Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -5878,4 +5878,4 @@ dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/afforda
 dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/f90bbbb17d705379a6432772b8bc72bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,255 @@

+{
+    "affordances": [
+        {
+            "part_name": "razor blade",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "shave hair",
+                "provide cutting edge",
+                "make close skin contact for trimming"
+            ],
+            "semantic_description": "Broad silver metal blade with a reflective smooth finish and sharp edge, forming the main cutting head of the straight razor, with an etched logo visible in some views.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "razor handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and hold the razor for shaving",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to open or close the folding razor around the pivot",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the handle to stabilize the razor while placing it down or repositioning it",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide main grip",
+                "support blade folding",
+                "enable safe handling away from the edge",
+                "balance the razor during use"
+            ],
+            "semantic_description": "Long curved brown wooden handle with a glossy smooth hard surface and visible wood grain, medium-sized and mounted behind the blade as the main gripping part, with metal pins at both ends.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9451441764831543,
+                    "position": [
+                        0.043599104741588235,
+                        0.11538984579965472,
+                        0.03591744203004055
+                    ],
+                    "orientation": {
+                        "w": 0.37029686687633095,
+                        "xyz": [
+                            0.5841020460918778,
+                            -0.5859194420747255,
+                            0.42237831091534117
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9269217252731323,
+                    "position": [
+                        0.08672233135439456,
+                        0.11453059269115329,
+                        -0.0031827544153202325
+                    ],
+                    "orientation": {
+                        "w": 0.456249524760691,
+                        "xyz": [
+                            0.5962991503522788,
+                            0.31888887611284455,
+                            -0.5784233563198159
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9266625642776489,
+                    "position": [
+                        0.02531961933709681,
+                        0.1109750191681087,
+                        0.024366164318053052
+                    ],
+                    "orientation": {
+                        "w": 0.3196088305585415,
+                        "xyz": [
+                            0.606316711585864,
+                            -0.4794864047430617,
+                            0.5480173613557131
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9143354296684265,
+                    "position": [
+                        0.1220201572868973,
+                        -0.05681227566674352,
+                        -0.014205820189090446
+                    ],
+                    "orientation": {
+                        "w": 0.3502399555760556,
+                        "xyz": [
+                            -0.6052130163808978,
+                            0.28176461014289234,
+                            0.6570067600810828
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9080989956855774,
+                    "position": [
+                        0.08670268417336047,
+                        0.10942754102870822,
+                        -0.00828329406795092
+                    ],
+                    "orientation": {
+                        "w": 0.36253202329963424,
+                        "xyz": [
+                            0.6083840813552099,
+                            0.3363887425920461,
+                            -0.620710846927289
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9055820107460022,
+                    "position": [
+                        0.1520632451865822,
+                        0.06590949324890971,
+                        -0.005802045372547582
+                    ],
+                    "orientation": {
+                        "w": 0.7075040524840004,
+                        "xyz": [
+                            0.14635388289471643,
+                            -0.6693531895079206,
+                            0.17316138246136367
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9054358601570129,
+                    "position": [
+                        0.1379399246070534,
+                        -0.0421287571080029,
+                        0.0011317430471535772
+                    ],
+                    "orientation": {
+                        "w": 0.21960786322548242,
+                        "xyz": [
+                            -0.6648931393407043,
+                            0.2534392281157676,
+                            0.6674264433773089
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9039778709411621,
+                    "position": [
+                        0.017267388524487615,
+                        0.11710870219394565,
+                        0.02666900653275661
+                    ],
+                    "orientation": {
+                        "w": 0.4774617052852313,
+                        "xyz": [
+                            0.50366149618989,
+                            0.6162969788429996,
+                            -0.3722008209433069
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9037655591964722,
+                    "position": [
+                        0.14623470068909228,
+                        -0.02350294077768922,
+                        0.003594276699004695
+                    ],
+                    "orientation": {
+                        "w": 0.15631119476428712,
+                        "xyz": [
+                            -0.6818234694161733,
+                            0.21316872988084723,
+                            0.6820869882541671
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9036554098129272,
+                    "position": [
+                        0.16316373110748827,
+                        0.022031820844858885,
+                        0.0014012190222274512
+                    ],
+                    "orientation": {
+                        "w": 0.708778853670345,
+                        "xyz": [
+                            0.0009021717169465958,
+                            -0.7047821414574239,
+                            -0.030230047281348007
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9030293226242065,
+                    "position": [
+                        0.1363769865129143,
+                        -0.040341165382415056,
+                        0.01037226218613796
+                    ],
+                    "orientation": {
+                        "w": 0.6434222171818025,
+                        "xyz": [
+                            -0.26987770494946334,
+                            -0.6843743180328977,
+                            -0.21167349296751678
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "pivot pin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect blade to handle",
+                "act as rotation joint",
+                "hold folding assembly together"
+            ],
+            "semantic_description": "Small round metallic fastener at the hinge, with a shiny smooth hard surface, located where the blade and handle meet and serving as the razor's pivot point.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "razor tang and tail",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "extend the blade at the hinge",
+                "provide finger control near the pivot",
+                "assist opening and closing the razor"
+            ],
+            "semantic_description": "Small narrow silver metal projection near the blade base and pivot, including the curved tail piece used for finger control. It has a smooth reflective finish and sits just behind the blade at the hinge area.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/affordance/mesh_part_seg.glb ADDED Viewed

	@@ -0,0 +1,3 @@

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+size 3781404