xinjjj commited on
Commit
61eb0d0
·
verified ·
1 Parent(s): 7729684

Add asset bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a

Browse files
.gitattributes CHANGED
@@ -5799,3 +5799,4 @@ dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/afforda
5799
  dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5800
  dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5801
  dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5799
  dataset/bathroom_supplies/personal_care/52d5370b08ad54ed8f46ea673bf5e4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5800
  dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5801
  dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5802
+ dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,662 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle and head support arm",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the long handle to pick up and hold the razor during use",
10
+ "confidence": 0.99
11
+ },
12
+ {
13
+ "scenario": "grasp the handle to orient the razor head for shaving or positioning",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "hold the handle to stabilize the razor while placing it down or retrieving it",
18
+ "confidence": 0.92
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support handling",
24
+ "position the razor head",
25
+ "transmit user force to the head"
26
+ ],
27
+ "semantic_description": "Long ivory to off-white handle with a smooth matte finish and rounded cylindrical shape, attached to an angled support arm of the same color beneath the head. Medium-sized, located below the head, with a small dark oval emblem near the upper section.",
28
+ "id": 7,
29
+ "grasp_group": {
30
+ "grasp_23": {
31
+ "confidence": 0.9929162263870239,
32
+ "position": [
33
+ 0.028041064739227295,
34
+ 0.0978898840257898,
35
+ -0.002732469729380682
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5330237450713423,
39
+ "xyz": [
40
+ 0.4680176325875358,
41
+ -0.5063713167548555,
42
+ 0.49033995589308493
43
+ ]
44
+ }
45
+ },
46
+ "grasp_25": {
47
+ "confidence": 0.9924471378326416,
48
+ "position": [
49
+ 0.016236651688814163,
50
+ 0.09852103760931641,
51
+ 0.009463242691708729
52
+ ],
53
+ "orientation": {
54
+ "w": 0.48196204466738546,
55
+ "xyz": [
56
+ 0.5202007081901386,
57
+ 0.536399631214073,
58
+ -0.4575797704574773
59
+ ]
60
+ }
61
+ },
62
+ "grasp_26": {
63
+ "confidence": 0.99234539270401,
64
+ "position": [
65
+ 0.026209233328700066,
66
+ 0.09950817248318344,
67
+ -0.002770410181256011
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5195104270574036,
71
+ "xyz": [
72
+ 0.5000927012559485,
73
+ 0.48888732584090355,
74
+ -0.4909229969774211
75
+ ]
76
+ }
77
+ },
78
+ "grasp_28": {
79
+ "confidence": 0.9920543432235718,
80
+ "position": [
81
+ 0.02662518247961998,
82
+ 0.10016660264227539,
83
+ -0.003955579857574776
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5203151211847549,
87
+ "xyz": [
88
+ 0.4954692447337235,
89
+ 0.4910685235293131,
90
+ -0.49257903669180675
91
+ ]
92
+ }
93
+ },
94
+ "grasp_29": {
95
+ "confidence": 0.9918341636657715,
96
+ "position": [
97
+ 0.03081921860575676,
98
+ 0.09651468566153198,
99
+ 0.0034019357699435204
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4905360608685598,
103
+ "xyz": [
104
+ 0.5215099064510536,
105
+ 0.5017915391401905,
106
+ -0.48539369763964674
107
+ ]
108
+ }
109
+ },
110
+ "grasp_31": {
111
+ "confidence": 0.9915105700492859,
112
+ "position": [
113
+ 0.01986248791217804,
114
+ 0.09756904712412506,
115
+ -6.133748684078455e-06
116
+ ],
117
+ "orientation": {
118
+ "w": 0.505866857893604,
119
+ "xyz": [
120
+ 0.5123925427362142,
121
+ 0.49001972544382655,
122
+ -0.49135859909960483
123
+ ]
124
+ }
125
+ },
126
+ "grasp_32": {
127
+ "confidence": 0.9914798736572266,
128
+ "position": [
129
+ 0.028497103601694107,
130
+ 0.0996887149522081,
131
+ 0.0012907761556562036
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5106639057006854,
135
+ "xyz": [
136
+ 0.5053937065205938,
137
+ 0.5041795642239076,
138
+ -0.4791685964698522
139
+ ]
140
+ }
141
+ },
142
+ "grasp_33": {
143
+ "confidence": 0.991350531578064,
144
+ "position": [
145
+ 0.02625969611108303,
146
+ -0.09923995414283127,
147
+ -0.004275496146874502
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5082534203647724,
151
+ "xyz": [
152
+ -0.48616489066296364,
153
+ -0.49756479563088785,
154
+ -0.5076922630127141
155
+ ]
156
+ }
157
+ },
158
+ "grasp_34": {
159
+ "confidence": 0.9911751747131348,
160
+ "position": [
161
+ 0.02267524041235447,
162
+ 0.09536789974663407,
163
+ -0.0008389043214265257
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5052427108263898,
167
+ "xyz": [
168
+ 0.5117823469959586,
169
+ 0.49156666675966776,
170
+ -0.4910914829142316
171
+ ]
172
+ }
173
+ },
174
+ "grasp_35": {
175
+ "confidence": 0.9910488128662109,
176
+ "position": [
177
+ 0.03974094241857529,
178
+ 0.09631936869118363,
179
+ 0.015099367563379928
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4584998174311647,
183
+ "xyz": [
184
+ 0.5323915768975709,
185
+ -0.5354241935649572,
186
+ 0.46867692412729506
187
+ ]
188
+ }
189
+ },
190
+ "grasp_38": {
191
+ "confidence": 0.9906876683235168,
192
+ "position": [
193
+ 0.036377739161252975,
194
+ 0.09507216385100037,
195
+ 0.030438560497714207
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4028819441651331,
199
+ "xyz": [
200
+ 0.5796415500870092,
201
+ -0.5729477248382628,
202
+ 0.41645253880977845
203
+ ]
204
+ }
205
+ },
206
+ "grasp_39": {
207
+ "confidence": 0.9905509948730469,
208
+ "position": [
209
+ 0.03334179148077965,
210
+ 0.05364268890116364,
211
+ 0.08406520399148576
212
+ ],
213
+ "orientation": {
214
+ "w": 0.17933839879482796,
215
+ "xyz": [
216
+ 0.690735606935982,
217
+ -0.6667450446086574,
218
+ 0.21487928126808176
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "neck collar",
226
+ "mask_color": "Purple",
227
+ "graspable": true,
228
+ "grasp_scenarios": [
229
+ {
230
+ "scenario": "pinch the neck collar briefly to stabilize the razor while another gripper engages the handle",
231
+ "confidence": 0.42
232
+ },
233
+ {
234
+ "scenario": "hold the neck collar during close reorientation in a constrained workspace",
235
+ "confidence": 0.36
236
+ }
237
+ ],
238
+ "functional_labels": [
239
+ "connect handle assembly to head",
240
+ "provide transition joint area",
241
+ "support head alignment"
242
+ ],
243
+ "semantic_description": "Short ribbed collar between the handle assembly and razor head, appearing light gray to off-white with a matte to satin finish. Small, round, and slightly textured.",
244
+ "id": 5,
245
+ "grasp_group": {
246
+ "grasp_1": {
247
+ "confidence": 0.9551640748977661,
248
+ "position": [
249
+ -0.015189877711236477,
250
+ 0.09977452328894287,
251
+ 0.0011229173687752336
252
+ ],
253
+ "orientation": {
254
+ "w": 0.4964748214944773,
255
+ "xyz": [
256
+ 0.5232017039936064,
257
+ 0.49328641306206245,
258
+ -0.4862522424098195
259
+ ]
260
+ }
261
+ },
262
+ "grasp_2": {
263
+ "confidence": 0.9524519443511963,
264
+ "position": [
265
+ -0.014549572952091694,
266
+ 0.09842525294516236,
267
+ 0.013834151875926182
268
+ ],
269
+ "orientation": {
270
+ "w": 0.4720736339661902,
271
+ "xyz": [
272
+ 0.526043534683019,
273
+ -0.5365511537939256,
274
+ 0.46101794226966747
275
+ ]
276
+ }
277
+ },
278
+ "grasp_4": {
279
+ "confidence": 0.945716142654419,
280
+ "position": [
281
+ -0.027379443868994713,
282
+ 0.07053056976292282,
283
+ 0.06741924348170869
284
+ ],
285
+ "orientation": {
286
+ "w": 0.3141203196816432,
287
+ "xyz": [
288
+ 0.644627563535365,
289
+ 0.6589059682688719,
290
+ -0.22721499526488326
291
+ ]
292
+ }
293
+ },
294
+ "grasp_5": {
295
+ "confidence": 0.9424425959587097,
296
+ "position": [
297
+ -0.013184159994125366,
298
+ 0.011860468075610697,
299
+ -0.09662161258165725
300
+ ],
301
+ "orientation": {
302
+ "w": 0.7155148528125436,
303
+ "xyz": [
304
+ 0.043096696090657326,
305
+ 0.0374986360962295,
306
+ -0.6962578706784118
307
+ ]
308
+ }
309
+ },
310
+ "grasp_8": {
311
+ "confidence": 0.9340016841888428,
312
+ "position": [
313
+ 0.019373295828700066,
314
+ 0.045659730792976916,
315
+ 0.08038439365918748
316
+ ],
317
+ "orientation": {
318
+ "w": 0.30637392754674464,
319
+ "xyz": [
320
+ 0.637714285347137,
321
+ -0.7005020657503517,
322
+ 0.0935540627833042
323
+ ]
324
+ }
325
+ },
326
+ "grasp_9": {
327
+ "confidence": 0.9300227165222168,
328
+ "position": [
329
+ -0.010107931680977345,
330
+ -0.0038098202785477042,
331
+ -0.09912545469705947
332
+ ],
333
+ "orientation": {
334
+ "w": 0.7107963605589257,
335
+ "xyz": [
336
+ 0.006725983670532257,
337
+ -0.013340075623711534,
338
+ -0.7032391750622283
339
+ ]
340
+ }
341
+ },
342
+ "grasp_14": {
343
+ "confidence": 0.9190912842750549,
344
+ "position": [
345
+ -0.012158524245023727,
346
+ 0.005566940759308636,
347
+ 0.09839945795829408
348
+ ],
349
+ "orientation": {
350
+ "w": 0.028900132499485986,
351
+ "xyz": [
352
+ 0.7078816835090919,
353
+ 0.7055190907774903,
354
+ -0.017638510207760676
355
+ ]
356
+ }
357
+ },
358
+ "grasp_15": {
359
+ "confidence": 0.9167599081993103,
360
+ "position": [
361
+ 0.030504532158374786,
362
+ 0.08795281371567398,
363
+ 0.0003215053257008549
364
+ ],
365
+ "orientation": {
366
+ "w": 0.3768737861761943,
367
+ "xyz": [
368
+ 0.6118913007632696,
369
+ 0.36297636094564356,
370
+ -0.5931301263113448
371
+ ]
372
+ }
373
+ },
374
+ "grasp_16": {
375
+ "confidence": 0.9080849289894104,
376
+ "position": [
377
+ -0.023565126582980156,
378
+ -0.014700533240102232,
379
+ 0.09742005678708665
380
+ ],
381
+ "orientation": {
382
+ "w": 0.08168759982687718,
383
+ "xyz": [
384
+ -0.7110650250904859,
385
+ 0.6973986196995281,
386
+ 0.03672643964208442
387
+ ]
388
+ }
389
+ },
390
+ "grasp_17": {
391
+ "confidence": 0.9066886305809021,
392
+ "position": [
393
+ -0.007854899391531944,
394
+ -0.09762028732802719,
395
+ 0.004407160420669243
396
+ ],
397
+ "orientation": {
398
+ "w": 0.4941968194412697,
399
+ "xyz": [
400
+ -0.509124664462127,
401
+ -0.5145591662148806,
402
+ -0.4814462006857115
403
+ ]
404
+ }
405
+ },
406
+ "grasp_18": {
407
+ "confidence": 0.9021226167678833,
408
+ "position": [
409
+ -0.0138173783197999,
410
+ 0.09600984922144562,
411
+ -0.0006766058795619756
412
+ ],
413
+ "orientation": {
414
+ "w": 0.48704046435647635,
415
+ "xyz": [
416
+ 0.5174167191494752,
417
+ 0.49275993891775616,
418
+ -0.5022540865157695
419
+ ]
420
+ }
421
+ }
422
+ }
423
+ },
424
+ {
425
+ "part_name": "razor head",
426
+ "mask_color": "Lime Green",
427
+ "graspable": true,
428
+ "grasp_scenarios": [
429
+ {
430
+ "scenario": "grasp the head carefully for inspection or constrained manipulation when avoiding the handle",
431
+ "confidence": 0.48
432
+ },
433
+ {
434
+ "scenario": "hold the head briefly to stabilize the razor during storage or reorientation",
435
+ "confidence": 0.43
436
+ }
437
+ ],
438
+ "functional_labels": [
439
+ "support blade assembly",
440
+ "contact shaving surface",
441
+ "guide cutting angle",
442
+ "house and protect blade edges"
443
+ ],
444
+ "semantic_description": "Wide T-shaped razor head at the top, with a light metallic to silver body and fine comb/guard teeth along the shaving edge. Rigid, smooth, and slightly satin in finish, with cylindrical end caps visible from angled views.",
445
+ "id": 9,
446
+ "grasp_group": {
447
+ "grasp_40": {
448
+ "confidence": 0.9746686816215515,
449
+ "position": [
450
+ -0.09444761276245117,
451
+ 0.09303426614496857,
452
+ -0.008010030287550762
453
+ ],
454
+ "orientation": {
455
+ "w": 0.6330216383873293,
456
+ "xyz": [
457
+ 0.33099952090681617,
458
+ 0.6034322934675794,
459
+ -0.354390165909462
460
+ ]
461
+ }
462
+ },
463
+ "grasp_44": {
464
+ "confidence": 0.9716542363166809,
465
+ "position": [
466
+ -0.09495112299919128,
467
+ 0.09517031034920365,
468
+ -0.0010459783079568297
469
+ ],
470
+ "orientation": {
471
+ "w": 0.3544052667536789,
472
+ "xyz": [
473
+ 0.6077460785103198,
474
+ -0.33560684037439814,
475
+ 0.6264261007066161
476
+ ]
477
+ }
478
+ },
479
+ "grasp_47": {
480
+ "confidence": 0.9708996415138245,
481
+ "position": [
482
+ -0.041854240000247955,
483
+ 0.10676272085402161,
484
+ -0.0006761920230928808
485
+ ],
486
+ "orientation": {
487
+ "w": 0.5076889538893612,
488
+ "xyz": [
489
+ 0.49723080446694806,
490
+ 0.5079521406721536,
491
+ -0.4868244816917635
492
+ ]
493
+ }
494
+ },
495
+ "grasp_48": {
496
+ "confidence": 0.9705798625946045,
497
+ "position": [
498
+ -0.09288627654314041,
499
+ -0.09552760550286621,
500
+ -0.0013170668680686504
501
+ ],
502
+ "orientation": {
503
+ "w": 0.6199289267024641,
504
+ "xyz": [
505
+ -0.3590506931895714,
506
+ 0.6032155485629522,
507
+ 0.35057342673042885
508
+ ]
509
+ }
510
+ },
511
+ "grasp_49": {
512
+ "confidence": 0.9698302745819092,
513
+ "position": [
514
+ -0.03643607720732689,
515
+ -0.11227849253918976,
516
+ -0.00287026449223049
517
+ ],
518
+ "orientation": {
519
+ "w": 0.5132526326331313,
520
+ "xyz": [
521
+ -0.5102182123947343,
522
+ 0.47885120176855767,
523
+ 0.49694128164270096
524
+ ]
525
+ }
526
+ },
527
+ "grasp_50": {
528
+ "confidence": 0.9697549343109131,
529
+ "position": [
530
+ -0.09322816133499146,
531
+ -0.09427452215459198,
532
+ -0.004280446126358584
533
+ ],
534
+ "orientation": {
535
+ "w": 0.6356329087037722,
536
+ "xyz": [
537
+ -0.3641447650338602,
538
+ 0.592151576491694,
539
+ 0.3357467884129615
540
+ ]
541
+ }
542
+ },
543
+ "grasp_52": {
544
+ "confidence": 0.9694238901138306,
545
+ "position": [
546
+ -0.09216563403606415,
547
+ -0.09563189127948135,
548
+ -0.003297097544418648
549
+ ],
550
+ "orientation": {
551
+ "w": 0.6224654115928938,
552
+ "xyz": [
553
+ -0.35688918201873965,
554
+ 0.6034286026977034,
555
+ 0.34790924761319847
556
+ ]
557
+ }
558
+ },
559
+ "grasp_53": {
560
+ "confidence": 0.9684861898422241,
561
+ "position": [
562
+ -0.09420664608478546,
563
+ 0.09125792852137238,
564
+ -0.0031927461095619947
565
+ ],
566
+ "orientation": {
567
+ "w": 0.6315396410441417,
568
+ "xyz": [
569
+ 0.3502296844164067,
570
+ 0.603256436522634,
571
+ -0.338494492920394
572
+ ]
573
+ }
574
+ },
575
+ "grasp_55": {
576
+ "confidence": 0.9683632254600525,
577
+ "position": [
578
+ -0.09523718804121017,
579
+ 0.0859865607926622,
580
+ 0.026891087618423626
581
+ ],
582
+ "orientation": {
583
+ "w": 0.5323226941634415,
584
+ "xyz": [
585
+ 0.40083240226751327,
586
+ 0.6962481884039555,
587
+ -0.26684151610129997
588
+ ]
589
+ }
590
+ },
591
+ "grasp_56": {
592
+ "confidence": 0.9683470129966736,
593
+ "position": [
594
+ -0.09341078251600266,
595
+ -0.09594092646148056,
596
+ -0.0016544969112146646
597
+ ],
598
+ "orientation": {
599
+ "w": 0.617134252027604,
600
+ "xyz": [
601
+ -0.36068107761813517,
602
+ 0.6090938539644873,
603
+ 0.3435973694387637
604
+ ]
605
+ }
606
+ },
607
+ "grasp_57": {
608
+ "confidence": 0.9680944085121155,
609
+ "position": [
610
+ -0.036219272762537,
611
+ -0.11529813834931701,
612
+ 3.8210535421967506e-05
613
+ ],
614
+ "orientation": {
615
+ "w": 0.4925563421087593,
616
+ "xyz": [
617
+ -0.513143581692776,
618
+ 0.48068524791208633,
619
+ 0.51284852232959
620
+ ]
621
+ }
622
+ },
623
+ "grasp_58": {
624
+ "confidence": 0.9679194092750549,
625
+ "position": [
626
+ -0.08906009048223495,
627
+ 0.09817831090185791,
628
+ -0.004625559813575819
629
+ ],
630
+ "orientation": {
631
+ "w": 0.3718390427520193,
632
+ "xyz": [
633
+ 0.5873159406528613,
634
+ -0.34303095952220874,
635
+ 0.6317637793903507
636
+ ]
637
+ }
638
+ },
639
+ "grasp_59": {
640
+ "confidence": 0.9678316116333008,
641
+ "position": [
642
+ -0.09325069934129715,
643
+ 0.09800696989987046,
644
+ -0.0037556384049821645
645
+ ],
646
+ "orientation": {
647
+ "w": 0.3617912277575523,
648
+ "xyz": [
649
+ 0.6003927281103723,
650
+ -0.3386766263744453,
651
+ 0.627641475921957
652
+ ]
653
+ }
654
+ }
655
+ }
656
+ }
657
+ ],
658
+ "quality_check": {
659
+ "success": false,
660
+ "message": "Magenta part name merges separate handle and support arm; razor head graspability is unrealistic for safe robotic gripping."
661
+ }
662
+ }
dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9a681336e1d07f1cc41cbb6c2da1d1381923f866bf1db82c1de7f384e35d5c6
3
+ size 3783396
dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/razor_034.urdf CHANGED
@@ -57,6 +57,7 @@
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>YES</PartSegChecker>
 
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>