xinjjj commited on
Commit
f582d93
·
verified ·
1 Parent(s): 45e0662

Add asset desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7

Browse files
.gitattributes CHANGED
@@ -8210,3 +8210,4 @@ dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/affo
8210
  dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8211
  dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8212
  dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8210
  dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8211
  dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8212
  dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8213
+ dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,618 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pen holder body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer side walls to pick up and relocate the pen holder",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "hold the upper body to stabilize the pen holder while inserting or removing pens",
14
+ "confidence": 0.78
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain pens and pencils",
19
+ "provide the main enclosure",
20
+ "support side grasping",
21
+ "present decorative exterior surfaces"
22
+ ],
23
+ "semantic_description": "Tall faceted pen-holder body with a scalloped open rim, made of glossy ceramic or porcelain. The exterior side panels are mostly black with deep red highlights and white floral motifs, with smooth reflective surfaces and gold-toned edging near the top and along panel borders.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9024385213851929,
28
+ "position": [
29
+ 0.027271251019556075,
30
+ 0.1115769799798727,
31
+ -0.02090624999254942
32
+ ],
33
+ "orientation": {
34
+ "w": 0.7477491906853461,
35
+ "xyz": [
36
+ 0.6525174995558215,
37
+ -0.07783408473704778,
38
+ -0.09504691397396668
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9018741250038147,
44
+ "position": [
45
+ 0.015037183475214988,
46
+ 0.11553499661386013,
47
+ -0.009307044092565775
48
+ ],
49
+ "orientation": {
50
+ "w": 0.7108902898895539,
51
+ "xyz": [
52
+ 0.7004774834619731,
53
+ -0.04699959808237031,
54
+ -0.041920504334068284
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.900208592414856,
60
+ "position": [
61
+ -0.015358609321992844,
62
+ -0.10505965538322926,
63
+ 0.026511219330132008
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6064454397243618,
67
+ "xyz": [
68
+ -0.7917737555652754,
69
+ 0.04971549696913469,
70
+ -0.053353706494458676
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.8979248404502869,
76
+ "position": [
77
+ 0.02573594154091552,
78
+ 0.11047731898725033,
79
+ -0.0202883118763566
80
+ ],
81
+ "orientation": {
82
+ "w": 0.7115774743419898,
83
+ "xyz": [
84
+ 0.693650542633135,
85
+ -0.07576076937317144,
86
+ -0.08226012726599664
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.8927504420280457,
92
+ "position": [
93
+ 0.012042451475281268,
94
+ 0.11052330397069454,
95
+ -0.0006702116224914789
96
+ ],
97
+ "orientation": {
98
+ "w": 0.053759466415602,
99
+ "xyz": [
100
+ -0.019781409637203425,
101
+ -0.709705301659374,
102
+ 0.7021659350894571
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.8895677924156189,
108
+ "position": [
109
+ -0.02598091884283349,
110
+ -0.1037073154002428,
111
+ -0.0005350125720724463
112
+ ],
113
+ "orientation": {
114
+ "w": 0.7081014479540554,
115
+ "xyz": [
116
+ -0.6958473428061592,
117
+ 0.08509848469533277,
118
+ -0.08454030291840572
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.8887553215026855,
124
+ "position": [
125
+ -0.012118330399971455,
126
+ -0.10949303396046162,
127
+ -0.013125749304890633
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7080460358705548,
131
+ "xyz": [
132
+ -0.7038374825285171,
133
+ 0.04662632128387534,
134
+ -0.03331059049979333
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.8880442380905151,
140
+ "position": [
141
+ 0.02004274242790416,
142
+ 0.11045851372182369,
143
+ -0.012684399262070656
144
+ ],
145
+ "orientation": {
146
+ "w": 0.0879842047484161,
147
+ "xyz": [
148
+ -0.03928938185508389,
149
+ -0.7216701813434869,
150
+ 0.6854978289884606
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.8859682679176331,
156
+ "position": [
157
+ 0.10942452476592734,
158
+ -0.017513154074549675,
159
+ -0.0036522961454465985
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5403304282394007,
163
+ "xyz": [
164
+ -0.5309432080946996,
165
+ -0.46858295751933987,
166
+ 0.4545023102462327
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.8854126334190369,
172
+ "position": [
173
+ -0.025327903393190354,
174
+ -0.107347147539258,
175
+ 0.010083776898682117
176
+ ],
177
+ "orientation": {
178
+ "w": 0.7004322863519329,
179
+ "xyz": [
180
+ -0.7048073699594763,
181
+ 0.06897589819033845,
182
+ -0.0887891263356339
183
+ ]
184
+ }
185
+ },
186
+ "grasp_10": {
187
+ "confidence": 0.8850133419036865,
188
+ "position": [
189
+ -4.0027080103755e-06,
190
+ -0.10828747041523457,
191
+ 0.007164085283875465
192
+ ],
193
+ "orientation": {
194
+ "w": 0.7155964813050768,
195
+ "xyz": [
196
+ -0.6985086917670376,
197
+ -0.0026848879554768335,
198
+ -0.0002735806299894198
199
+ ]
200
+ }
201
+ },
202
+ "grasp_12": {
203
+ "confidence": 0.8822231292724609,
204
+ "position": [
205
+ 0.003221424121875316,
206
+ -0.10656456835567951,
207
+ 0.02039260510355234
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6763397614688531,
211
+ "xyz": [
212
+ -0.7360549454571605,
213
+ -0.026383204490582957,
214
+ 0.009569265652030786
215
+ ]
216
+ }
217
+ },
218
+ "grasp_13": {
219
+ "confidence": 0.8816829323768616,
220
+ "position": [
221
+ -0.011714489373844117,
222
+ -0.10528828389942646,
223
+ 0.000864547910168767
224
+ ],
225
+ "orientation": {
226
+ "w": 0.7139592170983619,
227
+ "xyz": [
228
+ -0.6978318109920315,
229
+ 0.03804803231277587,
230
+ -0.04295750371007576
231
+ ]
232
+ }
233
+ },
234
+ "grasp_14": {
235
+ "confidence": 0.8814201951026917,
236
+ "position": [
237
+ 0.0027174908318556845,
238
+ -0.10677246190607548,
239
+ 0.006914173252880573
240
+ ],
241
+ "orientation": {
242
+ "w": 0.7136510507565584,
243
+ "xyz": [
244
+ -0.7001972309886259,
245
+ -0.0019283952388410297,
246
+ 0.020549860382103265
247
+ ]
248
+ }
249
+ },
250
+ "grasp_15": {
251
+ "confidence": 0.8812388777732849,
252
+ "position": [
253
+ 0.017770231526810676,
254
+ 0.11194389127194881,
255
+ -0.016170205548405647
256
+ ],
257
+ "orientation": {
258
+ "w": 0.6985591632108809,
259
+ "xyz": [
260
+ 0.7123547420092722,
261
+ -0.05381445895577386,
262
+ -0.040863443789216664
263
+ ]
264
+ }
265
+ },
266
+ "grasp_16": {
267
+ "confidence": 0.8798781633377075,
268
+ "position": [
269
+ 0.01027839706512168,
270
+ 0.119416868314147,
271
+ -0.018179441802203655
272
+ ],
273
+ "orientation": {
274
+ "w": 0.06045236915963024,
275
+ "xyz": [
276
+ -0.012838600970367667,
277
+ -0.7019345689892755,
278
+ 0.7095551720944266
279
+ ]
280
+ }
281
+ },
282
+ "grasp_17": {
283
+ "confidence": 0.8792352676391602,
284
+ "position": [
285
+ 0.01896924414904788,
286
+ 0.10963824205100536,
287
+ -0.011132723651826382
288
+ ],
289
+ "orientation": {
290
+ "w": 0.056068520157165735,
291
+ "xyz": [
292
+ -0.04156787942722123,
293
+ -0.7059423935134723,
294
+ 0.7048217998102639
295
+ ]
296
+ }
297
+ },
298
+ "grasp_18": {
299
+ "confidence": 0.8790864944458008,
300
+ "position": [
301
+ 0.018662295129615813,
302
+ 0.1123123299330473,
303
+ -0.020034768618643284
304
+ ],
305
+ "orientation": {
306
+ "w": 0.055318907409488624,
307
+ "xyz": [
308
+ -0.037616930559544105,
309
+ -0.701380384618628,
310
+ 0.7096409945109742
311
+ ]
312
+ }
313
+ },
314
+ "grasp_19": {
315
+ "confidence": 0.8780122399330139,
316
+ "position": [
317
+ 0.018496162083465606,
318
+ 0.11099685542285442,
319
+ -0.02257119957357645
320
+ ],
321
+ "orientation": {
322
+ "w": 0.07160438345155527,
323
+ "xyz": [
324
+ -0.039830030285423125,
325
+ -0.7074559692530119,
326
+ 0.701991761010246
327
+ ]
328
+ }
329
+ }
330
+ }
331
+ },
332
+ {
333
+ "part_name": "base and bottom section",
334
+ "mask_color": "Green",
335
+ "graspable": true,
336
+ "grasp_scenarios": [
337
+ {
338
+ "scenario": "grasp the bottom section while lifting or turning the pen holder during handling",
339
+ "confidence": 0.64
340
+ },
341
+ {
342
+ "scenario": "support the object from below at the base while placing it on a surface",
343
+ "confidence": 0.81
344
+ }
345
+ ],
346
+ "functional_labels": [
347
+ "support the container upright",
348
+ "contact the tabletop",
349
+ "form the bottom closure of the container",
350
+ "provide a lower support area during handling"
351
+ ],
352
+ "semantic_description": "Glossy cream to pale gold ceramic bottom/base section visible mainly from below, including the underside and lower edge contour. It appears lighter than the dark decorated side walls and forms the contact region near the tabletop.",
353
+ "id": 1,
354
+ "grasp_group": {
355
+ "grasp_20": {
356
+ "confidence": 0.8020778298377991,
357
+ "position": [
358
+ -0.01792400813428685,
359
+ -0.11207691766321659,
360
+ -0.03756470326334238
361
+ ],
362
+ "orientation": {
363
+ "w": 0.06802351054701862,
364
+ "xyz": [
365
+ 0.08263309277396033,
366
+ 0.701852342841371,
367
+ 0.7042356585969989
368
+ ]
369
+ }
370
+ },
371
+ "grasp_21": {
372
+ "confidence": 0.7976956367492676,
373
+ "position": [
374
+ -0.0036979771102778614,
375
+ 0.11237983219325542,
376
+ -0.042795625515282154
377
+ ],
378
+ "orientation": {
379
+ "w": 0.7204321035038812,
380
+ "xyz": [
381
+ 0.6934283448683338,
382
+ -0.006694143508686579,
383
+ 0.009481730687077632
384
+ ]
385
+ }
386
+ },
387
+ "grasp_22": {
388
+ "confidence": 0.7817574739456177,
389
+ "position": [
390
+ 0.009109668259043247,
391
+ 0.10931992344558239,
392
+ -0.041645498014986515
393
+ ],
394
+ "orientation": {
395
+ "w": 0.7202312896090897,
396
+ "xyz": [
397
+ 0.691471029455971,
398
+ -0.04588847491189885,
399
+ -0.032077293548347686
400
+ ]
401
+ }
402
+ },
403
+ "grasp_23": {
404
+ "confidence": 0.7751884460449219,
405
+ "position": [
406
+ -0.00900374649791047,
407
+ 0.11467601172626019,
408
+ -0.036779352463781834
409
+ ],
410
+ "orientation": {
411
+ "w": 0.0379514896183718,
412
+ "xyz": [
413
+ -0.05088786687114864,
414
+ 0.7154284344954334,
415
+ -0.6957961372100767
416
+ ]
417
+ }
418
+ },
419
+ "grasp_24": {
420
+ "confidence": 0.7564865946769714,
421
+ "position": [
422
+ -0.028905022132676095,
423
+ 0.10724283568561077,
424
+ -0.03803724143654108
425
+ ],
426
+ "orientation": {
427
+ "w": 0.0917112867370436,
428
+ "xyz": [
429
+ -0.10991633858385538,
430
+ 0.7030681237466345,
431
+ -0.6965648941546955
432
+ ]
433
+ }
434
+ },
435
+ "grasp_25": {
436
+ "confidence": 0.7543020844459534,
437
+ "position": [
438
+ 0.010589755896944553,
439
+ 0.10828656516969204,
440
+ -0.03646217007189989
441
+ ],
442
+ "orientation": {
443
+ "w": 0.7080461960154414,
444
+ "xyz": [
445
+ 0.7053959263870038,
446
+ -0.03039973132582441,
447
+ -0.01276822932132568
448
+ ]
449
+ }
450
+ },
451
+ "grasp_26": {
452
+ "confidence": 0.7393298745155334,
453
+ "position": [
454
+ -0.059791284787934273,
455
+ -0.09098574705421925,
456
+ -0.03651480469852686
457
+ ],
458
+ "orientation": {
459
+ "w": 0.6614499431711504,
460
+ "xyz": [
461
+ -0.686614843477426,
462
+ 0.21453215685845406,
463
+ -0.21217912967351768
464
+ ]
465
+ }
466
+ },
467
+ "grasp_27": {
468
+ "confidence": 0.7371821403503418,
469
+ "position": [
470
+ -0.0035305327619425952,
471
+ -0.11419192142784595,
472
+ -0.041979447938501835
473
+ ],
474
+ "orientation": {
475
+ "w": 0.714855195685105,
476
+ "xyz": [
477
+ -0.6990395871395476,
478
+ 0.005389617842917693,
479
+ -0.01722372878584916
480
+ ]
481
+ }
482
+ },
483
+ "grasp_28": {
484
+ "confidence": 0.7343612909317017,
485
+ "position": [
486
+ -0.11327415629057214,
487
+ 0.003475725883617997,
488
+ -0.042782620526850224
489
+ ],
490
+ "orientation": {
491
+ "w": 0.5065174856302602,
492
+ "xyz": [
493
+ 0.5210984430803381,
494
+ 0.47084600336569127,
495
+ 0.5002004503042782
496
+ ]
497
+ }
498
+ },
499
+ "grasp_30": {
500
+ "confidence": 0.7313700914382935,
501
+ "position": [
502
+ 0.0027832307969219983,
503
+ -0.11351693607866764,
504
+ -0.05035692173987627
505
+ ],
506
+ "orientation": {
507
+ "w": 0.7418195035701748,
508
+ "xyz": [
509
+ -0.6705214345184002,
510
+ -0.009612376145216706,
511
+ 0.003525932377334401
512
+ ]
513
+ }
514
+ },
515
+ "grasp_31": {
516
+ "confidence": 0.7179607152938843,
517
+ "position": [
518
+ -0.11076612694887444,
519
+ -0.0337351318448782,
520
+ -0.04629645589739084
521
+ ],
522
+ "orientation": {
523
+ "w": 0.5828623729008444,
524
+ "xyz": [
525
+ -0.5392222470162278,
526
+ 0.41773756379266147,
527
+ -0.4415950071906824
528
+ ]
529
+ }
530
+ },
531
+ "grasp_32": {
532
+ "confidence": 0.7146605253219604,
533
+ "position": [
534
+ -0.0916752956691198,
535
+ -0.06851994432508945,
536
+ -0.040174820460379124
537
+ ],
538
+ "orientation": {
539
+ "w": 0.6245217272883352,
540
+ "xyz": [
541
+ -0.6277133138443005,
542
+ 0.3361289189204052,
543
+ -0.32088309028803774
544
+ ]
545
+ }
546
+ },
547
+ "grasp_33": {
548
+ "confidence": 0.7082583904266357,
549
+ "position": [
550
+ 0.00527490844251588,
551
+ -0.11069838888943195,
552
+ -0.03877741564065218
553
+ ],
554
+ "orientation": {
555
+ "w": 0.7123801172175647,
556
+ "xyz": [
557
+ -0.7011217056234671,
558
+ -0.02817027737669675,
559
+ 0.01222120981120495
560
+ ]
561
+ }
562
+ },
563
+ "grasp_34": {
564
+ "confidence": 0.7038251161575317,
565
+ "position": [
566
+ 0.06831581966252998,
567
+ 0.08794681541621685,
568
+ -0.03568408731371164
569
+ ],
570
+ "orientation": {
571
+ "w": 0.6558762073887022,
572
+ "xyz": [
573
+ 0.6799447662225407,
574
+ -0.2508050815073791,
575
+ -0.21118315879364907
576
+ ]
577
+ }
578
+ },
579
+ "grasp_35": {
580
+ "confidence": 0.7009077072143555,
581
+ "position": [
582
+ 0.0005307881510816514,
583
+ -0.11909412033855915,
584
+ -0.03795150760561228
585
+ ],
586
+ "orientation": {
587
+ "w": 0.7126417371148713,
588
+ "xyz": [
589
+ -0.7014371953841277,
590
+ -0.005735631139174413,
591
+ 0.009732316732577993
592
+ ]
593
+ }
594
+ },
595
+ "grasp_36": {
596
+ "confidence": 0.7006655335426331,
597
+ "position": [
598
+ 0.11256299243541434,
599
+ 0.012984482571482658,
600
+ -0.04307320434600115
601
+ ],
602
+ "orientation": {
603
+ "w": 0.467785221618661,
604
+ "xyz": [
605
+ -0.45255244215094753,
606
+ -0.5262177663198949,
607
+ 0.5472368188889468
608
+ ]
609
+ }
610
+ }
611
+ }
612
+ }
613
+ ],
614
+ "quality_check": {
615
+ "success": false,
616
+ "message": "Green part includes much of the lower outer body, not just underside base; description and naming are too narrow."
617
+ }
618
+ }
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1b60418c7ab79409b62698e883c2aa19ded2f0f97a2871af8380fa6065cb653
3
+ size 3779232
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.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>