Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
aee58d6
·
verified ·
1 Parent(s): 91f3f2d

Add asset bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/affordance_annot.json +583 -0
  3. dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/hair_clip_022.urdf +4 -3
.gitattributes CHANGED
@@ -5833,3 +5833,4 @@ dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/afforda
5833
  dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5834
  dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5835
  dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5833
  dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5834
  dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5835
  dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5836
+ dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,583 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flower ornament",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "gently grasp the flower ornament to steady the hair clip while orienting it before use",
10
+ "confidence": 0.42
11
+ },
12
+ {
13
+ "scenario": "lightly hold the flower ornament together with the clip frame when repositioning the clip",
14
+ "confidence": 0.36
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide decorative appearance",
19
+ "help indicate clip orientation",
20
+ "cover the attachment point",
21
+ "add a larger visible top feature"
22
+ ],
23
+ "semantic_description": "Large layered flower ornament with white petals and blue painted accents, likely porcelain-like or coated plastic, with a smooth finish and rounded overlapping petals mounted on top of the clip.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_2": {
27
+ "confidence": 0.9291749596595764,
28
+ "position": [
29
+ 0.025620048923883587,
30
+ -0.10093645228334935,
31
+ 0.023574472143081948
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5249850317121223,
35
+ "xyz": [
36
+ -0.5199528934334963,
37
+ -0.5838361263574166,
38
+ -0.3364150452169514
39
+ ]
40
+ }
41
+ },
42
+ "grasp_3": {
43
+ "confidence": 0.9284607172012329,
44
+ "position": [
45
+ -0.010553755739238113,
46
+ -0.1029507316488889,
47
+ 0.01856963589671068
48
+ ],
49
+ "orientation": {
50
+ "w": 0.4704072467904033,
51
+ "xyz": [
52
+ -0.6050389831184662,
53
+ -0.4776108021546678,
54
+ -0.4295727793275776
55
+ ]
56
+ }
57
+ },
58
+ "grasp_4": {
59
+ "confidence": 0.9276203513145447,
60
+ "position": [
61
+ -0.0031725572771392763,
62
+ -0.10682869179436238,
63
+ 0.012077402061549947
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5119187806795229,
67
+ "xyz": [
68
+ -0.5946835273306206,
69
+ -0.4575486286294824,
70
+ -0.4182581938808634
71
+ ]
72
+ }
73
+ },
74
+ "grasp_6": {
75
+ "confidence": 0.927180290222168,
76
+ "position": [
77
+ -0.0069858007482253015,
78
+ -0.1035097487110761,
79
+ 0.025007963849930093
80
+ ],
81
+ "orientation": {
82
+ "w": 0.41471940765537285,
83
+ "xyz": [
84
+ -0.5041462669825284,
85
+ 0.601575116765921,
86
+ 0.4603821600470922
87
+ ]
88
+ }
89
+ },
90
+ "grasp_7": {
91
+ "confidence": 0.9253076910972595,
92
+ "position": [
93
+ -0.006295563594903797,
94
+ -0.10595131142326863,
95
+ 0.019647591485409066
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4519588946420959,
99
+ "xyz": [
100
+ -0.5091622453007363,
101
+ 0.5699502702305028,
102
+ 0.4600474486163192
103
+ ]
104
+ }
105
+ },
106
+ "grasp_8": {
107
+ "confidence": 0.9253044128417969,
108
+ "position": [
109
+ -0.013670827203895897,
110
+ -0.10390021128841909,
111
+ 0.00805448295432143
112
+ ],
113
+ "orientation": {
114
+ "w": 0.44816992833842656,
115
+ "xyz": [
116
+ -0.5585648293119911,
117
+ -0.48313176905884614,
118
+ -0.5037189102216297
119
+ ]
120
+ }
121
+ },
122
+ "grasp_9": {
123
+ "confidence": 0.9241032004356384,
124
+ "position": [
125
+ -0.014749102236237377,
126
+ -0.10551211459824117,
127
+ 0.017431624903110787
128
+ ],
129
+ "orientation": {
130
+ "w": 0.4654077027157284,
131
+ "xyz": [
132
+ -0.6218405640696816,
133
+ -0.4469640825163298,
134
+ -0.4437714412518046
135
+ ]
136
+ }
137
+ },
138
+ "grasp_11": {
139
+ "confidence": 0.9233366847038269,
140
+ "position": [
141
+ -0.04868343094130978,
142
+ -0.09396736545750173,
143
+ 0.012832060194341466
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5441577038455506,
147
+ "xyz": [
148
+ -0.3575149814277346,
149
+ 0.6633452070938706,
150
+ 0.3688476211470727
151
+ ]
152
+ }
153
+ },
154
+ "grasp_13": {
155
+ "confidence": 0.9222981929779053,
156
+ "position": [
157
+ -0.02052571246167645,
158
+ -0.10581179185101064,
159
+ 0.016482817678479478
160
+ ],
161
+ "orientation": {
162
+ "w": 0.4940181459844277,
163
+ "xyz": [
164
+ -0.4859762170932602,
165
+ 0.5860462503656139,
166
+ 0.4199082998587158
167
+ ]
168
+ }
169
+ },
170
+ "grasp_14": {
171
+ "confidence": 0.921998918056488,
172
+ "position": [
173
+ 0.02907208731630817,
174
+ -0.09824516101070913,
175
+ 0.01913118429365568
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5262447418217322,
179
+ "xyz": [
180
+ -0.46864434029784136,
181
+ -0.6057794135478025,
182
+ -0.36941880858107273
183
+ ]
184
+ }
185
+ },
186
+ "grasp_15": {
187
+ "confidence": 0.9216917753219604,
188
+ "position": [
189
+ 0.03741532942513004,
190
+ -0.09584518743940862,
191
+ 0.01302287049475126
192
+ ],
193
+ "orientation": {
194
+ "w": 0.578426599936508,
195
+ "xyz": [
196
+ -0.4576290507004178,
197
+ -0.5919844529911521,
198
+ -0.32488879306262913
199
+ ]
200
+ }
201
+ },
202
+ "grasp_16": {
203
+ "confidence": 0.9207311868667603,
204
+ "position": [
205
+ -0.025256331951823086,
206
+ -0.09841005726048024,
207
+ -0.009498694242211059
208
+ ],
209
+ "orientation": {
210
+ "w": 0.587147289674806,
211
+ "xyz": [
212
+ -0.4154976425536767,
213
+ 0.5409363504656124,
214
+ 0.4358986510701891
215
+ ]
216
+ }
217
+ },
218
+ "grasp_17": {
219
+ "confidence": 0.9207305908203125,
220
+ "position": [
221
+ 0.006688928755465895,
222
+ -0.10695530696102651,
223
+ 0.015378382726339623
224
+ ],
225
+ "orientation": {
226
+ "w": 0.42066706404202164,
227
+ "xyz": [
228
+ -0.5267726236564212,
229
+ 0.5387426645851259,
230
+ 0.5052783050479355
231
+ ]
232
+ }
233
+ },
234
+ "grasp_19": {
235
+ "confidence": 0.9204681515693665,
236
+ "position": [
237
+ -0.003749839903321117,
238
+ -0.09925458057114156,
239
+ 0.03525073706987314
240
+ ],
241
+ "orientation": {
242
+ "w": 0.4091927401906663,
243
+ "xyz": [
244
+ -0.5899764374095208,
245
+ 0.5693935751788414,
246
+ 0.40034992346930887
247
+ ]
248
+ }
249
+ }
250
+ }
251
+ },
252
+ {
253
+ "part_name": "clip frame",
254
+ "mask_color": "White",
255
+ "graspable": true,
256
+ "grasp_scenarios": [
257
+ {
258
+ "scenario": "grasp the clip frame to pick up the hair clip from a table",
259
+ "confidence": 0.93
260
+ },
261
+ {
262
+ "scenario": "hold the clip frame to insert or remove the clip from hair",
263
+ "confidence": 0.9
264
+ },
265
+ {
266
+ "scenario": "pinch the clip frame to stabilize the object while manipulating the spring section",
267
+ "confidence": 0.84
268
+ }
269
+ ],
270
+ "functional_labels": [
271
+ "main grasp surface",
272
+ "slide into hair",
273
+ "support the ornament",
274
+ "form the retaining clip"
275
+ ],
276
+ "semantic_description": "Long narrow gold-toned metal snap-clip frame with a smooth reflective finish, hard slick texture, and an elongated teardrop shape running beneath the flower.",
277
+ "id": 17,
278
+ "grasp_group": {
279
+ "grasp_20": {
280
+ "confidence": 0.15303868055343628,
281
+ "position": [
282
+ -0.13156949350377545,
283
+ 0.021828859687957447,
284
+ 0.0070592530246358365
285
+ ],
286
+ "orientation": {
287
+ "w": 0.6756959244403218,
288
+ "xyz": [
289
+ -0.029144601632650216,
290
+ 0.7233641318169199,
291
+ -0.1390321642324791
292
+ ]
293
+ }
294
+ },
295
+ "grasp_26": {
296
+ "confidence": 0.6378558278083801,
297
+ "position": [
298
+ -0.10044885048409924,
299
+ 0.045837239937100094,
300
+ -0.00471827553701587
301
+ ],
302
+ "orientation": {
303
+ "w": 0.6984013511483724,
304
+ "xyz": [
305
+ 0.11259473084837465,
306
+ 0.6832582994948386,
307
+ -0.1808758565169246
308
+ ]
309
+ }
310
+ },
311
+ "grasp_29": {
312
+ "confidence": 0.5621616840362549,
313
+ "position": [
314
+ -0.11024512717267498,
315
+ 0.007928702623758,
316
+ -0.030833536089630798
317
+ ],
318
+ "orientation": {
319
+ "w": 0.6121563626357266,
320
+ "xyz": [
321
+ 0.4474787345437737,
322
+ 0.41037144501632716,
323
+ 0.5065793589665013
324
+ ]
325
+ }
326
+ }
327
+ }
328
+ },
329
+ {
330
+ "part_name": "spring tongue",
331
+ "mask_color": "Green",
332
+ "graspable": true,
333
+ "grasp_scenarios": [
334
+ {
335
+ "scenario": "press the spring tongue to open or release the snap clip",
336
+ "confidence": 0.72
337
+ },
338
+ {
339
+ "scenario": "pinch the spring tongue together with the outer frame to control closing while attaching the clip",
340
+ "confidence": 0.58
341
+ }
342
+ ],
343
+ "functional_labels": [
344
+ "provide snap tension",
345
+ "lock the clip closed",
346
+ "enable opening and closing",
347
+ "retain hair against the frame"
348
+ ],
349
+ "semantic_description": "Small inner metal tongue at the center of the clip, gold-toned with a smooth reflective finish and hard surface, positioned inside the frame as the spring-loaded locking element.",
350
+ "id": 1,
351
+ "grasp_group": {
352
+ "grasp_2": {
353
+ "confidence": 0.9291749596595764,
354
+ "position": [
355
+ 0.025620048923883587,
356
+ -0.10093645228334935,
357
+ 0.023574472143081948
358
+ ],
359
+ "orientation": {
360
+ "w": 0.5249850317121223,
361
+ "xyz": [
362
+ -0.5199528934334963,
363
+ -0.5838361263574166,
364
+ -0.3364150452169514
365
+ ]
366
+ }
367
+ },
368
+ "grasp_3": {
369
+ "confidence": 0.9284607172012329,
370
+ "position": [
371
+ -0.010553755739238113,
372
+ -0.1029507316488889,
373
+ 0.01856963589671068
374
+ ],
375
+ "orientation": {
376
+ "w": 0.4704072467904033,
377
+ "xyz": [
378
+ -0.6050389831184662,
379
+ -0.4776108021546678,
380
+ -0.4295727793275776
381
+ ]
382
+ }
383
+ },
384
+ "grasp_4": {
385
+ "confidence": 0.9276203513145447,
386
+ "position": [
387
+ -0.0031725572771392763,
388
+ -0.10682869179436238,
389
+ 0.012077402061549947
390
+ ],
391
+ "orientation": {
392
+ "w": 0.5119187806795229,
393
+ "xyz": [
394
+ -0.5946835273306206,
395
+ -0.4575486286294824,
396
+ -0.4182581938808634
397
+ ]
398
+ }
399
+ },
400
+ "grasp_6": {
401
+ "confidence": 0.927180290222168,
402
+ "position": [
403
+ -0.0069858007482253015,
404
+ -0.1035097487110761,
405
+ 0.025007963849930093
406
+ ],
407
+ "orientation": {
408
+ "w": 0.41471940765537285,
409
+ "xyz": [
410
+ -0.5041462669825284,
411
+ 0.601575116765921,
412
+ 0.4603821600470922
413
+ ]
414
+ }
415
+ },
416
+ "grasp_7": {
417
+ "confidence": 0.9253076910972595,
418
+ "position": [
419
+ -0.006295563594903797,
420
+ -0.10595131142326863,
421
+ 0.019647591485409066
422
+ ],
423
+ "orientation": {
424
+ "w": 0.4519588946420959,
425
+ "xyz": [
426
+ -0.5091622453007363,
427
+ 0.5699502702305028,
428
+ 0.4600474486163192
429
+ ]
430
+ }
431
+ },
432
+ "grasp_8": {
433
+ "confidence": 0.9253044128417969,
434
+ "position": [
435
+ -0.013670827203895897,
436
+ -0.10390021128841909,
437
+ 0.00805448295432143
438
+ ],
439
+ "orientation": {
440
+ "w": 0.44816992833842656,
441
+ "xyz": [
442
+ -0.5585648293119911,
443
+ -0.48313176905884614,
444
+ -0.5037189102216297
445
+ ]
446
+ }
447
+ },
448
+ "grasp_9": {
449
+ "confidence": 0.9241032004356384,
450
+ "position": [
451
+ -0.014749102236237377,
452
+ -0.10551211459824117,
453
+ 0.017431624903110787
454
+ ],
455
+ "orientation": {
456
+ "w": 0.4654077027157284,
457
+ "xyz": [
458
+ -0.6218405640696816,
459
+ -0.4469640825163298,
460
+ -0.4437714412518046
461
+ ]
462
+ }
463
+ },
464
+ "grasp_11": {
465
+ "confidence": 0.9233366847038269,
466
+ "position": [
467
+ -0.04868343094130978,
468
+ -0.09396736545750173,
469
+ 0.012832060194341466
470
+ ],
471
+ "orientation": {
472
+ "w": 0.5441577038455506,
473
+ "xyz": [
474
+ -0.3575149814277346,
475
+ 0.6633452070938706,
476
+ 0.3688476211470727
477
+ ]
478
+ }
479
+ },
480
+ "grasp_13": {
481
+ "confidence": 0.9222981929779053,
482
+ "position": [
483
+ -0.02052571246167645,
484
+ -0.10581179185101064,
485
+ 0.016482817678479478
486
+ ],
487
+ "orientation": {
488
+ "w": 0.4940181459844277,
489
+ "xyz": [
490
+ -0.4859762170932602,
491
+ 0.5860462503656139,
492
+ 0.4199082998587158
493
+ ]
494
+ }
495
+ },
496
+ "grasp_14": {
497
+ "confidence": 0.921998918056488,
498
+ "position": [
499
+ 0.02907208731630817,
500
+ -0.09824516101070913,
501
+ 0.01913118429365568
502
+ ],
503
+ "orientation": {
504
+ "w": 0.5262447418217322,
505
+ "xyz": [
506
+ -0.46864434029784136,
507
+ -0.6057794135478025,
508
+ -0.36941880858107273
509
+ ]
510
+ }
511
+ },
512
+ "grasp_15": {
513
+ "confidence": 0.9216917753219604,
514
+ "position": [
515
+ 0.03741532942513004,
516
+ -0.09584518743940862,
517
+ 0.01302287049475126
518
+ ],
519
+ "orientation": {
520
+ "w": 0.578426599936508,
521
+ "xyz": [
522
+ -0.4576290507004178,
523
+ -0.5919844529911521,
524
+ -0.32488879306262913
525
+ ]
526
+ }
527
+ },
528
+ "grasp_16": {
529
+ "confidence": 0.9207311868667603,
530
+ "position": [
531
+ -0.025256331951823086,
532
+ -0.09841005726048024,
533
+ -0.009498694242211059
534
+ ],
535
+ "orientation": {
536
+ "w": 0.587147289674806,
537
+ "xyz": [
538
+ -0.4154976425536767,
539
+ 0.5409363504656124,
540
+ 0.4358986510701891
541
+ ]
542
+ }
543
+ },
544
+ "grasp_17": {
545
+ "confidence": 0.9207305908203125,
546
+ "position": [
547
+ 0.006688928755465895,
548
+ -0.10695530696102651,
549
+ 0.015378382726339623
550
+ ],
551
+ "orientation": {
552
+ "w": 0.42066706404202164,
553
+ "xyz": [
554
+ -0.5267726236564212,
555
+ 0.5387426645851259,
556
+ 0.5052783050479355
557
+ ]
558
+ }
559
+ },
560
+ "grasp_19": {
561
+ "confidence": 0.9204681515693665,
562
+ "position": [
563
+ -0.003749839903321117,
564
+ -0.09925458057114156,
565
+ 0.03525073706987314
566
+ ],
567
+ "orientation": {
568
+ "w": 0.4091927401906663,
569
+ "xyz": [
570
+ -0.5899764374095208,
571
+ 0.5693935751788414,
572
+ 0.40034992346930887
573
+ ]
574
+ }
575
+ }
576
+ }
577
+ }
578
+ ],
579
+ "quality_check": {
580
+ "success": false,
581
+ "message": "Spring tongue mask color is wrong and flower ornament marked graspable too strongly for delicate decorative part."
582
+ }
583
+ }
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d97e6100a12e1389dbc7db2c832b38b7efe6ceab121f0be116742e1a18438e5
3
+ size 3784388
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/hair_clip_022.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>0</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
- <mesh filename="None" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>3</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>