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
9730969
·
verified ·
1 Parent(s): 678841e

Add asset bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/affordance/affordance_annot.json +648 -0
  3. dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/soap_dish_027.urdf +1 -0
.gitattributes CHANGED
@@ -5680,3 +5680,4 @@ dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/afforda
5680
  dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5681
  dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5682
  dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5680
  dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5681
  dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5682
  dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5683
+ dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,648 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "lid",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the front tab or edge of the lid to open the soap case",
10
+ "confidence": 0.88
11
+ },
12
+ {
13
+ "scenario": "hold the lid lightly while repositioning the open case",
14
+ "confidence": 0.56
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the soap compartment",
19
+ "protect soap from contamination",
20
+ "open and close the case",
21
+ "help retain contents during transport"
22
+ ],
23
+ "semantic_description": "Large off-white to beige plastic lid with a smooth matte surface and rounded rectangular shape, forming the top half of the soap case with a small front latch tab.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.97801673412323,
28
+ "position": [
29
+ -0.03323768498376012,
30
+ -0.1479218740205397,
31
+ 0.032080394215881824
32
+ ],
33
+ "orientation": {
34
+ "w": 0.13369918476608764,
35
+ "xyz": [
36
+ -0.11299625622188217,
37
+ 0.6949401301532508,
38
+ 0.697434290507217
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9777573943138123,
44
+ "position": [
45
+ -0.055227645207196474,
46
+ -0.14276640007301467,
47
+ 0.052947320975363255
48
+ ],
49
+ "orientation": {
50
+ "w": 0.18187155125239285,
51
+ "xyz": [
52
+ -0.057346318207558,
53
+ 0.7484770245654696,
54
+ 0.6351505981503184
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9776672720909119,
60
+ "position": [
61
+ -0.030215342063456774,
62
+ -0.1431242663602461,
63
+ 0.038555909879505634
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6945035728875312,
67
+ "xyz": [
68
+ -0.7038691091371063,
69
+ -0.11940271359534649,
70
+ -0.08930877020236082
71
+ ]
72
+ }
73
+ },
74
+ "grasp_5": {
75
+ "confidence": 0.9766652584075928,
76
+ "position": [
77
+ -0.04050873639062047,
78
+ -0.14105749020382063,
79
+ 0.05117305088788271
80
+ ],
81
+ "orientation": {
82
+ "w": 0.12360773043948232,
83
+ "xyz": [
84
+ -0.09913068151341305,
85
+ 0.7104401820624784,
86
+ 0.6856886937009526
87
+ ]
88
+ }
89
+ },
90
+ "grasp_6": {
91
+ "confidence": 0.9765730500221252,
92
+ "position": [
93
+ -0.026026009116321802,
94
+ -0.14578042814537184,
95
+ 0.01403168123215437
96
+ ],
97
+ "orientation": {
98
+ "w": 0.19180793280111588,
99
+ "xyz": [
100
+ -0.1789850274722999,
101
+ 0.6395750519404747,
102
+ 0.7225772137222719
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9763798117637634,
108
+ "position": [
109
+ -0.036671819631010294,
110
+ -0.1486787337998976,
111
+ 0.02271865401417017
112
+ ],
113
+ "orientation": {
114
+ "w": 0.14107885706874185,
115
+ "xyz": [
116
+ -0.10177064622955288,
117
+ 0.6869463848244286,
118
+ 0.705580722547636
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.9761543869972229,
124
+ "position": [
125
+ -0.02983710402622819,
126
+ -0.1477346558313002,
127
+ 0.035563661716878414
128
+ ],
129
+ "orientation": {
130
+ "w": 0.11463913086707406,
131
+ "xyz": [
132
+ -0.11839310619545325,
133
+ 0.7064738027798094,
134
+ 0.6882846126895973
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.9758339524269104,
140
+ "position": [
141
+ -0.06502471538260579,
142
+ -0.1238233659605612,
143
+ 0.09708380047231913
144
+ ],
145
+ "orientation": {
146
+ "w": 0.46382587332189096,
147
+ "xyz": [
148
+ -0.8640804105848628,
149
+ -0.07182483077955693,
150
+ -0.18185652851676323
151
+ ]
152
+ }
153
+ },
154
+ "grasp_10": {
155
+ "confidence": 0.9757620692253113,
156
+ "position": [
157
+ -0.03341664047911763,
158
+ -0.14357970545097487,
159
+ 0.007499313214793801
160
+ ],
161
+ "orientation": {
162
+ "w": 0.15630566422308356,
163
+ "xyz": [
164
+ -0.11145540867408309,
165
+ 0.6343818893586247,
166
+ 0.748802944480626
167
+ ]
168
+ }
169
+ },
170
+ "grasp_11": {
171
+ "confidence": 0.975531816482544,
172
+ "position": [
173
+ -0.029177083168178797,
174
+ -0.14768773207470076,
175
+ 0.05217489693313837
176
+ ],
177
+ "orientation": {
178
+ "w": 0.10209106325621982,
179
+ "xyz": [
180
+ -0.14726437540818435,
181
+ 0.7403030367369263,
182
+ 0.6479521836809696
183
+ ]
184
+ }
185
+ },
186
+ "grasp_12": {
187
+ "confidence": 0.9754658341407776,
188
+ "position": [
189
+ -0.07351165311411023,
190
+ -0.023466787133656908,
191
+ 0.13383594993501902
192
+ ],
193
+ "orientation": {
194
+ "w": 0.06481660914454584,
195
+ "xyz": [
196
+ 0.9806241606778915,
197
+ 0.01375355638753245,
198
+ 0.18435265758995495
199
+ ]
200
+ }
201
+ },
202
+ "grasp_13": {
203
+ "confidence": 0.9752951264381409,
204
+ "position": [
205
+ -0.052040588576346636,
206
+ -0.13981976995273726,
207
+ 0.04544149059802294
208
+ ],
209
+ "orientation": {
210
+ "w": 0.19337721586802947,
211
+ "xyz": [
212
+ -0.08413221519977473,
213
+ 0.7218744184444437,
214
+ 0.6591087518340232
215
+ ]
216
+ }
217
+ },
218
+ "grasp_14": {
219
+ "confidence": 0.9752580523490906,
220
+ "position": [
221
+ -0.018783228937536478,
222
+ -0.14150658139988082,
223
+ -0.00242912070825696
224
+ ],
225
+ "orientation": {
226
+ "w": 0.2136553356320869,
227
+ "xyz": [
228
+ -0.23158994033776423,
229
+ 0.545985022297237,
230
+ 0.7762846465809929
231
+ ]
232
+ }
233
+ },
234
+ "grasp_15": {
235
+ "confidence": 0.9751870632171631,
236
+ "position": [
237
+ -0.05577130662277341,
238
+ -0.09155180940433638,
239
+ 0.12615735922008753
240
+ ],
241
+ "orientation": {
242
+ "w": 0.10386661282351094,
243
+ "xyz": [
244
+ -0.0033447678596192913,
245
+ 0.9574227977577399,
246
+ 0.26933645427657654
247
+ ]
248
+ }
249
+ },
250
+ "grasp_16": {
251
+ "confidence": 0.9751814007759094,
252
+ "position": [
253
+ -0.05421074898913503,
254
+ -0.033194708470546175,
255
+ 0.14160401467233896
256
+ ],
257
+ "orientation": {
258
+ "w": 0.03157515580196848,
259
+ "xyz": [
260
+ 0.9955461988073736,
261
+ -0.012648053878693902,
262
+ 0.08792498114502181
263
+ ]
264
+ }
265
+ },
266
+ "grasp_17": {
267
+ "confidence": 0.9751129150390625,
268
+ "position": [
269
+ -0.028140390757471323,
270
+ -0.14469803759857314,
271
+ 0.01490679569542408
272
+ ],
273
+ "orientation": {
274
+ "w": 0.7625129482175662,
275
+ "xyz": [
276
+ -0.6264840422249571,
277
+ -0.12172925810921598,
278
+ -0.10617785248446597
279
+ ]
280
+ }
281
+ },
282
+ "grasp_18": {
283
+ "confidence": 0.9750852584838867,
284
+ "position": [
285
+ -0.027232390362769365,
286
+ -0.1428159911374678,
287
+ 0.02596053760498762
288
+ ],
289
+ "orientation": {
290
+ "w": 0.11414078222410093,
291
+ "xyz": [
292
+ -0.1171850854204569,
293
+ 0.6944497349199086,
294
+ 0.700699010458799
295
+ ]
296
+ }
297
+ }
298
+ }
299
+ },
300
+ {
301
+ "part_name": "base tray",
302
+ "mask_color": "Green",
303
+ "graspable": true,
304
+ "grasp_scenarios": [
305
+ {
306
+ "scenario": "grasp the base from the outer sides to pick up the soap case",
307
+ "confidence": 0.9
308
+ },
309
+ {
310
+ "scenario": "hold the base while opening or closing the lid",
311
+ "confidence": 0.86
312
+ },
313
+ {
314
+ "scenario": "grasp the base to place or reposition the case on a surface",
315
+ "confidence": 0.87
316
+ }
317
+ ],
318
+ "functional_labels": [
319
+ "hold the soap",
320
+ "support the whole case",
321
+ "provide the main grasp surface",
322
+ "elevate soap on the perforated platform for drainage"
323
+ ],
324
+ "semantic_description": "Large off-white to beige plastic bottom tray with a smooth matte exterior, rounded rectangular form, and a recessed perforated platform inside for supporting soap above drainage holes.",
325
+ "id": 1,
326
+ "grasp_group": {
327
+ "grasp_20": {
328
+ "confidence": 0.9730187654495239,
329
+ "position": [
330
+ 0.13806827319785953,
331
+ 0.028433318417228293,
332
+ 0.0059425923391245306
333
+ ],
334
+ "orientation": {
335
+ "w": 0.05406169372635821,
336
+ "xyz": [
337
+ 0.7679412504737629,
338
+ 0.016777712020721647,
339
+ -0.6380141671401821
340
+ ]
341
+ }
342
+ },
343
+ "grasp_21": {
344
+ "confidence": 0.9720844030380249,
345
+ "position": [
346
+ 0.14062184048816562,
347
+ 0.003288262458227109,
348
+ 0.0008937655948102474
349
+ ],
350
+ "orientation": {
351
+ "w": 0.03178390521456639,
352
+ "xyz": [
353
+ 0.7601646001858284,
354
+ -0.004494218603889322,
355
+ -0.6489371048050582
356
+ ]
357
+ }
358
+ },
359
+ "grasp_22": {
360
+ "confidence": 0.9703007340431213,
361
+ "position": [
362
+ 0.13927948428317904,
363
+ -0.0069780096600879915,
364
+ -0.006362367421388626
365
+ ],
366
+ "orientation": {
367
+ "w": 0.05579072406937247,
368
+ "xyz": [
369
+ 0.7326036271618828,
370
+ 0.0068208642094849115,
371
+ -0.6783308900444565
372
+ ]
373
+ }
374
+ },
375
+ "grasp_24": {
376
+ "confidence": 0.968666136264801,
377
+ "position": [
378
+ 0.12725970102474093,
379
+ 0.07324884196714265,
380
+ -0.0008819159120321274
381
+ ],
382
+ "orientation": {
383
+ "w": 0.18864502054225932,
384
+ "xyz": [
385
+ 0.7307128365521466,
386
+ 0.15888271999028614,
387
+ -0.6365752807099995
388
+ ]
389
+ }
390
+ },
391
+ "grasp_25": {
392
+ "confidence": 0.9674688577651978,
393
+ "position": [
394
+ 0.13039819849655032,
395
+ 0.03714801480964525,
396
+ -0.007735315710306168
397
+ ],
398
+ "orientation": {
399
+ "w": 0.19673572014946214,
400
+ "xyz": [
401
+ 0.7146055782858065,
402
+ 0.1527052426501525,
403
+ -0.6536933782494961
404
+ ]
405
+ }
406
+ },
407
+ "grasp_26": {
408
+ "confidence": 0.967284083366394,
409
+ "position": [
410
+ 0.1286466713063419,
411
+ 0.05250207072094781,
412
+ -0.004021946340799332
413
+ ],
414
+ "orientation": {
415
+ "w": 0.1483926992306121,
416
+ "xyz": [
417
+ 0.7347137675176142,
418
+ 0.10538964939781814,
419
+ -0.6535046353584124
420
+ ]
421
+ }
422
+ },
423
+ "grasp_27": {
424
+ "confidence": 0.9668706059455872,
425
+ "position": [
426
+ 0.1343209738843143,
427
+ -0.002324096923985053,
428
+ -0.0008936808444559574
429
+ ],
430
+ "orientation": {
431
+ "w": 0.056017225419890265,
432
+ "xyz": [
433
+ 0.7545780197511875,
434
+ 0.011415635275310199,
435
+ -0.6537153553618692
436
+ ]
437
+ }
438
+ },
439
+ "grasp_28": {
440
+ "confidence": 0.9668307304382324,
441
+ "position": [
442
+ 0.1183985541574657,
443
+ 0.10058829298213823,
444
+ -0.01323558297008276
445
+ ],
446
+ "orientation": {
447
+ "w": 0.1940797272446586,
448
+ "xyz": [
449
+ 0.6886137002057932,
450
+ 0.17651085788678833,
451
+ -0.6760089854503377
452
+ ]
453
+ }
454
+ },
455
+ "grasp_29": {
456
+ "confidence": 0.9666140079498291,
457
+ "position": [
458
+ 0.139077081810683,
459
+ -0.028555164877616335,
460
+ 0.004506457829847932
461
+ ],
462
+ "orientation": {
463
+ "w": 0.6414244376778019,
464
+ "xyz": [
465
+ -0.019943136229678384,
466
+ -0.766924907289822,
467
+ -0.0017744423175561415
468
+ ]
469
+ }
470
+ },
471
+ "grasp_30": {
472
+ "confidence": 0.9665586352348328,
473
+ "position": [
474
+ 0.1359517122618854,
475
+ -0.01097144542291062,
476
+ 0.022584623657166958
477
+ ],
478
+ "orientation": {
479
+ "w": 0.031425862259612275,
480
+ "xyz": [
481
+ 0.8175558192676716,
482
+ 0.0003239987351695284,
483
+ -0.5749911239207312
484
+ ]
485
+ }
486
+ },
487
+ "grasp_31": {
488
+ "confidence": 0.966475784778595,
489
+ "position": [
490
+ 0.13300180388614535,
491
+ 0.04494766628340585,
492
+ 0.0062142605893313885
493
+ ],
494
+ "orientation": {
495
+ "w": 0.15985639687735473,
496
+ "xyz": [
497
+ 0.7588764047860488,
498
+ 0.10893104127491038,
499
+ -0.6218412682374456
500
+ ]
501
+ }
502
+ },
503
+ "grasp_32": {
504
+ "confidence": 0.9664546847343445,
505
+ "position": [
506
+ 0.13018302572891116,
507
+ 0.05956748237804277,
508
+ 0.005148949756403454
509
+ ],
510
+ "orientation": {
511
+ "w": 0.6286219600256916,
512
+ "xyz": [
513
+ 0.11727324293342407,
514
+ -0.7522533307868312,
515
+ 0.15873356351274523
516
+ ]
517
+ }
518
+ },
519
+ "grasp_33": {
520
+ "confidence": 0.9662396907806396,
521
+ "position": [
522
+ 0.1308760936371982,
523
+ 0.06222144251660211,
524
+ -0.0022567538544535637
525
+ ],
526
+ "orientation": {
527
+ "w": 0.19191438373544173,
528
+ "xyz": [
529
+ 0.7268387471332134,
530
+ 0.15928702620530721,
531
+ -0.6399233924962705
532
+ ]
533
+ }
534
+ },
535
+ "grasp_35": {
536
+ "confidence": 0.9659619927406311,
537
+ "position": [
538
+ 0.1313334251753986,
539
+ 0.01626274844602449,
540
+ -0.006145902909338474
541
+ ],
542
+ "orientation": {
543
+ "w": 0.1481131721863138,
544
+ "xyz": [
545
+ 0.7334542218931935,
546
+ 0.10247741396325549,
547
+ -0.655443187651959
548
+ ]
549
+ }
550
+ },
551
+ "grasp_36": {
552
+ "confidence": 0.9654963612556458,
553
+ "position": [
554
+ 0.13330705417320132,
555
+ 0.04965733846620424,
556
+ 0.0038788990350440145
557
+ ],
558
+ "orientation": {
559
+ "w": 0.6483765504975715,
560
+ "xyz": [
561
+ 0.09847740120430612,
562
+ -0.7514195789051542,
563
+ 0.07265443314015733
564
+ ]
565
+ }
566
+ },
567
+ "grasp_38": {
568
+ "confidence": 0.9650532007217407,
569
+ "position": [
570
+ 0.1387564088217914,
571
+ -0.02302970441087382,
572
+ -0.0031471876427531242
573
+ ],
574
+ "orientation": {
575
+ "w": 0.6635332943970865,
576
+ "xyz": [
577
+ -0.03734413938260811,
578
+ -0.746750660982205,
579
+ -0.026314117940020604
580
+ ]
581
+ }
582
+ },
583
+ "grasp_39": {
584
+ "confidence": 0.9646087288856506,
585
+ "position": [
586
+ 0.13443030370399356,
587
+ 0.022642794232524466,
588
+ -0.016769076697528362
589
+ ],
590
+ "orientation": {
591
+ "w": 0.14072446212734685,
592
+ "xyz": [
593
+ 0.690157107974787,
594
+ 0.08674716560474749,
595
+ -0.7045244646784024
596
+ ]
597
+ }
598
+ }
599
+ }
600
+ },
601
+ {
602
+ "part_name": "left hinge loop",
603
+ "mask_color": "Yellow",
604
+ "graspable": false,
605
+ "grasp_scenarios": [],
606
+ "functional_labels": [
607
+ "connect lid to base at one hinge point",
608
+ "support pivoting motion",
609
+ "help align the lid during opening and closing"
610
+ ],
611
+ "semantic_description": "Small beige plastic hinge loop at the rear left side of the case, cylindrical and smooth, visible as one of the exposed hinge joints between the lid and base.",
612
+ "id": 3,
613
+ "grasp_group": {}
614
+ },
615
+ {
616
+ "part_name": "right hinge loop",
617
+ "mask_color": "Orange",
618
+ "graspable": false,
619
+ "grasp_scenarios": [],
620
+ "functional_labels": [
621
+ "connect lid to base at one hinge point",
622
+ "support pivoting motion",
623
+ "help align the lid during opening and closing"
624
+ ],
625
+ "semantic_description": "Small beige plastic hinge loop at the rear right side of the case, cylindrical and smooth, visible as one of the exposed hinge joints between the lid and base.",
626
+ "id": 4,
627
+ "grasp_group": {}
628
+ },
629
+ {
630
+ "part_name": "center hinge pin segment",
631
+ "mask_color": "Blue",
632
+ "graspable": false,
633
+ "grasp_scenarios": [],
634
+ "functional_labels": [
635
+ "form part of the hinge axle",
636
+ "help the lid rotate relative to the base",
637
+ "maintain alignment of the hinge assembly"
638
+ ],
639
+ "semantic_description": "Very small beige plastic cylindrical hinge pin segment at the middle rear hinge area between the other hinge elements, with a smooth hard finish.",
640
+ "id": 2,
641
+ "grasp_group": {}
642
+ }
643
+ ],
644
+ "quality_check": {
645
+ "success": true,
646
+ "message": "YES"
647
+ }
648
+ }
dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e025d5a44d8d4affbe8484211d970a8cc69db21ded652ad87329bebb668b741a
3
+ size 3809896
dataset/bathroom_supplies/bath_products/c3b51a4bc7f556d3b0e43cef9fdacabc/soap_dish_027.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>