here is the link to dataset: https://drive.google.com/file/d/1P4CwQeSALtUOgzhg1ILCiKovE-tcXlSu/view?usp=sharing The anno_{split}.pkl contains following entries for each sample:

{'shape_id': 'eaf5e442ac99123c760858b697ef756f', 'class': 'door', 'affordance': 'open', 'mask': array([0., 0., 0., ..., 0., 0., 0.], dtype=float32)}

The object_split.pkl contains 3D infor mation for each object.