_18": {
567
+ "confidence": 0.9703933596611023,
568
+ "position": [
569
+ -0.0026202332810498774,
570
+ -0.10687265358865261,
571
+ 0.04908388018156984
572
+ ],
573
+ "orientation": {
574
+ "w": 0.5158745130052792,
575
+ "xyz": [
576
+ -0.8563272489168139,
577
+ -0.01343118627459583,
578
+ -0.01991815326239805
579
+ ]
580
+ }
581
+ },
582
+ "grasp_19": {
583
+ "confidence": 0.9690127968788147,
584
+ "position": [
585
+ 0.0006415860843844712,
586
+ -0.10686557553708553,
587
+ 0.05331329911496141
588
+ ],
589
+ "orientation": {
590
+ "w": 0.5017007084373453,
591
+ "xyz": [
592
+ -0.8629858867515815,
593
+ -0.04996681912428702,
594
+ -0.032481924321896644
595
+ ]
596
+ }
597
+ }
598
+ }
599
+ }
600
+ ],
601
+ "quality_check": {
602
+ "success": false,
603
+ "message": "Several mask-color/part mappings are wrong: ports and side panel mislabeled, and a body face was split as a separate part."
604
+ }
605
+ }
dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15c05bfe7cf4dc6ea4ed7cb5ddec1b44e20a3f3d61022202398a5d5f29b8439d
3
+ size 3783248
dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>YES</PartSegChecker>