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
b28b595
·
verified ·
1 Parent(s): 6f75bce

Add asset bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/affordance_annot.json +640 -0
  3. dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.urdf +1 -0
.gitattributes CHANGED
@@ -5757,3 +5757,4 @@ dataset/bathroom_supplies/personal_care/1f63bf9858285b398d0c5a31aa622730/afforda
5757
  dataset/bathroom_supplies/personal_care/20c64eca019153bb99d8a6401011359d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5758
  dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5759
  dataset/bathroom_supplies/personal_care/247d41c27ac15c42a4b0e3e16d242fc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5757
  dataset/bathroom_supplies/personal_care/20c64eca019153bb99d8a6401011359d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5758
  dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5759
  dataset/bathroom_supplies/personal_care/247d41c27ac15c42a4b0e3e16d242fc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5760
+ dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/affordance_annot.json ADDED
@@ -0,0 +1,640 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "razor handle",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and hold the razor during shaving or transport",
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 docking or charging",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support and hold the razor",
24
+ "orient the shaving head",
25
+ "house internal components",
26
+ "provide reach away from blades"
27
+ ],
28
+ "semantic_description": "Long slightly curved dark gray plastic handle with a mostly matte smooth hard surface, medium-sized and tapering toward the head, with a round button and small indicator marks on the front.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9890235662460327,
33
+ "position": [
34
+ 0.0382768614217639,
35
+ 0.0565121178078698,
36
+ 0.08313206724778865
37
+ ],
38
+ "orientation": {
39
+ "w": 0.20602541857346285,
40
+ "xyz": [
41
+ 0.6673591660594,
42
+ -0.6821167358030451,
43
+ 0.21656876301888564
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9881431460380554,
49
+ "position": [
50
+ 0.044080945663154125,
51
+ 0.05463800248980988,
52
+ 0.08510947368995403
53
+ ],
54
+ "orientation": {
55
+ "w": 0.20101840710444177,
56
+ "xyz": [
57
+ 0.6739059282955708,
58
+ -0.6802199294676847,
59
+ 0.20674440105661046
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9877172112464905,
65
+ "position": [
66
+ 0.04194535594433546,
67
+ -0.05504922899126541,
68
+ -0.08869504042013432
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6862419722160705,
72
+ "xyz": [
73
+ -0.16888045463543833,
74
+ 0.1987118806403212,
75
+ 0.6790176257679261
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9874769449234009,
81
+ "position": [
82
+ 0.05548272933810949,
83
+ 0.029753473078017123,
84
+ 0.09972307972566341
85
+ ],
86
+ "orientation": {
87
+ "w": 0.08591757547609413,
88
+ "xyz": [
89
+ 0.6898994665667907,
90
+ -0.7111059584047787,
91
+ 0.10481036292461142
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9870526194572449,
97
+ "position": [
98
+ 0.03790654893964529,
99
+ 0.061585385774378665,
100
+ 0.0795165985073254
101
+ ],
102
+ "orientation": {
103
+ "w": 0.22997156790997178,
104
+ "xyz": [
105
+ 0.6752984796590459,
106
+ 0.6641099297115706,
107
+ -0.22370302318409388
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9870442748069763,
113
+ "position": [
114
+ 0.03773018252104521,
115
+ 0.06734825340390671,
116
+ 0.07600447677032207
117
+ ],
118
+ "orientation": {
119
+ "w": 0.24585155260837935,
120
+ "xyz": [
121
+ 0.6604843035576765,
122
+ -0.6624747903737126,
123
+ 0.25385951026756065
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9869410395622253,
129
+ "position": [
130
+ 0.030436220578849316,
131
+ 0.05433510286093224,
132
+ 0.08519243590490078
133
+ ],
134
+ "orientation": {
135
+ "w": 0.19326749551603695,
136
+ "xyz": [
137
+ 0.6803196951919869,
138
+ 0.678955271459122,
139
+ -0.1970597038176782
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9868125319480896,
145
+ "position": [
146
+ 0.03684759419411421,
147
+ 0.05889367726922501,
148
+ 0.0807496546949551
149
+ ],
150
+ "orientation": {
151
+ "w": 0.2025797660344037,
152
+ "xyz": [
153
+ 0.6711926230197726,
154
+ 0.67964917803735,
155
+ -0.21572875559470014
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9865556955337524,
161
+ "position": [
162
+ 0.030945773236453533,
163
+ 0.07212278661609162,
164
+ 0.06930788747922634
165
+ ],
166
+ "orientation": {
167
+ "w": 0.2855558569414,
168
+ "xyz": [
169
+ 0.6532845480907071,
170
+ 0.6512644193302555,
171
+ -0.25986882827074115
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9865530133247375,
177
+ "position": [
178
+ 0.048413521610200405,
179
+ 0.05343705830455292,
180
+ 0.08465252958194469
181
+ ],
182
+ "orientation": {
183
+ "w": 0.1917764753027904,
184
+ "xyz": [
185
+ 0.6772390043762473,
186
+ -0.6793239909309267,
187
+ 0.2075765637483816
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9864920973777771,
193
+ "position": [
194
+ 0.04813030268996954,
195
+ 0.0754681196558522,
196
+ 0.0689010932292149
197
+ ],
198
+ "orientation": {
199
+ "w": 0.2897430869558476,
200
+ "xyz": [
201
+ 0.6516004196435237,
202
+ 0.6504773570524642,
203
+ -0.261428851972617
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9863889813423157,
209
+ "position": [
210
+ 0.05022041779011488,
211
+ 0.0539694693434285,
212
+ 0.08395929776088451
213
+ ],
214
+ "orientation": {
215
+ "w": 0.19739859127533782,
216
+ "xyz": [
217
+ 0.6706238106401792,
218
+ -0.68401911724327,
219
+ 0.20836349970831086
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9863507151603699,
225
+ "position": [
226
+ 0.03509713988751173,
227
+ 0.02595181619108189,
228
+ 0.10034189514772152
229
+ ],
230
+ "orientation": {
231
+ "w": 0.07352393162283975,
232
+ "xyz": [
233
+ 0.7055770523126275,
234
+ 0.6975533056056137,
235
+ -0.10086942335130557
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9863147735595703,
241
+ "position": [
242
+ 0.043559770099818707,
243
+ 0.02099568625271786,
244
+ 0.10053525261537288
245
+ ],
246
+ "orientation": {
247
+ "w": 0.06078757278037457,
248
+ "xyz": [
249
+ 0.7068014961225206,
250
+ 0.699857630989911,
251
+ -0.08328152507985952
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9859946966171265,
257
+ "position": [
258
+ 0.04111165460199118,
259
+ 0.09658550885797013,
260
+ 0.036032618507306324
261
+ ],
262
+ "orientation": {
263
+ "w": 0.40779655843355284,
264
+ "xyz": [
265
+ 0.5836273583672258,
266
+ 0.5858040606633687,
267
+ -0.38718816614838863
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9854873418807983,
273
+ "position": [
274
+ 0.039147681556642056,
275
+ 0.022549534638528712,
276
+ 0.1000290005649731
277
+ ],
278
+ "orientation": {
279
+ "w": 0.05513691141173776,
280
+ "xyz": [
281
+ 0.7048665811981576,
282
+ 0.701551666792637,
283
+ -0.08915314088952754
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9854587316513062,
289
+ "position": [
290
+ 0.04775196220725775,
291
+ 0.057488520120386966,
292
+ 0.08274324379817699
293
+ ],
294
+ "orientation": {
295
+ "w": 0.21243688143076814,
296
+ "xyz": [
297
+ 0.6792624481271554,
298
+ 0.6727639469090528,
299
+ -0.2021429437591793
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.9854241013526917,
305
+ "position": [
306
+ 0.03139351587742567,
307
+ 0.06167222601652611,
308
+ 0.0803139149393246
309
+ ],
310
+ "orientation": {
311
+ "w": 0.22447293818748654,
312
+ "xyz": [
313
+ 0.6623464822508311,
314
+ 0.6738882627362647,
315
+ -0.2382931950722165
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9851003289222717,
321
+ "position": [
322
+ 0.05845423694700003,
323
+ -0.0398367154848529,
324
+ -0.09700964249714161
325
+ ],
326
+ "orientation": {
327
+ "w": 0.6949649581715407,
328
+ "xyz": [
329
+ -0.11113019254826735,
330
+ 0.15354602053715105,
331
+ 0.6936118560081125
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ },
337
+ {
338
+ "part_name": "razor head",
339
+ "mask_color": "Cyan",
340
+ "graspable": true,
341
+ "grasp_scenarios": [
342
+ {
343
+ "scenario": "delicately grasp the razor head to reorient the razor during maintenance",
344
+ "confidence": 0.33
345
+ },
346
+ {
347
+ "scenario": "hold the head lightly to stabilize the razor while attaching or inspecting it",
348
+ "confidence": 0.29
349
+ }
350
+ ],
351
+ "functional_labels": [
352
+ "shave hair",
353
+ "contact the skin",
354
+ "hold the rotary cutters",
355
+ "pivot against the face",
356
+ "define cutting direction"
357
+ ],
358
+ "semantic_description": "Compact tri-lobed shaving head assembly in dark gray and silver with hard plastic and metal-looking parts, a smooth reflective finish around the circular cutter faces, and a small rounded form at the top of the handle.",
359
+ "id": 6,
360
+ "grasp_group": {
361
+ "grasp_20": {
362
+ "confidence": 0.9324374198913574,
363
+ "position": [
364
+ -0.1536499122157693,
365
+ 0.020097993736271746,
366
+ -0.04790776081426884
367
+ ],
368
+ "orientation": {
369
+ "w": 0.5384920429762188,
370
+ "xyz": [
371
+ 0.4607870447557668,
372
+ 0.24778092313354128,
373
+ 0.6605348084451228
374
+ ]
375
+ }
376
+ },
377
+ "grasp_21": {
378
+ "confidence": 0.9314218759536743,
379
+ "position": [
380
+ -0.05203610751777887,
381
+ 0.09300935683131684,
382
+ -0.04921487949832226
383
+ ],
384
+ "orientation": {
385
+ "w": 0.6065809028022053,
386
+ "xyz": [
387
+ 0.3670316048679141,
388
+ 0.3750781702781807,
389
+ -0.5972133417502635
390
+ ]
391
+ }
392
+ },
393
+ "grasp_22": {
394
+ "confidence": 0.9234169721603394,
395
+ "position": [
396
+ -0.1582778999581933,
397
+ 0.018314874221687205,
398
+ -0.01888411350591923
399
+ ],
400
+ "orientation": {
401
+ "w": 0.6223298805023217,
402
+ "xyz": [
403
+ -0.3080139277938296,
404
+ 0.5636653602221047,
405
+ -0.4473413705490116
406
+ ]
407
+ }
408
+ },
409
+ "grasp_23": {
410
+ "confidence": 0.9232109785079956,
411
+ "position": [
412
+ -0.16658319626003504,
413
+ 0.0027247948601143435,
414
+ -0.0011456759930297267
415
+ ],
416
+ "orientation": {
417
+ "w": 0.6998709468073683,
418
+ "xyz": [
419
+ -0.08634380466783301,
420
+ 0.7043001286923605,
421
+ -0.08177245217287796
422
+ ]
423
+ }
424
+ },
425
+ "grasp_24": {
426
+ "confidence": 0.9231852889060974,
427
+ "position": [
428
+ -0.044945609755814075,
429
+ -0.05385369392752182,
430
+ 0.08575935803310131
431
+ ],
432
+ "orientation": {
433
+ "w": 0.19575452130607748,
434
+ "xyz": [
435
+ -0.6663182792510337,
436
+ -0.693982584244566,
437
+ -0.1899691840520541
438
+ ]
439
+ }
440
+ },
441
+ "grasp_25": {
442
+ "confidence": 0.9227294325828552,
443
+ "position": [
444
+ -0.1603903928771615,
445
+ -0.0004914282326353714,
446
+ 0.00344098477580701
447
+ ],
448
+ "orientation": {
449
+ "w": 0.6930156401592888,
450
+ "xyz": [
451
+ -0.0846411684623092,
452
+ 0.7102454803448591,
453
+ -0.09009191276494627
454
+ ]
455
+ }
456
+ },
457
+ "grasp_26": {
458
+ "confidence": 0.9225948452949524,
459
+ "position": [
460
+ -0.16301870439201593,
461
+ -0.002711494962568395,
462
+ -0.003544946881447686
463
+ ],
464
+ "orientation": {
465
+ "w": 0.6266063901544792,
466
+ "xyz": [
467
+ 0.32646650996646986,
468
+ 0.6129811127233598,
469
+ 0.3536074166817161
470
+ ]
471
+ }
472
+ },
473
+ "grasp_27": {
474
+ "confidence": 0.9202236533164978,
475
+ "position": [
476
+ -0.054973029531538486,
477
+ -0.022915534253115766,
478
+ 0.1007192968572781
479
+ ],
480
+ "orientation": {
481
+ "w": 0.08851642145785771,
482
+ "xyz": [
483
+ -0.7182158874082354,
484
+ 0.6861829939693247,
485
+ 0.07405188042170167
486
+ ]
487
+ }
488
+ },
489
+ "grasp_29": {
490
+ "confidence": 0.9190374612808228,
491
+ "position": [
492
+ -0.04612396378070116,
493
+ -0.1003451007854892,
494
+ -0.015953956619341625
495
+ ],
496
+ "orientation": {
497
+ "w": 0.547755854679752,
498
+ "xyz": [
499
+ -0.44648049353644514,
500
+ -0.467124893513976,
501
+ -0.5314254664720754
502
+ ]
503
+ }
504
+ },
505
+ "grasp_30": {
506
+ "confidence": 0.9176727533340454,
507
+ "position": [
508
+ -0.16337736044079065,
509
+ -0.003857234536553733,
510
+ -0.003594516991142882
511
+ ],
512
+ "orientation": {
513
+ "w": 0.5982607545588587,
514
+ "xyz": [
515
+ 0.349363902350651,
516
+ 0.6067785346973181,
517
+ 0.3896777426535493
518
+ ]
519
+ }
520
+ },
521
+ "grasp_31": {
522
+ "confidence": 0.9176449179649353,
523
+ "position": [
524
+ -0.162404821254313,
525
+ -0.002224014184321277,
526
+ -0.0016872414671524893
527
+ ],
528
+ "orientation": {
529
+ "w": 0.7099863392759872,
530
+ "xyz": [
531
+ -0.015425068828756282,
532
+ 0.7040454202666047,
533
+ 0.0012294286197781024
534
+ ]
535
+ }
536
+ },
537
+ "grasp_32": {
538
+ "confidence": 0.9175621271133423,
539
+ "position": [
540
+ -0.15291678998619318,
541
+ 0.03008568329096306,
542
+ -0.0475314766918018
543
+ ],
544
+ "orientation": {
545
+ "w": 0.636210010345026,
546
+ "xyz": [
547
+ -0.23210875982523682,
548
+ 0.4919275186033252,
549
+ -0.5471468384172091
550
+ ]
551
+ }
552
+ },
553
+ "grasp_34": {
554
+ "confidence": 0.9169252514839172,
555
+ "position": [
556
+ -0.04488592315465212,
557
+ -0.007659056733245961,
558
+ 0.10262330017940258
559
+ ],
560
+ "orientation": {
561
+ "w": 0.036588919213909096,
562
+ "xyz": [
563
+ -0.6938798792105606,
564
+ -0.7189012554090981,
565
+ -0.01931189241681312
566
+ ]
567
+ }
568
+ },
569
+ "grasp_35": {
570
+ "confidence": 0.9146985411643982,
571
+ "position": [
572
+ -0.04883687291294336,
573
+ -0.008157766933436505,
574
+ -0.10149678446396138
575
+ ],
576
+ "orientation": {
577
+ "w": 0.7141102330147912,
578
+ "xyz": [
579
+ -0.022176849727359227,
580
+ 0.0376702809536017,
581
+ 0.6986670969586358
582
+ ]
583
+ }
584
+ },
585
+ "grasp_37": {
586
+ "confidence": 0.9100842475891113,
587
+ "position": [
588
+ -0.15925777051597834,
589
+ -0.0032252145902020857,
590
+ 0.0003284795857325662
591
+ ],
592
+ "orientation": {
593
+ "w": 0.7066402752518224,
594
+ "xyz": [
595
+ -0.024363915295877774,
596
+ 0.7067866062006909,
597
+ -0.022773105163639788
598
+ ]
599
+ }
600
+ },
601
+ "grasp_38": {
602
+ "confidence": 0.9098445177078247,
603
+ "position": [
604
+ -0.16262589488178492,
605
+ 0.003900391238857992,
606
+ 0.004580321274261223
607
+ ],
608
+ "orientation": {
609
+ "w": 0.3281548466916134,
610
+ "xyz": [
611
+ -0.6238028401513519,
612
+ 0.334032537167109,
613
+ -0.6257848490700412
614
+ ]
615
+ }
616
+ },
617
+ "grasp_39": {
618
+ "confidence": 0.9088538289070129,
619
+ "position": [
620
+ -0.05104452837258577,
621
+ 0.0942584839212941,
622
+ -0.03977338083132054
623
+ ],
624
+ "orientation": {
625
+ "w": 0.5801998640536885,
626
+ "xyz": [
627
+ 0.39731156188347116,
628
+ 0.39468127190764457,
629
+ -0.5913867889555549
630
+ ]
631
+ }
632
+ }
633
+ }
634
+ }
635
+ ],
636
+ "quality_check": {
637
+ "success": true,
638
+ "message": "YES"
639
+ }
640
+ }
dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2ac281b8a2feefa4e98d536bdffe837c5da310f3fc6a061a3782c6bc77a7c6b6
3
+ size 3776576
dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/razor_025.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>