Add asset bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/affordance/affordance_annot.json +358 -0
- dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/sponge_024.urdf +4 -3
.gitattributes
CHANGED
|
@@ -5590,3 +5590,4 @@ dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/afforda
|
|
| 5590 |
dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5591 |
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5592 |
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5590 |
dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5591 |
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5592 |
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5593 |
+
dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,358 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sponge body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sponge body from the sides to pick it up",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "compress and hold the sponge body for wiping or scrubbing",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the sponge body at one end to reposition it precisely",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"absorb water or cleaning liquid",
|
| 23 |
+
"wipe surfaces",
|
| 24 |
+
"scrub gently",
|
| 25 |
+
"provide the main grasp surface",
|
| 26 |
+
"compress for squeezing out liquid"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rectangular yellow foam sponge body with a matte soft porous surface, evenly perforated texture, rounded edges, and a medium block-like form making up the entire object.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9863349199295044,
|
| 33 |
+
"position": [
|
| 34 |
+
0.11779523501172662,
|
| 35 |
+
-0.04989991325419396,
|
| 36 |
+
0.00067812432826031
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.007938344885243231,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.7062978066022865,
|
| 42 |
+
-0.0035728442027300744,
|
| 43 |
+
0.7078613041080749
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9842096567153931,
|
| 49 |
+
"position": [
|
| 50 |
+
0.11124036321416497,
|
| 51 |
+
0.020765239489264786,
|
| 52 |
+
0.003818236305960454
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7023046493171372,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.021402369852463708,
|
| 58 |
+
-0.7115526487363759,
|
| 59 |
+
-0.0017164464684284175
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9838528633117676,
|
| 65 |
+
"position": [
|
| 66 |
+
0.11636955896392465,
|
| 67 |
+
0.05376952898222953,
|
| 68 |
+
0.0035717052087420598
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.0025382451263653094,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.7173668982251429,
|
| 74 |
+
0.0011809569104436202,
|
| 75 |
+
-0.6966899568554807
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.983707845211029,
|
| 81 |
+
"position": [
|
| 82 |
+
0.11232402035966516,
|
| 83 |
+
0.01292510621715337,
|
| 84 |
+
0.00413894398661796
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.04450896094554968,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7117761787159762,
|
| 90 |
+
0.009856412296495476,
|
| 91 |
+
0.7009254417872643
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9836570024490356,
|
| 97 |
+
"position": [
|
| 98 |
+
0.10851319739595056,
|
| 99 |
+
0.028708865982480347,
|
| 100 |
+
0.003408242962905206
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.020123629323598007,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.7091171361064627,
|
| 106 |
+
0.0018534294241588922,
|
| 107 |
+
0.7048010298108146
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9834104180335999,
|
| 113 |
+
"position": [
|
| 114 |
+
0.1131045282818377,
|
| 115 |
+
-0.03828269231598824,
|
| 116 |
+
0.001439453350030817
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.011203576299424714,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.7041795641592434,
|
| 122 |
+
-0.019096458041103492,
|
| 123 |
+
0.7096766493191708
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9833108186721802,
|
| 129 |
+
"position": [
|
| 130 |
+
0.1132917464710772,
|
| 131 |
+
0.03790542122442275,
|
| 132 |
+
0.004714263850473799
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.009318887812572861,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.711043127781235,
|
| 138 |
+
-0.00405697664164717,
|
| 139 |
+
0.7030749388973724
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9828742742538452,
|
| 145 |
+
"position": [
|
| 146 |
+
0.11449611792340875,
|
| 147 |
+
0.012590557453222573,
|
| 148 |
+
0.006747175255441107
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.02099045510128441,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.7156625823903937,
|
| 154 |
+
0.000526142765266191,
|
| 155 |
+
0.6981304979262433
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.9825462102890015,
|
| 161 |
+
"position": [
|
| 162 |
+
0.11785466084256768,
|
| 163 |
+
-0.03426839772146195,
|
| 164 |
+
0.0005197072896407917
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.004997395102469415,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.7055294697789896,
|
| 170 |
+
-0.019075644000312808,
|
| 171 |
+
0.7084061780656213
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9823335409164429,
|
| 177 |
+
"position": [
|
| 178 |
+
0.11805465677753091,
|
| 179 |
+
-0.05106248322408646,
|
| 180 |
+
0.004142329809837975
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.028050750480776283,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.7203218676581874,
|
| 186 |
+
-0.004630756045307827,
|
| 187 |
+
0.6930570816818301
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9821088314056396,
|
| 193 |
+
"position": [
|
| 194 |
+
0.11222014436498284,
|
| 195 |
+
0.008568063494749367,
|
| 196 |
+
0.0013942149380454794
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.7082812832793819,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.034984544382458835,
|
| 202 |
+
-0.7035895635522604,
|
| 203 |
+
-0.04555690365688506
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9818029403686523,
|
| 209 |
+
"position": [
|
| 210 |
+
0.1095172674395144,
|
| 211 |
+
0.04526742931921035,
|
| 212 |
+
0.006592399222427048
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6979268703476563,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.006813922918415681,
|
| 218 |
+
-0.7161321268006,
|
| 219 |
+
0.0025359545021105
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9814475774765015,
|
| 225 |
+
"position": [
|
| 226 |
+
0.11308844992890954,
|
| 227 |
+
0.04794699710328132,
|
| 228 |
+
-0.005009006927139126
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.005732580186922109,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.7022538226581224,
|
| 234 |
+
0.0010922584874687447,
|
| 235 |
+
0.7119027412911484
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9812703132629395,
|
| 241 |
+
"position": [
|
| 242 |
+
0.1116672889329493,
|
| 243 |
+
-0.0075325522338971496,
|
| 244 |
+
0.0001397382584400475
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.017941661997781463,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.7021072621264741,
|
| 250 |
+
-0.0012450060280477793,
|
| 251 |
+
0.7118440413419318
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.981120765209198,
|
| 257 |
+
"position": [
|
| 258 |
+
0.11463231453672051,
|
| 259 |
+
0.0031679425155743957,
|
| 260 |
+
0.0014987411123001948
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.711762357974072,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.0073649758690084045,
|
| 266 |
+
-0.7020479426558525,
|
| 267 |
+
-0.021651538382351388
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9811161756515503,
|
| 273 |
+
"position": [
|
| 274 |
+
0.11385652283206582,
|
| 275 |
+
0.057541322079487145,
|
| 276 |
+
0.006367800539010204
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.01919970065632667,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.7118068589535372,
|
| 282 |
+
0.020932553616321625,
|
| 283 |
+
-0.7018006805642942
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_16": {
|
| 288 |
+
"confidence": 0.9807854294776917,
|
| 289 |
+
"position": [
|
| 290 |
+
0.11158700147643685,
|
| 291 |
+
-0.04549725342076272,
|
| 292 |
+
0.0035720213927561417
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.015797835321231198,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.7131780138406777,
|
| 298 |
+
-0.015217325895618083,
|
| 299 |
+
0.7006396948261039
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_17": {
|
| 304 |
+
"confidence": 0.9806610345840454,
|
| 305 |
+
"position": [
|
| 306 |
+
0.11557400086894631,
|
| 307 |
+
0.01471011817920953,
|
| 308 |
+
0.0026572658825898543
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.05486195677772647,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.7038662053507679,
|
| 314 |
+
0.048557273025833014,
|
| 315 |
+
0.706544210860102
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_18": {
|
| 320 |
+
"confidence": 0.9805970788002014,
|
| 321 |
+
"position": [
|
| 322 |
+
0.11207524547353387,
|
| 323 |
+
0.05268220987636596,
|
| 324 |
+
0.006866041352623142
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.6962665131359744,
|
| 328 |
+
"xyz": [
|
| 329 |
+
0.015559492326934543,
|
| 330 |
+
-0.7175951312123198,
|
| 331 |
+
0.0052983529868760966
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_19": {
|
| 336 |
+
"confidence": 0.9805322289466858,
|
| 337 |
+
"position": [
|
| 338 |
+
0.11613456020131707,
|
| 339 |
+
0.022507378947921097,
|
| 340 |
+
0.003442850909777917
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.021422373742391115,
|
| 344 |
+
"xyz": [
|
| 345 |
+
-0.7087909190260402,
|
| 346 |
+
0.0023268205786786123,
|
| 347 |
+
0.705089427601533
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
],
|
| 354 |
+
"quality_check": {
|
| 355 |
+
"success": true,
|
| 356 |
+
"message": "YES"
|
| 357 |
+
}
|
| 358 |
+
}
|
dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6e71a20b5a3078990814e87fefaf4d3af8617b7ee016da7182bdd5ef6c07d296
|
| 3 |
+
size 3774496
|
dataset/bathroom_supplies/bath_products/3f4902d97e5c5ff990a5f2b0b8b53ac5/sponge_024.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>1</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|