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
784ed83
·
verified ·
1 Parent(s): d9476f1

Add asset bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/affordance_annot.json +964 -0
  3. dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/razor_038.urdf +1 -0
.gitattributes CHANGED
@@ -7999,3 +7999,4 @@ dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/afforda
7999
  dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8000
  dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8001
  dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7999
  dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8000
  dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8001
  dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8002
+ dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/affordance_annot.json ADDED
@@ -0,0 +1,964 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "razor handle",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and hold the razor for use",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "grasp the handle to orient the razor head toward a target surface",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the razor while placing it down",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support manipulation",
24
+ "provide reach and leverage",
25
+ "connect handhold to head"
26
+ ],
27
+ "semantic_description": "Long gently curved blue plastic handle with a mostly matte finish, hard smooth texture, and dark rubberized grip regions, forming the main rear portion of the razor.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9669585227966309,
32
+ "position": [
33
+ 0.1313431109301746,
34
+ 0.0015900540238362737,
35
+ 0.04838014068218399
36
+ ],
37
+ "orientation": {
38
+ "w": 0.3755521622206818,
39
+ "xyz": [
40
+ 0.5949775841341371,
41
+ -0.6233841225344139,
42
+ -0.3411077301986513
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.962654709815979,
48
+ "position": [
49
+ 0.1382771278731525,
50
+ -0.007397921865049284,
51
+ 0.04759797128053833
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3335518227095492,
55
+ "xyz": [
56
+ 0.6270478462723093,
57
+ -0.5904194989002545,
58
+ -0.3833523123326229
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9607101678848267,
64
+ "position": [
65
+ 0.14026637328788638,
66
+ 0.008105835302558262,
67
+ 0.03285430418463875
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4649925962568725,
71
+ "xyz": [
72
+ 0.5349430123781252,
73
+ -0.6178564760563432,
74
+ -0.3403986397289902
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9599488377571106,
80
+ "position": [
81
+ 0.1384086008183658,
82
+ 0.0024643006108817644,
83
+ 0.05031227367135216
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3229527018217767,
87
+ "xyz": [
88
+ -0.6302693320321964,
89
+ -0.5986108886320315,
90
+ 0.37433557872164996
91
+ ]
92
+ }
93
+ },
94
+ "grasp_7": {
95
+ "confidence": 0.9587825536727905,
96
+ "position": [
97
+ 0.14085860503837466,
98
+ -0.0049139918919536285,
99
+ 0.051374007483445894
100
+ ],
101
+ "orientation": {
102
+ "w": 0.36150504692083046,
103
+ "xyz": [
104
+ -0.6187254523156391,
105
+ -0.6089039129686404,
106
+ 0.3401895655058431
107
+ ]
108
+ }
109
+ },
110
+ "grasp_9": {
111
+ "confidence": 0.9539011716842651,
112
+ "position": [
113
+ 0.1392771448008716,
114
+ -3.458080027485266e-05,
115
+ 0.055474963506185304
116
+ ],
117
+ "orientation": {
118
+ "w": 0.3214155279499516,
119
+ "xyz": [
120
+ -0.6275936109128367,
121
+ -0.6212574441469166,
122
+ 0.34184427160050784
123
+ ]
124
+ }
125
+ },
126
+ "grasp_10": {
127
+ "confidence": 0.9538639783859253,
128
+ "position": [
129
+ 0.14123207284137607,
130
+ -0.0009856924807536416,
131
+ -0.04805293260005783
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6140809803585437,
135
+ "xyz": [
136
+ -0.3615702393051354,
137
+ -0.35400557192109505,
138
+ 0.6056827277209871
139
+ ]
140
+ }
141
+ },
142
+ "grasp_11": {
143
+ "confidence": 0.9500999450683594,
144
+ "position": [
145
+ 0.1471960092894733,
146
+ -0.003820313715550583,
147
+ -0.0021308588316060195
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5372312749039884,
151
+ "xyz": [
152
+ 0.4594496887488415,
153
+ -0.5314996328961751,
154
+ -0.4666869196847695
155
+ ]
156
+ }
157
+ },
158
+ "grasp_12": {
159
+ "confidence": 0.9497014880180359,
160
+ "position": [
161
+ 0.14902904583141208,
162
+ -0.0012375104633974843,
163
+ 0.002671105322860967
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4948333140637899,
167
+ "xyz": [
168
+ -0.5089442941565192,
169
+ -0.48986210603006985,
170
+ 0.5061134396693628
171
+ ]
172
+ }
173
+ },
174
+ "grasp_13": {
175
+ "confidence": 0.9493601322174072,
176
+ "position": [
177
+ 0.12769970251247287,
178
+ 0.008079774102952797,
179
+ 0.04804486083003212
180
+ ],
181
+ "orientation": {
182
+ "w": 0.31191429529715,
183
+ "xyz": [
184
+ -0.6396285396176892,
185
+ -0.5853710615581508,
186
+ 0.3884913435150245
187
+ ]
188
+ }
189
+ },
190
+ "grasp_14": {
191
+ "confidence": 0.94886714220047,
192
+ "position": [
193
+ 0.14664509845897555,
194
+ -9.263001993531361e-05,
195
+ 0.029629216065131914
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4242304766249266,
199
+ "xyz": [
200
+ -0.5724608160661764,
201
+ -0.5583519571608855,
202
+ 0.4249237681114624
203
+ ]
204
+ }
205
+ },
206
+ "grasp_16": {
207
+ "confidence": 0.9479933977127075,
208
+ "position": [
209
+ 0.14124540938064456,
210
+ -0.01192870886734454,
211
+ -0.04394289804486107
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6400237394108655,
215
+ "xyz": [
216
+ -0.3947446238997384,
217
+ -0.35105478266429446,
218
+ 0.5579487740476817
219
+ ]
220
+ }
221
+ },
222
+ "grasp_17": {
223
+ "confidence": 0.9472408890724182,
224
+ "position": [
225
+ 0.15107208443805575,
226
+ -0.005536902339372318,
227
+ 0.0011492227217786422
228
+ ],
229
+ "orientation": {
230
+ "w": 0.46735550446527974,
231
+ "xyz": [
232
+ 0.5099471227881703,
233
+ -0.5001657242760164,
234
+ -0.5209289900413667
235
+ ]
236
+ }
237
+ },
238
+ "grasp_18": {
239
+ "confidence": 0.9472284913063049,
240
+ "position": [
241
+ 0.14938442362472415,
242
+ -0.005914724541071337,
243
+ -0.0005769690019405971
244
+ ],
245
+ "orientation": {
246
+ "w": 0.4532930657133977,
247
+ "xyz": [
248
+ 0.5186161915180565,
249
+ -0.48655164412692764,
250
+ -0.53742919540051
251
+ ]
252
+ }
253
+ },
254
+ "grasp_19": {
255
+ "confidence": 0.9470342993736267,
256
+ "position": [
257
+ 0.14982764376327395,
258
+ -0.005270586458209436,
259
+ 0.0037273557404660096
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4957120443737649,
263
+ "xyz": [
264
+ -0.5112187986107875,
265
+ -0.49637053015648525,
266
+ 0.4965291590651002
267
+ ]
268
+ }
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "part_name": "handle grip insert",
274
+ "mask_color": "Pink",
275
+ "graspable": true,
276
+ "grasp_scenarios": [
277
+ {
278
+ "scenario": "grasp the rubberized insert area for a secure non-slip pickup",
279
+ "confidence": 0.9
280
+ },
281
+ {
282
+ "scenario": "pinch the insert region to stabilize the razor during precise orientation",
283
+ "confidence": 0.78
284
+ }
285
+ ],
286
+ "functional_labels": [
287
+ "improve grip traction",
288
+ "reduce slipping",
289
+ "cushion hand contact",
290
+ "aid precise control"
291
+ ],
292
+ "semantic_description": "Elongated dark rubber-like inset set into the handle, with a matte slightly textured non-slip surface running along the center of the blue plastic grip.",
293
+ "id": 8,
294
+ "grasp_group": {
295
+ "grasp_40": {
296
+ "confidence": 0.9603785276412964,
297
+ "position": [
298
+ 0.13771696342155337,
299
+ 0.046436729266133625,
300
+ 0.012006478851162683
301
+ ],
302
+ "orientation": {
303
+ "w": 0.11990318542303396,
304
+ "xyz": [
305
+ 0.7046082035256601,
306
+ 0.22905927942066606,
307
+ -0.6608194550412668
308
+ ]
309
+ }
310
+ },
311
+ "grasp_42": {
312
+ "confidence": 0.9595600962638855,
313
+ "position": [
314
+ 0.13562728418037295,
315
+ 0.04595429672190221,
316
+ 0.006494908129297983
317
+ ],
318
+ "orientation": {
319
+ "w": 0.14252608347414109,
320
+ "xyz": [
321
+ 0.6945525455079357,
322
+ 0.207441501775678,
323
+ -0.6739815282327998
324
+ ]
325
+ }
326
+ },
327
+ "grasp_43": {
328
+ "confidence": 0.9582424759864807,
329
+ "position": [
330
+ 0.13989523006603122,
331
+ 0.04808292014786275,
332
+ -0.0018714602324507723
333
+ ],
334
+ "orientation": {
335
+ "w": 0.19277094387224972,
336
+ "xyz": [
337
+ 0.6778425521006899,
338
+ 0.17566701201262191,
339
+ -0.6873935835100463
340
+ ]
341
+ }
342
+ },
343
+ "grasp_44": {
344
+ "confidence": 0.9574047327041626,
345
+ "position": [
346
+ 0.13262176467105746,
347
+ 0.04620420782157453,
348
+ 0.006793357433252822
349
+ ],
350
+ "orientation": {
351
+ "w": 0.6686160808995741,
352
+ "xyz": [
353
+ 0.2033360627590875,
354
+ -0.700035634003588,
355
+ 0.14682333966138258
356
+ ]
357
+ }
358
+ },
359
+ "grasp_46": {
360
+ "confidence": 0.956718385219574,
361
+ "position": [
362
+ 0.13699330342933536,
363
+ 0.04433764366694959,
364
+ -0.0004309531927901844
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6872735723927863,
368
+ "xyz": [
369
+ 0.16457041986788618,
370
+ -0.6854399423512163,
371
+ 0.17533881208827318
372
+ ]
373
+ }
374
+ },
375
+ "grasp_47": {
376
+ "confidence": 0.9557862281799316,
377
+ "position": [
378
+ 0.14111457718536258,
379
+ 0.047682812793937046,
380
+ -0.002865009241304506
381
+ ],
382
+ "orientation": {
383
+ "w": 0.19674098040015245,
384
+ "xyz": [
385
+ 0.6759980848246874,
386
+ 0.17074112369731187,
387
+ -0.6893236138586295
388
+ ]
389
+ }
390
+ },
391
+ "grasp_48": {
392
+ "confidence": 0.9545367360115051,
393
+ "position": [
394
+ 0.1423499728552997,
395
+ 0.043304218335833866,
396
+ -0.005931890102601756
397
+ ],
398
+ "orientation": {
399
+ "w": 0.7037289319666221,
400
+ "xyz": [
401
+ 0.1273871198215316,
402
+ -0.6694024341800824,
403
+ 0.20109324486534202
404
+ ]
405
+ }
406
+ },
407
+ "grasp_49": {
408
+ "confidence": 0.9543779492378235,
409
+ "position": [
410
+ 0.13823504699394107,
411
+ -0.047827107475313824,
412
+ 0.004311789759867679
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6715889511904104,
416
+ "xyz": [
417
+ -0.20145213160300682,
418
+ -0.694315180403858,
419
+ -0.16220896884058922
420
+ ]
421
+ }
422
+ },
423
+ "grasp_51": {
424
+ "confidence": 0.952508270740509,
425
+ "position": [
426
+ 0.13604317558929324,
427
+ 0.04404486192652257,
428
+ 0.012379303110265027
429
+ ],
430
+ "orientation": {
431
+ "w": 0.6665497344906178,
432
+ "xyz": [
433
+ 0.20727080381927915,
434
+ -0.705908742945351,
435
+ 0.12017949895015893
436
+ ]
437
+ }
438
+ },
439
+ "grasp_52": {
440
+ "confidence": 0.9502836465835571,
441
+ "position": [
442
+ 0.12760484172031283,
443
+ 0.04864878429361852,
444
+ 0.0056009748964243045
445
+ ],
446
+ "orientation": {
447
+ "w": 0.15519360016748754,
448
+ "xyz": [
449
+ 0.6934500557169183,
450
+ 0.21020226401429754,
451
+ -0.6714588408059876
452
+ ]
453
+ }
454
+ },
455
+ "grasp_54": {
456
+ "confidence": 0.9490441679954529,
457
+ "position": [
458
+ 0.1473502959124744,
459
+ -0.007281398509803694,
460
+ 0.00411638990181018
461
+ ],
462
+ "orientation": {
463
+ "w": 0.7025292824155598,
464
+ "xyz": [
465
+ -0.0646709051365135,
466
+ -0.7080249531397295,
467
+ 0.031160024213496104
468
+ ]
469
+ }
470
+ },
471
+ "grasp_56": {
472
+ "confidence": 0.9476894736289978,
473
+ "position": [
474
+ 0.14728832198306918,
475
+ -0.00050192453636555,
476
+ -0.0008756032316341589
477
+ ],
478
+ "orientation": {
479
+ "w": 0.03101013985408538,
480
+ "xyz": [
481
+ 0.7148053812288854,
482
+ -0.015046122519522531,
483
+ -0.6984735158827321
484
+ ]
485
+ }
486
+ },
487
+ "grasp_57": {
488
+ "confidence": 0.9464700818061829,
489
+ "position": [
490
+ 0.1501816059462726,
491
+ -0.002787095138046425,
492
+ 0.0007846507955946436
493
+ ],
494
+ "orientation": {
495
+ "w": 0.7074951145262077,
496
+ "xyz": [
497
+ -0.007811027531098862,
498
+ -0.7065304978933135,
499
+ -0.014293576077492896
500
+ ]
501
+ }
502
+ },
503
+ "grasp_58": {
504
+ "confidence": 0.945586085319519,
505
+ "position": [
506
+ 0.1224961276166141,
507
+ 0.05428225023933919,
508
+ 0.0019428276004873624
509
+ ],
510
+ "orientation": {
511
+ "w": 0.20128474601030158,
512
+ "xyz": [
513
+ 0.6747801204542885,
514
+ 0.20075530613810355,
515
+ -0.6810679460381762
516
+ ]
517
+ }
518
+ }
519
+ }
520
+ },
521
+ {
522
+ "part_name": "neck joint",
523
+ "mask_color": "Purple",
524
+ "graspable": true,
525
+ "grasp_scenarios": [
526
+ {
527
+ "scenario": "grasp near the neck joint to manipulate the razor in a compact storage bin",
528
+ "confidence": 0.56
529
+ },
530
+ {
531
+ "scenario": "hold the neck area to stabilize the head during close positioning",
532
+ "confidence": 0.52
533
+ }
534
+ ],
535
+ "functional_labels": [
536
+ "connect handle to cartridge",
537
+ "allow head articulation",
538
+ "transfer force to blade head",
539
+ "support angle adjustment"
540
+ ],
541
+ "semantic_description": "Compact dark plastic neck and pivot housing with a matte finish and smooth hard surface, located between the handle and blade cartridge as the central connector.",
542
+ "id": 5,
543
+ "grasp_group": {
544
+ "grasp_20": {
545
+ "confidence": 0.9829636812210083,
546
+ "position": [
547
+ -0.02604725630953908,
548
+ -0.09633318485430209,
549
+ -0.002790309953070391
550
+ ],
551
+ "orientation": {
552
+ "w": 0.5031889022118649,
553
+ "xyz": [
554
+ -0.5085587826512404,
555
+ 0.4749814357722306,
556
+ 0.5124075808873801
557
+ ]
558
+ }
559
+ },
560
+ "grasp_21": {
561
+ "confidence": 0.9811221361160278,
562
+ "position": [
563
+ -0.018997436854988337,
564
+ 0.09835797397681745,
565
+ 0.0009643894750297477
566
+ ],
567
+ "orientation": {
568
+ "w": 0.48675031871006635,
569
+ "xyz": [
570
+ 0.5048917017506961,
571
+ 0.5123427469057014,
572
+ -0.49564443548985354
573
+ ]
574
+ }
575
+ },
576
+ "grasp_22": {
577
+ "confidence": 0.9811109900474548,
578
+ "position": [
579
+ -0.029699611011892557,
580
+ 0.09745021758863004,
581
+ -0.00020763085785802105
582
+ ],
583
+ "orientation": {
584
+ "w": 0.48901400776296355,
585
+ "xyz": [
586
+ 0.5078218737376722,
587
+ 0.5016528291804923,
588
+ -0.5013249283053578
589
+ ]
590
+ }
591
+ },
592
+ "grasp_24": {
593
+ "confidence": 0.9763277173042297,
594
+ "position": [
595
+ 0.016973729711025953,
596
+ -0.0882949322622153,
597
+ -0.0009737053173921595
598
+ ],
599
+ "orientation": {
600
+ "w": 0.36639340428016004,
601
+ "xyz": [
602
+ -0.6166630433232765,
603
+ 0.3536678627739174,
604
+ 0.6003345793307259
605
+ ]
606
+ }
607
+ },
608
+ "grasp_25": {
609
+ "confidence": 0.9713121056556702,
610
+ "position": [
611
+ 0.017783093731850386,
612
+ 0.0884214848119882,
613
+ 0.002085025656469952
614
+ ],
615
+ "orientation": {
616
+ "w": 0.35005456097567256,
617
+ "xyz": [
618
+ 0.6172477300200149,
619
+ 0.3643335207185967,
620
+ -0.6030987728440996
621
+ ]
622
+ }
623
+ },
624
+ "grasp_27": {
625
+ "confidence": 0.9396355748176575,
626
+ "position": [
627
+ 0.026099957060068846,
628
+ 0.08084167389461072,
629
+ -0.025791756341732253
630
+ ],
631
+ "orientation": {
632
+ "w": 0.6657150952658051,
633
+ "xyz": [
634
+ 0.23998306636807648,
635
+ -0.5789158966430485,
636
+ 0.40507767700256064
637
+ ]
638
+ }
639
+ },
640
+ "grasp_28": {
641
+ "confidence": 0.8864817023277283,
642
+ "position": [
643
+ -0.06383728655055165,
644
+ 0.08793251810857328,
645
+ -0.002667550229034532
646
+ ],
647
+ "orientation": {
648
+ "w": 0.6054113660433237,
649
+ "xyz": [
650
+ 0.3591062113499056,
651
+ 0.6090888762364625,
652
+ -0.36541831875328395
653
+ ]
654
+ }
655
+ },
656
+ "grasp_30": {
657
+ "confidence": 0.6673627495765686,
658
+ "position": [
659
+ -0.12342495517805219,
660
+ 0.0017550600532558747,
661
+ -0.009814412797368277
662
+ ],
663
+ "orientation": {
664
+ "w": 0.49763340195759975,
665
+ "xyz": [
666
+ -0.5003235493036301,
667
+ 0.4697519155459746,
668
+ -0.5304436644067031
669
+ ]
670
+ }
671
+ },
672
+ "grasp_31": {
673
+ "confidence": 0.9842079281806946,
674
+ "position": [
675
+ -0.0271363933570683,
676
+ 0.10122741608211072,
677
+ -0.0009546793867230008
678
+ ],
679
+ "orientation": {
680
+ "w": 0.48377066675593905,
681
+ "xyz": [
682
+ 0.5143796387611218,
683
+ 0.49448109321165057,
684
+ -0.5068214455512944
685
+ ]
686
+ }
687
+ },
688
+ "grasp_32": {
689
+ "confidence": 0.9836620688438416,
690
+ "position": [
691
+ -0.029250521678477526,
692
+ 0.10064892320224317,
693
+ -0.0007165580741457234
694
+ ],
695
+ "orientation": {
696
+ "w": 0.4897130985413936,
697
+ "xyz": [
698
+ 0.5111603736479237,
699
+ 0.49959221947600563,
700
+ -0.4993032823526604
701
+ ]
702
+ }
703
+ },
704
+ "grasp_34": {
705
+ "confidence": 0.9768283367156982,
706
+ "position": [
707
+ 0.020256423857063055,
708
+ 0.08914217947312864,
709
+ 0.003944377416246425
710
+ ],
711
+ "orientation": {
712
+ "w": 0.6111483150327158,
713
+ "xyz": [
714
+ 0.37332939634821405,
715
+ -0.6146013828521956,
716
+ 0.33073862648792557
717
+ ]
718
+ }
719
+ },
720
+ "grasp_35": {
721
+ "confidence": 0.9754275679588318,
722
+ "position": [
723
+ -0.047670156229287386,
724
+ -0.09400060923508136,
725
+ 0.03001178847762276
726
+ ],
727
+ "orientation": {
728
+ "w": 0.4702524068870898,
729
+ "xyz": [
730
+ -0.5428690637670391,
731
+ 0.5995675572115617,
732
+ 0.3530929024505556
733
+ ]
734
+ }
735
+ },
736
+ "grasp_37": {
737
+ "confidence": 0.985185444355011,
738
+ "position": [
739
+ 0.01428656606003642,
740
+ 0.09314432589599164,
741
+ -0.0011935926727346668
742
+ ],
743
+ "orientation": {
744
+ "w": 0.37260920339717685,
745
+ "xyz": [
746
+ 0.5959920281766112,
747
+ 0.36114606137928473,
748
+ -0.6128045416312453
749
+ ]
750
+ }
751
+ }
752
+ }
753
+ },
754
+ {
755
+ "part_name": "blade cartridge frame",
756
+ "mask_color": "White",
757
+ "graspable": true,
758
+ "grasp_scenarios": [
759
+ {
760
+ "scenario": "grasp the cartridge sides to replace or inspect the head",
761
+ "confidence": 0.41
762
+ },
763
+ {
764
+ "scenario": "pinch the cartridge frame for careful disposal handling",
765
+ "confidence": 0.33
766
+ }
767
+ ],
768
+ "functional_labels": [
769
+ "hold blade elements",
770
+ "present shaving edge",
771
+ "support cartridge replacement",
772
+ "support contact with the shaving surface"
773
+ ],
774
+ "semantic_description": "Broad rectangular cartridge body at the front of the razor with a light-colored top section and darker blue side/end portions, surrounding the blade assembly.",
775
+ "id": 17,
776
+ "grasp_group": {
777
+ "grasp_64": {
778
+ "confidence": 0.9634829759597778,
779
+ "position": [
780
+ -0.04295956017449498,
781
+ 0.1042920783002046,
782
+ -0.002824200315899361
783
+ ],
784
+ "orientation": {
785
+ "w": 0.4911265975398443,
786
+ "xyz": [
787
+ 0.5150082258624267,
788
+ 0.4869815423369741,
789
+ -0.5063695981257897
790
+ ]
791
+ }
792
+ },
793
+ "grasp_73": {
794
+ "confidence": 0.9640238881111145,
795
+ "position": [
796
+ -0.0063872864047880284,
797
+ -0.09368362428358523,
798
+ -0.007099380715317238
799
+ ],
800
+ "orientation": {
801
+ "w": 0.39401944935079514,
802
+ "xyz": [
803
+ -0.5994559295183864,
804
+ 0.3669158742134476,
805
+ 0.5922617692783526
806
+ ]
807
+ }
808
+ },
809
+ "grasp_74": {
810
+ "confidence": 0.9357937574386597,
811
+ "position": [
812
+ -0.09361975686624646,
813
+ 0.086875720306125,
814
+ -0.0023892384474493156
815
+ ],
816
+ "orientation": {
817
+ "w": 0.5995153835439174,
818
+ "xyz": [
819
+ 0.3560687872399241,
820
+ 0.6126920037943854,
821
+ -0.37202799912654505
822
+ ]
823
+ }
824
+ },
825
+ "grasp_75": {
826
+ "confidence": 0.9731506109237671,
827
+ "position": [
828
+ -0.12605021940544248,
829
+ 0.059647160007443745,
830
+ -0.005676679311818589
831
+ ],
832
+ "orientation": {
833
+ "w": 0.6844987459507368,
834
+ "xyz": [
835
+ 0.1746962191235918,
836
+ 0.6822767230500567,
837
+ -0.1882582561267042
838
+ ]
839
+ }
840
+ },
841
+ "grasp_77": {
842
+ "confidence": 0.9680545330047607,
843
+ "position": [
844
+ -0.13954700576141477,
845
+ 0.016346197931852657,
846
+ -0.0007505701491936634
847
+ ],
848
+ "orientation": {
849
+ "w": 0.6974596439329273,
850
+ "xyz": [
851
+ 0.04890808321812081,
852
+ 0.7149081983072212,
853
+ -0.008019505845497394
854
+ ]
855
+ }
856
+ },
857
+ "grasp_78": {
858
+ "confidence": 0.9677907824516296,
859
+ "position": [
860
+ -0.11431612865999341,
861
+ -0.07556214334181277,
862
+ -0.009633816311634291
863
+ ],
864
+ "orientation": {
865
+ "w": 0.6708678030571126,
866
+ "xyz": [
867
+ -0.2577035209748612,
868
+ 0.6351404483294195,
869
+ 0.2830581159309641
870
+ ]
871
+ }
872
+ }
873
+ }
874
+ },
875
+ {
876
+ "part_name": "lubricating strip",
877
+ "mask_color": "Red",
878
+ "graspable": false,
879
+ "grasp_scenarios": [],
880
+ "functional_labels": [
881
+ "reduce friction on skin",
882
+ "condition contact area",
883
+ "indicate cartridge wear"
884
+ ],
885
+ "semantic_description": "Thin light blue strip along the top edge of the cartridge, appearing smooth and slightly glossy, positioned above the blades as a small lubricating element.",
886
+ "id": 0,
887
+ "grasp_group": {}
888
+ },
889
+ {
890
+ "part_name": "blade set",
891
+ "mask_color": "Maroon",
892
+ "graspable": false,
893
+ "grasp_scenarios": [],
894
+ "functional_labels": [
895
+ "cut hair",
896
+ "provide shaving edge",
897
+ "perform main shaving action"
898
+ ],
899
+ "semantic_description": "Narrow metallic blade region within the cartridge, appearing silver and reflective with fine parallel edges packed closely across the head.",
900
+ "id": 12,
901
+ "grasp_group": {}
902
+ },
903
+ {
904
+ "part_name": "guard fins",
905
+ "mask_color": "Yellow",
906
+ "graspable": false,
907
+ "grasp_scenarios": [],
908
+ "functional_labels": [
909
+ "guide hairs toward blades",
910
+ "space skin from blades",
911
+ "improve shaving safety"
912
+ ],
913
+ "semantic_description": "Small yellow elastomer-like fins beneath the blade area, with a soft matte look and short ribbed form positioned at the front of the cartridge.",
914
+ "id": 3,
915
+ "grasp_group": {}
916
+ },
917
+ {
918
+ "part_name": "cartridge side cap",
919
+ "mask_color": "Green",
920
+ "graspable": false,
921
+ "grasp_scenarios": [],
922
+ "functional_labels": [
923
+ "finish cartridge side",
924
+ "cover cartridge edge",
925
+ "protect side structure"
926
+ ],
927
+ "semantic_description": "Small dark blue plastic end piece at the side of the cartridge, with a hard smooth surface and compact rounded shape.",
928
+ "id": 1,
929
+ "grasp_group": {}
930
+ },
931
+ {
932
+ "part_name": "head support arm",
933
+ "mask_color": "Orange",
934
+ "graspable": false,
935
+ "grasp_scenarios": [],
936
+ "functional_labels": [
937
+ "support cartridge attachment",
938
+ "brace the cartridge near the pivot",
939
+ "transfer force from neck to head"
940
+ ],
941
+ "semantic_description": "Small dark plastic support feature near the head-neck interface, appearing as a compact angled structural piece beneath the cartridge.",
942
+ "id": 4,
943
+ "grasp_group": {}
944
+ },
945
+ {
946
+ "part_name": "cartridge end cap",
947
+ "mask_color": "Navy",
948
+ "graspable": false,
949
+ "grasp_scenarios": [],
950
+ "functional_labels": [
951
+ "finish cartridge end",
952
+ "protect cartridge edge",
953
+ "provide minor impact protection"
954
+ ],
955
+ "semantic_description": "Small dark blue rounded end cap at the outer end of the cartridge, with a smooth hard finish.",
956
+ "id": 13,
957
+ "grasp_group": {}
958
+ }
959
+ ],
960
+ "quality_check": {
961
+ "success": false,
962
+ "message": "Several mask-color part identities are swapped; white is end cap, red is cartridge frame, green is lubricating strip."
963
+ }
964
+ }
dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e16c8e6abc36d4f519a2eb977509b5c364240790c838d04e9c86ad5107084b4
3
+ size 3801652
dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/razor_038.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>