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
0dc7ede
·
verified ·
1 Parent(s): 27affcc

Add asset bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/affordance_annot.json +639 -0
  3. dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.urdf +1 -0
.gitattributes CHANGED
@@ -5553,3 +5553,4 @@ dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/hex_key_027.usd filt
5553
  dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/mesh/hex_key_027.glb filter=lfs diff=lfs merge=lfs -text
5554
  dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5555
  dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5553
  dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/mesh/hex_key_027.glb filter=lfs diff=lfs merge=lfs -text
5554
  dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5555
  dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5556
+ dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/affordance_annot.json ADDED
@@ -0,0 +1,639 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pump head",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the pump head lightly to rotate or align the dispenser nozzle orientation",
10
+ "confidence": 0.42
11
+ },
12
+ {
13
+ "scenario": "hold the pump head briefly to steady the top during manipulation",
14
+ "confidence": 0.25
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "dispense liquid when pressed",
19
+ "provide finger press surface",
20
+ "control outlet orientation",
21
+ "actuate pump mechanism"
22
+ ],
23
+ "semantic_description": "Small curved pump top at the very top of the bottle, made of light mint-green to whitish plastic with a smooth slightly glossy finish and a short spout-like shape.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_22": {
27
+ "confidence": 0.9231342077255249,
28
+ "position": [
29
+ -0.013269100047182292,
30
+ -0.09027963833796093,
31
+ 0.12096905708312988
32
+ ],
33
+ "orientation": {
34
+ "w": 0.47089563363315906,
35
+ "xyz": [
36
+ -0.8795121251000176,
37
+ 0.004124776325136248,
38
+ -0.06854713887204998
39
+ ]
40
+ }
41
+ },
42
+ "grasp_23": {
43
+ "confidence": 0.36077266931533813,
44
+ "position": [
45
+ 0.0814967856858857,
46
+ -0.00037065140350023285,
47
+ 0.1207399070262909
48
+ ],
49
+ "orientation": {
50
+ "w": 0.32774727433997963,
51
+ "xyz": [
52
+ 0.6484443668652948,
53
+ -0.5867622436983795,
54
+ -0.35750761755999727
55
+ ]
56
+ }
57
+ },
58
+ "grasp_35": {
59
+ "confidence": 0.8954309225082397,
60
+ "position": [
61
+ 0.01935589808272198,
62
+ 0.043571897280344274,
63
+ 0.15603597462177277
64
+ ],
65
+ "orientation": {
66
+ "w": 0.2510136195085883,
67
+ "xyz": [
68
+ 0.9641038433661596,
69
+ -0.053320059059085045,
70
+ -0.06821226671012363
71
+ ]
72
+ }
73
+ }
74
+ }
75
+ },
76
+ {
77
+ "part_name": "pump collar",
78
+ "mask_color": "Magenta",
79
+ "graspable": true,
80
+ "grasp_scenarios": [
81
+ {
82
+ "scenario": "grasp the collar to twist or stabilize the dispenser neck during handling",
83
+ "confidence": 0.55
84
+ },
85
+ {
86
+ "scenario": "hold the collar while repositioning the bottle in a fixture",
87
+ "confidence": 0.4
88
+ }
89
+ ],
90
+ "functional_labels": [
91
+ "connect pump head to bottle",
92
+ "support pump assembly",
93
+ "provide twisting interface",
94
+ "stabilize dispenser neck"
95
+ ],
96
+ "semantic_description": "Short cylindrical collar around the neck directly below the pump head, appearing translucent light green/whitish plastic with ribbed sides and a semi-gloss finish.",
97
+ "id": 7,
98
+ "grasp_group": {
99
+ "grasp_40": {
100
+ "confidence": 0.9710869193077087,
101
+ "position": [
102
+ 0.004381520499009639,
103
+ 0.08413298470986774,
104
+ 0.09807001799345016
105
+ ],
106
+ "orientation": {
107
+ "w": 0.5044780624435063,
108
+ "xyz": [
109
+ 0.8633436157031406,
110
+ 0.0014150809585106172,
111
+ -0.011733852042453228
112
+ ]
113
+ }
114
+ },
115
+ "grasp_41": {
116
+ "confidence": 0.968595564365387,
117
+ "position": [
118
+ -0.01840849098516628,
119
+ 0.08448363138450077,
120
+ 0.09487006068229675
121
+ ],
122
+ "orientation": {
123
+ "w": 0.5027223523140117,
124
+ "xyz": [
125
+ 0.8590518245994413,
126
+ 0.07412155261990794,
127
+ 0.061694364195215616
128
+ ]
129
+ }
130
+ },
131
+ "grasp_42": {
132
+ "confidence": 0.967427134513855,
133
+ "position": [
134
+ 0.035480059043038636,
135
+ 0.0828682859064429,
136
+ 0.089719258248806
137
+ ],
138
+ "orientation": {
139
+ "w": 0.5235256372287633,
140
+ "xyz": [
141
+ 0.8215177067879245,
142
+ -0.2033701800704163,
143
+ -0.09833684180536639
144
+ ]
145
+ }
146
+ },
147
+ "grasp_43": {
148
+ "confidence": 0.9644656777381897,
149
+ "position": [
150
+ 0.022280053526628762,
151
+ 0.08015569342387607,
152
+ 0.09694662690162659
153
+ ],
154
+ "orientation": {
155
+ "w": 0.4919941466350103,
156
+ "xyz": [
157
+ 0.863626636819842,
158
+ -0.08707560150839178,
159
+ -0.06714634371347794
160
+ ]
161
+ }
162
+ },
163
+ "grasp_44": {
164
+ "confidence": 0.9599829912185669,
165
+ "position": [
166
+ -0.021459561481606215,
167
+ 0.0825573061229079,
168
+ 0.09518478810787201
169
+ ],
170
+ "orientation": {
171
+ "w": 0.06720689983167905,
172
+ "xyz": [
173
+ -0.09355708921101344,
174
+ 0.8667610242278415,
175
+ -0.4852377052052736
176
+ ]
177
+ }
178
+ },
179
+ "grasp_45": {
180
+ "confidence": 0.9580170512199402,
181
+ "position": [
182
+ -0.002327766560483724,
183
+ 0.08710967792285373,
184
+ 0.09214277565479279
185
+ ],
186
+ "orientation": {
187
+ "w": 0.008455967863734098,
188
+ "xyz": [
189
+ -0.017870759684966903,
190
+ 0.854508374310279,
191
+ -0.5190612399220093
192
+ ]
193
+ }
194
+ },
195
+ "grasp_46": {
196
+ "confidence": 0.957288384437561,
197
+ "position": [
198
+ 0.033625806972850114,
199
+ 0.07263767017138889,
200
+ 0.10052261501550674
201
+ ],
202
+ "orientation": {
203
+ "w": 0.45521104260968115,
204
+ "xyz": [
205
+ 0.871763281258368,
206
+ -0.13060907509141673,
207
+ -0.12551078694524745
208
+ ]
209
+ }
210
+ },
211
+ "grasp_47": {
212
+ "confidence": 0.9490311741828918,
213
+ "position": [
214
+ -0.04519468609942123,
215
+ 0.05785893691790989,
216
+ 0.11700747907161713
217
+ ],
218
+ "orientation": {
219
+ "w": 0.17349313936228716,
220
+ "xyz": [
221
+ -0.24469743614060718,
222
+ 0.8856481486303677,
223
+ -0.35447235741032557
224
+ ]
225
+ }
226
+ },
227
+ "grasp_48": {
228
+ "confidence": 0.9454283714294434,
229
+ "position": [
230
+ 0.04687734629260376,
231
+ 0.06727922750724247,
232
+ 0.0990467295050621
233
+ ],
234
+ "orientation": {
235
+ "w": 0.4477593980628306,
236
+ "xyz": [
237
+ 0.8555617927875935,
238
+ -0.17696055112230435,
239
+ -0.19029057652700734
240
+ ]
241
+ }
242
+ },
243
+ "grasp_49": {
244
+ "confidence": 0.9328747987747192,
245
+ "position": [
246
+ -0.0038377702585421503,
247
+ 0.06640428347600391,
248
+ 0.11499826610088348
249
+ ],
250
+ "orientation": {
251
+ "w": 0.39038156380063704,
252
+ "xyz": [
253
+ 0.9179641729927893,
254
+ 0.06920486734660025,
255
+ 0.012437768359840463
256
+ ]
257
+ }
258
+ },
259
+ "grasp_50": {
260
+ "confidence": 0.9237250685691833,
261
+ "position": [
262
+ -0.07088700373424217,
263
+ 0.06551840944302967,
264
+ 0.05895959958434105
265
+ ],
266
+ "orientation": {
267
+ "w": 0.5942121690621958,
268
+ "xyz": [
269
+ 0.6945774499127848,
270
+ 0.32222392397147204,
271
+ 0.246263694099395
272
+ ]
273
+ }
274
+ },
275
+ "grasp_52": {
276
+ "confidence": 0.9087634086608887,
277
+ "position": [
278
+ -0.051849235489498824,
279
+ -0.044231634157767985,
280
+ 0.12145157158374786
281
+ ],
282
+ "orientation": {
283
+ "w": 0.3240461744308908,
284
+ "xyz": [
285
+ -0.836196458040347,
286
+ 0.4225593484687101,
287
+ -0.13119892308697387
288
+ ]
289
+ }
290
+ },
291
+ "grasp_53": {
292
+ "confidence": 0.8920133113861084,
293
+ "position": [
294
+ -0.07485989917768165,
295
+ -0.05043237985955784,
296
+ 0.09261190891265869
297
+ ],
298
+ "orientation": {
299
+ "w": 0.23228728227616274,
300
+ "xyz": [
301
+ 0.461900148506686,
302
+ 0.7215427045721321,
303
+ 0.46050732543683687
304
+ ]
305
+ }
306
+ },
307
+ "grasp_54": {
308
+ "confidence": 0.8757767081260681,
309
+ "position": [
310
+ -0.03316677798284218,
311
+ 0.09159573210490635,
312
+ 0.06261501088738441
313
+ ],
314
+ "orientation": {
315
+ "w": 0.6471133041649557,
316
+ "xyz": [
317
+ 0.7173832370425047,
318
+ 0.2576025209956231,
319
+ 0.01570362887457447
320
+ ]
321
+ }
322
+ },
323
+ "grasp_55": {
324
+ "confidence": 0.8691005706787109,
325
+ "position": [
326
+ -0.09814826090587303,
327
+ -0.008683713655045722,
328
+ 0.044787295162677765
329
+ ],
330
+ "orientation": {
331
+ "w": 0.5263516822700759,
332
+ "xyz": [
333
+ -0.5205502353853512,
334
+ 0.5002794211605283,
335
+ -0.4491123019635542
336
+ ]
337
+ }
338
+ },
339
+ "grasp_56": {
340
+ "confidence": 0.8635609745979309,
341
+ "position": [
342
+ 0.09410930733429268,
343
+ 0.023328828123339918,
344
+ 0.04837431386113167
345
+ ],
346
+ "orientation": {
347
+ "w": 0.5317869980123021,
348
+ "xyz": [
349
+ 0.5775688186515934,
350
+ -0.4186375864533999,
351
+ -0.4564640398486372
352
+ ]
353
+ }
354
+ },
355
+ "grasp_57": {
356
+ "confidence": 0.8348962664604187,
357
+ "position": [
358
+ 0.09544159780489281,
359
+ 0.029458996337780263,
360
+ 0.04890032857656479
361
+ ],
362
+ "orientation": {
363
+ "w": 0.5242086807993668,
364
+ "xyz": [
365
+ 0.6056628164313004,
366
+ -0.38224942538618467,
367
+ -0.46072029319211055
368
+ ]
369
+ }
370
+ },
371
+ "grasp_58": {
372
+ "confidence": 0.8262166976928711,
373
+ "position": [
374
+ 0.0848243937944062,
375
+ 0.023927169349917676,
376
+ 0.09334884583950043
377
+ ],
378
+ "orientation": {
379
+ "w": 0.39432251044328565,
380
+ "xyz": [
381
+ 0.6996591185927631,
382
+ -0.49675422884033704,
383
+ -0.3289712930590522
384
+ ]
385
+ }
386
+ }
387
+ }
388
+ },
389
+ {
390
+ "part_name": "pump stem",
391
+ "mask_color": "Yellow",
392
+ "graspable": false,
393
+ "grasp_scenarios": [],
394
+ "functional_labels": [
395
+ "link pump head to internal pump",
396
+ "transmit pressing motion",
397
+ "guide vertical pump movement"
398
+ ],
399
+ "semantic_description": "Tiny narrow ring-like stem section visible between the pump head and collar at the bottle top, appearing pale yellowish to light green and made of smooth hard plastic.",
400
+ "id": 3,
401
+ "grasp_group": {}
402
+ },
403
+ {
404
+ "part_name": "bottle body",
405
+ "mask_color": "Red",
406
+ "graspable": true,
407
+ "grasp_scenarios": [
408
+ {
409
+ "scenario": "power grasp the bottle body to pick up and carry the bottle",
410
+ "confidence": 0.95
411
+ },
412
+ {
413
+ "scenario": "grasp the bottle body to stabilize it while pressing the pump",
414
+ "confidence": 0.93
415
+ },
416
+ {
417
+ "scenario": "hold the bottle body to place or reposition it on a surface",
418
+ "confidence": 0.9
419
+ }
420
+ ],
421
+ "functional_labels": [
422
+ "contain liquid",
423
+ "provide main grasp surface",
424
+ "support pumping during dispensing",
425
+ "protect internal contents"
426
+ ],
427
+ "semantic_description": "Large translucent green plastic bottle body with a glossy smooth hard surface and rounded flattened oval shape forming the main central mass of the container.",
428
+ "id": 0,
429
+ "grasp_group": {
430
+ "grasp_1": {
431
+ "confidence": 0.9877110123634338,
432
+ "position": [
433
+ 0.008505811274517328,
434
+ -0.087940282690397,
435
+ -0.09563764929771423
436
+ ],
437
+ "orientation": {
438
+ "w": 0.8965382622263264,
439
+ "xyz": [
440
+ -0.4409996469755744,
441
+ -0.007073295423196124,
442
+ 0.0410904395629229
443
+ ]
444
+ }
445
+ },
446
+ "grasp_3": {
447
+ "confidence": 0.9865478873252869,
448
+ "position": [
449
+ -0.004308849282097071,
450
+ 0.0923280273200362,
451
+ -0.08678372204303741
452
+ ],
453
+ "orientation": {
454
+ "w": 0.8711388638312793,
455
+ "xyz": [
456
+ 0.4905858043528438,
457
+ 0.00944690350965749,
458
+ 0.01879905594173265
459
+ ]
460
+ }
461
+ },
462
+ "grasp_5": {
463
+ "confidence": 0.985164999961853,
464
+ "position": [
465
+ -0.009338467090856284,
466
+ -0.10133597211824963,
467
+ -0.0791512131690979
468
+ ],
469
+ "orientation": {
470
+ "w": 0.0334604072065161,
471
+ "xyz": [
472
+ -0.06126486702104524,
473
+ -0.5048145650799132,
474
+ -0.8604006462698907
475
+ ]
476
+ }
477
+ },
478
+ "grasp_6": {
479
+ "confidence": 0.9840797781944275,
480
+ "position": [
481
+ -0.0027969974908046424,
482
+ 0.10852672202599933,
483
+ -0.034140631556510925
484
+ ],
485
+ "orientation": {
486
+ "w": 0.7099402252742887,
487
+ "xyz": [
488
+ 0.7042130461336397,
489
+ -0.004586548284970515,
490
+ 0.006915617651540991
491
+ ]
492
+ }
493
+ },
494
+ "grasp_10": {
495
+ "confidence": 0.9826768040657043,
496
+ "position": [
497
+ -0.003956000495236367,
498
+ 0.09561316711915424,
499
+ -0.08679864555597305
500
+ ],
501
+ "orientation": {
502
+ "w": 0.8700198161020181,
503
+ "xyz": [
504
+ 0.49270582111327477,
505
+ 0.014194554951199145,
506
+ 0.010247343101586195
507
+ ]
508
+ }
509
+ },
510
+ "grasp_11": {
511
+ "confidence": 0.9825246930122375,
512
+ "position": [
513
+ 0.019405222788918763,
514
+ -0.10235264854418347,
515
+ 0.029651083052158356
516
+ ],
517
+ "orientation": {
518
+ "w": 0.6978715687577607,
519
+ "xyz": [
520
+ -0.710292943970965,
521
+ -0.05973399606709162,
522
+ 0.06993609210198982
523
+ ]
524
+ }
525
+ },
526
+ "grasp_15": {
527
+ "confidence": 0.9811899662017822,
528
+ "position": [
529
+ -0.004453601955901831,
530
+ -0.08928412156092236,
531
+ -0.08294407278299332
532
+ ],
533
+ "orientation": {
534
+ "w": 0.04148086948567969,
535
+ "xyz": [
536
+ -0.04167664075870257,
537
+ -0.5062627777426281,
538
+ -0.8603722420871679
539
+ ]
540
+ }
541
+ },
542
+ "grasp_17": {
543
+ "confidence": 0.9800775051116943,
544
+ "position": [
545
+ -0.005148784432094544,
546
+ 0.11102960301650455,
547
+ -0.030504737049341202
548
+ ],
549
+ "orientation": {
550
+ "w": 0.029548233821185536,
551
+ "xyz": [
552
+ 0.05189618249814262,
553
+ -0.7092283204808147,
554
+ 0.7024449284806111
555
+ ]
556
+ }
557
+ },
558
+ "grasp_18": {
559
+ "confidence": 0.9792732000350952,
560
+ "position": [
561
+ 0.0064518682775087655,
562
+ -0.10642008440481732,
563
+ 0.02561878226697445
564
+ ],
565
+ "orientation": {
566
+ "w": 0.7080407831971897,
567
+ "xyz": [
568
+ -0.705730729858221,
569
+ -0.014932985762160511,
570
+ 0.0199847992113836
571
+ ]
572
+ }
573
+ },
574
+ "grasp_19": {
575
+ "confidence": 0.9790825843811035,
576
+ "position": [
577
+ 0.03668034012662247,
578
+ -0.09860297249542782,
579
+ 0.0448412150144577
580
+ ],
581
+ "orientation": {
582
+ "w": 0.11323201529010986,
583
+ "xyz": [
584
+ 0.16742082563393798,
585
+ -0.7235540390466206,
586
+ -0.6600138865483911
587
+ ]
588
+ }
589
+ }
590
+ }
591
+ },
592
+ {
593
+ "part_name": "front label",
594
+ "mask_color": "Purple",
595
+ "graspable": false,
596
+ "grasp_scenarios": [],
597
+ "functional_labels": [
598
+ "display branding",
599
+ "show product information",
600
+ "identify front side"
601
+ ],
602
+ "semantic_description": "Shield-shaped white printed label area on the front with Chinese characters and graphics, appearing smooth and flat against the glossy green bottle body.",
603
+ "id": 5,
604
+ "grasp_group": {}
605
+ },
606
+ {
607
+ "part_name": "small front marking",
608
+ "mask_color": "Cyan",
609
+ "graspable": false,
610
+ "grasp_scenarios": [],
611
+ "functional_labels": [
612
+ "show product detail",
613
+ "display small printed information",
614
+ "aid identification"
615
+ ],
616
+ "semantic_description": "Very small light cyan printed marking near the lower-central area of the front label, flat and smooth, with tiny text-like detail.",
617
+ "id": 6,
618
+ "grasp_group": {}
619
+ },
620
+ {
621
+ "part_name": "bottom base",
622
+ "mask_color": "Orange",
623
+ "graspable": false,
624
+ "grasp_scenarios": [],
625
+ "functional_labels": [
626
+ "support upright standing",
627
+ "provide resting surface",
628
+ "stabilize bottle on flat surfaces"
629
+ ],
630
+ "semantic_description": "Oval bottom panel on the underside of the bottle, made of green plastic with a smooth slightly recessed surface and glossy finish, forming the flat standing base.",
631
+ "id": 4,
632
+ "grasp_group": {}
633
+ }
634
+ ],
635
+ "quality_check": {
636
+ "success": true,
637
+ "message": "YES"
638
+ }
639
+ }
dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aaa3de54c9d7a2eb3607b25df74388a05e83f5beca313f46c304c27c12fd0020
3
+ size 3746220
dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/hand_sanitizer_015.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
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>