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
a9b8bef
·
verified ·
1 Parent(s): bdd48db

Add asset desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/affordance/affordance_annot.json +584 -0
  3. dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.urdf +3 -2
.gitattributes CHANGED
@@ -8615,3 +8615,4 @@ dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/affo
8615
  dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8616
  dataset/desktop_supplies/office_stationery/edf3e08662e25bf0ac1446b3e488a010/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8617
  dataset/desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8615
  dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8616
  dataset/desktop_supplies/office_stationery/edf3e08662e25bf0ac1446b3e488a010/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8617
  dataset/desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8618
+ dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,584 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top cover",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top cover to pick up and reposition the stapler",
10
+ "confidence": 0.88
11
+ },
12
+ {
13
+ "scenario": "hold and press the top cover downward to staple papers",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "lift the top cover to open the stapler for reloading",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "press to drive staple",
24
+ "cover upper mechanism",
25
+ "open for staple loading"
26
+ ],
27
+ "semantic_description": "Long rounded light pink plastic upper shell with a smooth matte finish, forming the largest top part. It has a bear-head front, a small tail-like bump at the rear, and printed branding on the side.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9731464385986328,
32
+ "position": [
33
+ 0.0009480922090006061,
34
+ 0.02066626079613343,
35
+ 0.10524024988990277
36
+ ],
37
+ "orientation": {
38
+ "w": 0.00734306293973399,
39
+ "xyz": [
40
+ -0.03001487095680319,
41
+ -0.9938147776789942,
42
+ 0.10666477682421849
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9718959331512451,
48
+ "position": [
49
+ 0.005118877750646789,
50
+ 0.023070471885148436,
51
+ 0.10441867436747998
52
+ ],
53
+ "orientation": {
54
+ "w": 0.10790014559996765,
55
+ "xyz": [
56
+ 0.9938242114639603,
57
+ -0.02168266212799047,
58
+ -0.014172418656915379
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9700979590415955,
64
+ "position": [
65
+ 0.00030321116355480626,
66
+ 0.011769581178668886,
67
+ 0.10411968256812543
68
+ ],
69
+ "orientation": {
70
+ "w": 0.014066068614632405,
71
+ "xyz": [
72
+ -0.014473548962755179,
73
+ -0.9960654729628248,
74
+ 0.08629157354860585
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9699714779853821,
80
+ "position": [
81
+ 0.003879205913108308,
82
+ 0.06479479797417298,
83
+ 0.09705961670260876
84
+ ],
85
+ "orientation": {
86
+ "w": 0.12787867760642738,
87
+ "xyz": [
88
+ 0.9917294791525781,
89
+ 0.010066693213224953,
90
+ -0.004283185863179426
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9699216485023499,
96
+ "position": [
97
+ -0.008990113034087699,
98
+ 0.019889426010195166,
99
+ 0.10479314054828137
100
+ ],
101
+ "orientation": {
102
+ "w": 0.09900780460381521,
103
+ "xyz": [
104
+ 0.993890461819917,
105
+ 0.028589460185980117,
106
+ 0.03952021377977592
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9693083763122559,
112
+ "position": [
113
+ 0.0032962766781565733,
114
+ 0.05399009265238419,
115
+ 0.09423517610412091
116
+ ],
117
+ "orientation": {
118
+ "w": 0.029213521043243477,
119
+ "xyz": [
120
+ -0.02034627618211237,
121
+ -0.9631774797217717,
122
+ 0.2664990465097275
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9688156843185425,
128
+ "position": [
129
+ 0.0009502056709607132,
130
+ 0.006586520525161177,
131
+ 0.10785703535657376
132
+ ],
133
+ "orientation": {
134
+ "w": 0.08356300147509717,
135
+ "xyz": [
136
+ 0.9964472223192926,
137
+ 0.002645895241002824,
138
+ -0.010156631085794638
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.968475878238678,
144
+ "position": [
145
+ -0.012799497104424518,
146
+ 0.055379722791258246,
147
+ 0.08976453717332333
148
+ ],
149
+ "orientation": {
150
+ "w": 0.28547499063481324,
151
+ "xyz": [
152
+ 0.9558815656054817,
153
+ 0.003146503272056289,
154
+ 0.06917052677857694
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9683720469474792,
160
+ "position": [
161
+ -0.005752967081207316,
162
+ 0.008768889645580202,
163
+ 0.1070285903988406
164
+ ],
165
+ "orientation": {
166
+ "w": 0.10445539131351099,
167
+ "xyz": [
168
+ 0.994236399160865,
169
+ -0.0002059499857675895,
170
+ 0.02414562887525816
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9679195284843445,
176
+ "position": [
177
+ -0.0018957079082611017,
178
+ 0.013165967131499201,
179
+ 0.1077237295685336
180
+ ],
181
+ "orientation": {
182
+ "w": 0.09748373924029427,
183
+ "xyz": [
184
+ 0.9951625201274533,
185
+ -0.008621634800933586,
186
+ 0.008610837976981676
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9672825336456299,
192
+ "position": [
193
+ 0.007483987261366565,
194
+ 0.017312363313976675,
195
+ 0.10361241723876446
196
+ ],
197
+ "orientation": {
198
+ "w": 0.02981693231109828,
199
+ "xyz": [
200
+ -0.006234262967538929,
201
+ -0.9941941320606976,
202
+ 0.10319938124273588
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9668642282485962,
208
+ "position": [
209
+ 0.010101000436407048,
210
+ 0.015599359350744635,
211
+ 0.10639155085664243
212
+ ],
213
+ "orientation": {
214
+ "w": 0.0938410476728128,
215
+ "xyz": [
216
+ 0.9950073327083399,
217
+ -0.012017405041370582,
218
+ -0.031778099445617686
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.966727077960968,
224
+ "position": [
225
+ 0.019036871039133985,
226
+ 0.016058297420386225,
227
+ 0.10779017384629697
228
+ ],
229
+ "orientation": {
230
+ "w": 0.07592084853293679,
231
+ "xyz": [
232
+ -0.0424979799238449,
233
+ -0.9911829554862878,
234
+ 0.09993145257574584
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9666411876678467,
240
+ "position": [
241
+ 0.00822635519580217,
242
+ 0.10460560448700562,
243
+ 0.07449551846366376
244
+ ],
245
+ "orientation": {
246
+ "w": 0.34745732013750574,
247
+ "xyz": [
248
+ 0.9374514677815077,
249
+ -0.0018813209290544641,
250
+ -0.0213217463806737
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9665968418121338,
256
+ "position": [
257
+ 0.013541147702198941,
258
+ 0.024584901111666113,
259
+ 0.104732038336806
260
+ ],
261
+ "orientation": {
262
+ "w": 0.1151881125286813,
263
+ "xyz": [
264
+ 0.9922461137341634,
265
+ -0.01789890957941556,
266
+ -0.04311586190020355
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9663817286491394,
272
+ "position": [
273
+ 0.0032457491688546725,
274
+ 0.03770187922054902,
275
+ 0.0964029299793765
276
+ ],
277
+ "orientation": {
278
+ "w": 0.03815041922437173,
279
+ "xyz": [
280
+ -0.01529161582089334,
281
+ -0.9750249245946294,
282
+ 0.21825926880164456
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9663575887680054,
288
+ "position": [
289
+ 0.008421042592090089,
290
+ 0.04479744710261002,
291
+ 0.0945759954629466
292
+ ],
293
+ "orientation": {
294
+ "w": 0.23573211938070987,
295
+ "xyz": [
296
+ 0.9690994701531156,
297
+ 0.05946934739235696,
298
+ -0.04171308621951078
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9657923579216003,
304
+ "position": [
305
+ 0.009301981546741445,
306
+ 0.0190503527992405,
307
+ 0.10821021522860974
308
+ ],
309
+ "orientation": {
310
+ "w": 0.01667942274476691,
311
+ "xyz": [
312
+ -0.027887524657710286,
313
+ -0.9963073658447349,
314
+ 0.07947147657426173
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.965792179107666,
320
+ "position": [
321
+ 0.005792758551251609,
322
+ 0.009243610838893801,
323
+ 0.10795037623029202
324
+ ],
325
+ "orientation": {
326
+ "w": 0.010509372825537471,
327
+ "xyz": [
328
+ -0.038646308239619856,
329
+ -0.9968290407814391,
330
+ 0.06875957676585132
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9657076597213745,
336
+ "position": [
337
+ 0.006246545941394288,
338
+ 0.015855988080147654,
339
+ 0.10446187283378094
340
+ ],
341
+ "orientation": {
342
+ "w": 0.08524034951524712,
343
+ "xyz": [
344
+ 0.9962677528586955,
345
+ -0.008226112068225253,
346
+ -0.010815660342528002
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "base",
354
+ "mask_color": "Pink",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the base from the side to lift or reposition the stapler",
359
+ "confidence": 0.52
360
+ },
361
+ {
362
+ "scenario": "hold the base to stabilize the stapler while the top is pressed",
363
+ "confidence": 0.84
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "support on desk",
368
+ "stabilize during stapling",
369
+ "house lower mechanism",
370
+ "provide contact surface"
371
+ ],
372
+ "semantic_description": "Flat oblong light pink plastic base with rounded corners and a smooth matte hard surface, forming the lower support platform of the stapler.",
373
+ "id": 8,
374
+ "grasp_group": {
375
+ "grasp_20": {
376
+ "confidence": 0.9682021737098694,
377
+ "position": [
378
+ -0.0038601028427365236,
379
+ 0.026246263238135725,
380
+ -0.11659255449194461
381
+ ],
382
+ "orientation": {
383
+ "w": 0.9982616505249969,
384
+ "xyz": [
385
+ -0.028552177415988575,
386
+ 0.02676372908792579,
387
+ -0.044069865681928624
388
+ ]
389
+ }
390
+ },
391
+ "grasp_21": {
392
+ "confidence": 0.9676634669303894,
393
+ "position": [
394
+ -0.004420057281095069,
395
+ 0.0181545601808466,
396
+ -0.11814841453451663
397
+ ],
398
+ "orientation": {
399
+ "w": 0.0471776326060242,
400
+ "xyz": [
401
+ 0.026369704952073695,
402
+ 0.05557920915130321,
403
+ 0.9969904017354163
404
+ ]
405
+ }
406
+ },
407
+ "grasp_26": {
408
+ "confidence": 0.9616931676864624,
409
+ "position": [
410
+ 0.0035534569833544083,
411
+ 0.027556635963264853,
412
+ -0.11667550180573016
413
+ ],
414
+ "orientation": {
415
+ "w": 0.040900934661048376,
416
+ "xyz": [
417
+ 0.009949094184642494,
418
+ -0.02029081686969536,
419
+ -0.9989076092509851
420
+ ]
421
+ }
422
+ },
423
+ "grasp_27": {
424
+ "confidence": 0.9611772298812866,
425
+ "position": [
426
+ -0.00029909575096098706,
427
+ 0.10389251686865464,
428
+ -0.08701237861532718
429
+ ],
430
+ "orientation": {
431
+ "w": 0.9211158328495126,
432
+ "xyz": [
433
+ 0.381472001782497,
434
+ 0.04941876103037779,
435
+ -0.05985415932268259
436
+ ]
437
+ }
438
+ },
439
+ "grasp_29": {
440
+ "confidence": 0.9604032039642334,
441
+ "position": [
442
+ 0.0007572420945507474,
443
+ 0.0052309935563243926,
444
+ -0.11325325642246753
445
+ ],
446
+ "orientation": {
447
+ "w": 0.03273160268665879,
448
+ "xyz": [
449
+ 0.012040653265175994,
450
+ 0.0664489058483061,
451
+ 0.997180128044113
452
+ ]
453
+ }
454
+ },
455
+ "grasp_30": {
456
+ "confidence": 0.960350751876831,
457
+ "position": [
458
+ 0.0035777759112534113,
459
+ 0.07682925142580643,
460
+ -0.11019181285519153
461
+ ],
462
+ "orientation": {
463
+ "w": 0.9796376706245751,
464
+ "xyz": [
465
+ 0.1991425392863012,
466
+ 0.01546505070837767,
467
+ -0.02032524406859656
468
+ ]
469
+ }
470
+ },
471
+ "grasp_33": {
472
+ "confidence": 0.9584109783172607,
473
+ "position": [
474
+ 0.01333657431678148,
475
+ 0.10582165099913254,
476
+ -0.08082656387705356
477
+ ],
478
+ "orientation": {
479
+ "w": 0.9118792960182932,
480
+ "xyz": [
481
+ 0.40966328860326845,
482
+ -0.023572179978060936,
483
+ -0.009823023720767852
484
+ ]
485
+ }
486
+ },
487
+ "grasp_35": {
488
+ "confidence": 0.9569932818412781,
489
+ "position": [
490
+ -0.00493011611251859,
491
+ 0.016764309781137854,
492
+ -0.11540824000257999
493
+ ],
494
+ "orientation": {
495
+ "w": 0.998182029039784,
496
+ "xyz": [
497
+ -0.05180797182109475,
498
+ 0.020796234741532027,
499
+ -0.02271756101300719
500
+ ]
501
+ }
502
+ },
503
+ "grasp_37": {
504
+ "confidence": 0.9562757611274719,
505
+ "position": [
506
+ 0.011523251079779584,
507
+ 0.06630421109730378,
508
+ -0.10897254024166614
509
+ ],
510
+ "orientation": {
511
+ "w": 0.040550511373814144,
512
+ "xyz": [
513
+ 0.04978077641835371,
514
+ 0.19849019820893843,
515
+ -0.9779975314598116
516
+ ]
517
+ }
518
+ },
519
+ "grasp_38": {
520
+ "confidence": 0.9546783566474915,
521
+ "position": [
522
+ 0.01743633545265766,
523
+ 0.056899358110968024,
524
+ -0.10992025409359485
525
+ ],
526
+ "orientation": {
527
+ "w": 0.983628948197559,
528
+ "xyz": [
529
+ 0.16547158360934175,
530
+ -0.05091768785410111,
531
+ -0.050006363086833525
532
+ ]
533
+ }
534
+ }
535
+ }
536
+ },
537
+ {
538
+ "part_name": "metal anvil plate",
539
+ "mask_color": "Cyan",
540
+ "graspable": false,
541
+ "grasp_scenarios": [],
542
+ "functional_labels": [
543
+ "bend staple legs",
544
+ "support paper at exit point",
545
+ "provide stapling contact surface"
546
+ ],
547
+ "semantic_description": "Small shiny silver metal plate set into the front area of the base, with a reflective smooth hard surface where fired staples are clinched.",
548
+ "id": 6,
549
+ "grasp_group": {}
550
+ },
551
+ {
552
+ "part_name": "printed branding text",
553
+ "mask_color": "Magenta",
554
+ "graspable": false,
555
+ "grasp_scenarios": [],
556
+ "functional_labels": [
557
+ "brand marking",
558
+ "visual decoration",
559
+ "product identification"
560
+ ],
561
+ "semantic_description": "Thin printed brand logo/text on the side of the pink top cover, appearing as a small flat marking rather than a separate physical part.",
562
+ "id": 7,
563
+ "grasp_group": {}
564
+ },
565
+ {
566
+ "part_name": "rear hinge tab",
567
+ "mask_color": "Lime Green",
568
+ "graspable": false,
569
+ "grasp_scenarios": [],
570
+ "functional_labels": [
571
+ "connect top cover to base",
572
+ "enable opening motion",
573
+ "act as pivot support"
574
+ ],
575
+ "semantic_description": "Small light-colored hinge connector at the rear between the top cover and base, with a hard smooth surface linking the two main parts.",
576
+ "id": 9,
577
+ "grasp_group": {}
578
+ }
579
+ ],
580
+ "quality_check": {
581
+ "success": false,
582
+ "message": "branding text isn\u2019t a physical part affordance; hinge color/description mismatch and top opening confidence overstated"
583
+ }
584
+ }
dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab3812cd196e11a148a15dcf37c948c8ad50e788e5dab7748962b0e9b231a324
3
+ size 3784360
dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>16</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>
61
  <quality>
62
- <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>7</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>