Add asset bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/affordance/affordance_annot.json +317 -0
- dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/nail_clipper_024.urdf +1 -0
.gitattributes
CHANGED
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@@ -5879,3 +5879,4 @@ dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/afforda
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| 5879 |
dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5880 |
dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5881 |
dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5879 |
dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5880 |
dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5881 |
dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5882 |
+
dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,317 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "actuating lever",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch and rotate the raised lever to actuate the nail clipper",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the lever lightly to flip it into operating position",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"actuate cutting mechanism",
|
| 19 |
+
"provide leverage",
|
| 20 |
+
"flip into operating position"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Slim silver metal lever on top of the nail clipper, with a smooth reflective finish, elongated tapered shape, and small pivot hole near its base.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
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"grasp_2": {
|
| 26 |
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"confidence": 0.63071608543396,
|
| 27 |
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"position": [
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| 28 |
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|
| 29 |
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0.0058892757224384695,
|
| 30 |
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|
| 31 |
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],
|
| 32 |
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"orientation": {
|
| 33 |
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"w": 0.6125354968077088,
|
| 34 |
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"xyz": [
|
| 35 |
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0.11158354220090072,
|
| 36 |
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|
| 37 |
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|
| 38 |
+
]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
+
"grasp_17": {
|
| 42 |
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"confidence": 0.5935496091842651,
|
| 43 |
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"position": [
|
| 44 |
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|
| 45 |
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0.0029193020018283278,
|
| 46 |
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|
| 47 |
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],
|
| 48 |
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"orientation": {
|
| 49 |
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"w": 0.31819377758759787,
|
| 50 |
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"xyz": [
|
| 51 |
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|
| 52 |
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|
| 53 |
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-0.4629321078386128
|
| 54 |
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]
|
| 55 |
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}
|
| 56 |
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},
|
| 57 |
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"grasp_19": {
|
| 58 |
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"confidence": 0.48207175731658936,
|
| 59 |
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"position": [
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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"orientation": {
|
| 65 |
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"w": 0.7418720006375522,
|
| 66 |
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"xyz": [
|
| 67 |
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| 68 |
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|
| 69 |
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|
| 70 |
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]
|
| 71 |
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}
|
| 72 |
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}
|
| 73 |
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}
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"part_name": "clipper body with cutting jaws",
|
| 77 |
+
"mask_color": "Green",
|
| 78 |
+
"graspable": true,
|
| 79 |
+
"grasp_scenarios": [
|
| 80 |
+
{
|
| 81 |
+
"scenario": "grasp the clipper body to pick up and hold the nail clipper",
|
| 82 |
+
"confidence": 0.94
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"scenario": "hold the body to stabilize the tool while the lever is pressed",
|
| 86 |
+
"confidence": 0.91
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"scenario": "grasp near the end with the hole to orient or reposition the clipper",
|
| 90 |
+
"confidence": 0.76
|
| 91 |
+
}
|
| 92 |
+
],
|
| 93 |
+
"functional_labels": [
|
| 94 |
+
"main grasp surface",
|
| 95 |
+
"support cutting mechanism",
|
| 96 |
+
"form cutting jaws",
|
| 97 |
+
"stabilize during clipping"
|
| 98 |
+
],
|
| 99 |
+
"semantic_description": "Compact silver metal clipper body with a smooth reflective hard finish, slightly curved flat profile, cutting jaws at one end, and a small lanyard hole at the other end.",
|
| 100 |
+
"id": 1,
|
| 101 |
+
"grasp_group": {
|
| 102 |
+
"grasp_20": {
|
| 103 |
+
"confidence": 0.8249438405036926,
|
| 104 |
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"position": [
|
| 105 |
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-0.10199238458881155,
|
| 106 |
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-6.042333916411735e-05,
|
| 107 |
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-0.0089131667627953
|
| 108 |
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],
|
| 109 |
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"orientation": {
|
| 110 |
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"w": 0.44548586914729543,
|
| 111 |
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"xyz": [
|
| 112 |
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|
| 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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},
|
| 118 |
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"grasp_21": {
|
| 119 |
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"confidence": 0.8173383474349976,
|
| 120 |
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"position": [
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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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"orientation": {
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| 126 |
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"w": 0.5634380216928129,
|
| 127 |
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"xyz": [
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|
| 130 |
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|
| 131 |
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]
|
| 132 |
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}
|
| 133 |
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},
|
| 134 |
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"grasp_25": {
|
| 135 |
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"confidence": 0.7998083233833313,
|
| 136 |
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"position": [
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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],
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| 141 |
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| 142 |
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| 147 |
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]
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| 148 |
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| 149 |
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},
|
| 150 |
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"grasp_26": {
|
| 151 |
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"confidence": 0.7965795993804932,
|
| 152 |
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"position": [
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| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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],
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"orientation": {
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| 162 |
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| 163 |
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]
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| 164 |
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}
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| 165 |
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},
|
| 166 |
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"grasp_27": {
|
| 167 |
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"confidence": 0.7957109212875366,
|
| 168 |
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"position": [
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| 169 |
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| 170 |
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|
| 172 |
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],
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"orientation": {
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| 181 |
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},
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| 182 |
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"grasp_30": {
|
| 183 |
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"confidence": 0.7890797853469849,
|
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"position": [
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}
|
| 197 |
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},
|
| 198 |
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"grasp_32": {
|
| 199 |
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"confidence": 0.7828025221824646,
|
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"position": [
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| 201 |
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|
| 205 |
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"orientation": {
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| 206 |
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"xyz": [
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|
| 211 |
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|
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|
| 213 |
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},
|
| 214 |
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"grasp_33": {
|
| 215 |
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"confidence": 0.7824817299842834,
|
| 216 |
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dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
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|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:0e04e637df7638aca169ea32718f0c227bcb81d989aeed86181e5d660aeecaff
|
| 3 |
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size 3779920
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dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/nail_clipper_024.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" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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