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
c794244
·
verified ·
1 Parent(s): e91ed40

Add asset bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/affordance/affordance_annot.json +829 -0
  3. dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5722,3 +5722,4 @@ dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/afforda
5722
  dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5723
  dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5724
  dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5722
  dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5723
  dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5724
  dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5725
+ dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/affordance/affordance_annot.json ADDED
@@ -0,0 +1,829 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle grip",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle grip to pick up and hold the razor during shaving",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle grip to orient the razor head precisely",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "grasp the handle grip to place or retrieve the razor from storage",
18
+ "confidence": 0.93
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enable controlled shaving motion",
24
+ "support orientation and reach",
25
+ "stabilize the razor during use"
26
+ ],
27
+ "semantic_description": "Long silver-colored metal handle with a knurled textured grip, cylindrical and slender, forming the main lower grip area of the razor.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_21": {
31
+ "confidence": 0.9865977764129639,
32
+ "position": [
33
+ 0.04512833256740123,
34
+ 0.052028497419087216,
35
+ 0.08306712907506153
36
+ ],
37
+ "orientation": {
38
+ "w": 0.19997183121560136,
39
+ "xyz": [
40
+ 0.6840966814590473,
41
+ -0.6661245662651573,
42
+ 0.21977501986134507
43
+ ]
44
+ }
45
+ },
46
+ "grasp_22": {
47
+ "confidence": 0.9857101440429688,
48
+ "position": [
49
+ 0.10542549018282443,
50
+ -0.008577383385272697,
51
+ -0.08409294235752895
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6697975658340934,
55
+ "xyz": [
56
+ 0.16693460478384303,
57
+ -0.2108635600811789,
58
+ -0.6921276020780243
59
+ ]
60
+ }
61
+ },
62
+ "grasp_25": {
63
+ "confidence": 0.983639121055603,
64
+ "position": [
65
+ 0.10483419720549136,
66
+ -0.08433882732060738,
67
+ 0.0044463041122071445
68
+ ],
69
+ "orientation": {
70
+ "w": 0.3596352449458249,
71
+ "xyz": [
72
+ -0.6319994866659416,
73
+ 0.3294876435379511,
74
+ 0.6022267282365928
75
+ ]
76
+ }
77
+ },
78
+ "grasp_29": {
79
+ "confidence": 0.9805378317832947,
80
+ "position": [
81
+ 0.11092787806410342,
82
+ 0.041335938236443326,
83
+ 0.07155742746545002
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3816323655212295,
87
+ "xyz": [
88
+ 0.5767303887325783,
89
+ -0.722282115798525,
90
+ -0.006880515725314696
91
+ ]
92
+ }
93
+ },
94
+ "grasp_31": {
95
+ "confidence": 0.9795799255371094,
96
+ "position": [
97
+ 0.0069388552801683545,
98
+ -0.01824407119420357,
99
+ -0.08685989427613094
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6658082343432331,
103
+ "xyz": [
104
+ -0.21159024017091074,
105
+ 0.08617537150095778,
106
+ -0.7102835846982773
107
+ ]
108
+ }
109
+ },
110
+ "grasp_36": {
111
+ "confidence": 0.9778603315353394,
112
+ "position": [
113
+ 0.09890559141058475,
114
+ 0.019082540384260938,
115
+ -0.08272936689900234
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6884314551039015,
119
+ "xyz": [
120
+ -0.10948884139009415,
121
+ -0.2649656504126403,
122
+ 0.6662338398310211
123
+ ]
124
+ }
125
+ },
126
+ "grasp_37": {
127
+ "confidence": 0.9774113893508911,
128
+ "position": [
129
+ 0.035810867440886796,
130
+ -0.04823086623218842,
131
+ 0.0849733303184621
132
+ ],
133
+ "orientation": {
134
+ "w": 0.18533593029748727,
135
+ "xyz": [
136
+ -0.6583387488418567,
137
+ -0.7028806506772597,
138
+ -0.1954468613654765
139
+ ]
140
+ }
141
+ },
142
+ "grasp_39": {
143
+ "confidence": 0.9754043221473694,
144
+ "position": [
145
+ 0.10222005669493228,
146
+ 0.013862509018508717,
147
+ -0.08155142265604809
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6679566942965226,
151
+ "xyz": [
152
+ 0.24515192098515748,
153
+ -0.12856183616662842,
154
+ -0.6908011613070827
155
+ ]
156
+ }
157
+ }
158
+ }
159
+ },
160
+ {
161
+ "part_name": "handle end cap",
162
+ "mask_color": "Blue",
163
+ "graspable": true,
164
+ "grasp_scenarios": [
165
+ {
166
+ "scenario": "pinch the handle end cap to nudge or reorient the razor on a surface",
167
+ "confidence": 0.42
168
+ },
169
+ {
170
+ "scenario": "grasp the handle end together with the grip for retrieval from a tight holder",
171
+ "confidence": 0.38
172
+ }
173
+ ],
174
+ "functional_labels": [
175
+ "finish the handle end",
176
+ "provide a stop at the grip base",
177
+ "protect the handle tip",
178
+ "indicate handle orientation"
179
+ ],
180
+ "semantic_description": "Small rounded silver-colored end piece with a smoother finish than the knurled grip, capping the bottom of the cylindrical handle.",
181
+ "id": 2,
182
+ "grasp_group": {
183
+ "grasp_52": {
184
+ "confidence": 0.9418503642082214,
185
+ "position": [
186
+ 0.1301334110321477,
187
+ 0.06840501885744743,
188
+ 0.041453177749644965
189
+ ],
190
+ "orientation": {
191
+ "w": 0.17576483526292513,
192
+ "xyz": [
193
+ 0.7038543453387074,
194
+ 0.4445849809283873,
195
+ -0.5253950684634583
196
+ ]
197
+ }
198
+ },
199
+ "grasp_56": {
200
+ "confidence": 0.9359248280525208,
201
+ "position": [
202
+ 0.11238387052435428,
203
+ 0.08815255921217613,
204
+ -0.013603251718450338
205
+ ],
206
+ "orientation": {
207
+ "w": 0.4215821486904966,
208
+ "xyz": [
209
+ 0.5421809812944146,
210
+ 0.324402505738968,
211
+ -0.6504393051610649
212
+ ]
213
+ }
214
+ },
215
+ "grasp_58": {
216
+ "confidence": 0.9297966957092285,
217
+ "position": [
218
+ 0.1559982654871419,
219
+ 0.04972209196421318,
220
+ 0.005181317392271012
221
+ ],
222
+ "orientation": {
223
+ "w": 0.18254507209713597,
224
+ "xyz": [
225
+ 0.6899722969084227,
226
+ 0.1953092952819011,
227
+ -0.672658758456659
228
+ ]
229
+ }
230
+ }
231
+ }
232
+ },
233
+ {
234
+ "part_name": "underside plug of handle end",
235
+ "mask_color": "Maroon",
236
+ "graspable": false,
237
+ "grasp_scenarios": [],
238
+ "functional_labels": [
239
+ "close the handle end",
240
+ "protect the internal cavity",
241
+ "provide a finished bottom surface"
242
+ ],
243
+ "semantic_description": "Tiny darker circular insert at the very bottom of the handle, appearing recessed within the end cap.",
244
+ "id": 12,
245
+ "grasp_group": {}
246
+ },
247
+ {
248
+ "part_name": "neck",
249
+ "mask_color": "Red",
250
+ "graspable": true,
251
+ "grasp_scenarios": [
252
+ {
253
+ "scenario": "grasp the neck delicately to reposition the razor during assembly or inspection",
254
+ "confidence": 0.34
255
+ },
256
+ {
257
+ "scenario": "hold the neck briefly to stabilize the razor while another tool accesses the head",
258
+ "confidence": 0.29
259
+ }
260
+ ],
261
+ "functional_labels": [
262
+ "connect handle to head",
263
+ "offset the head from the grip",
264
+ "transfer shaving force",
265
+ "support head geometry"
266
+ ],
267
+ "semantic_description": "Short curved silver-colored connector with a smooth finish, joining the handle to the razor head below the blade housing.",
268
+ "id": 0,
269
+ "grasp_group": {
270
+ "grasp_3": {
271
+ "confidence": 0.8798241019248962,
272
+ "position": [
273
+ 0.053998621297068894,
274
+ -0.08566038895514794,
275
+ 0.004565168812405318
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5879227065140897,
279
+ "xyz": [
280
+ -0.3479202626062639,
281
+ -0.6337924350753822,
282
+ -0.36277476658989566
283
+ ]
284
+ }
285
+ },
286
+ "grasp_7": {
287
+ "confidence": 0.8045939207077026,
288
+ "position": [
289
+ 0.037365300697274506,
290
+ 0.08342352669569664,
291
+ -0.011534272984135896
292
+ ],
293
+ "orientation": {
294
+ "w": 0.3790712740789294,
295
+ "xyz": [
296
+ 0.5911348221916782,
297
+ 0.33833140032174136,
298
+ -0.6264155607238051
299
+ ]
300
+ }
301
+ },
302
+ "grasp_15": {
303
+ "confidence": 0.9441190361976624,
304
+ "position": [
305
+ 0.011812907760031521,
306
+ 0.004063383647007868,
307
+ -0.10070400434779003
308
+ ],
309
+ "orientation": {
310
+ "w": 0.7205296545119158,
311
+ "xyz": [
312
+ 0.03346605326224244,
313
+ -0.00048105974425149967,
314
+ -0.6926159172510483
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9362951517105103,
320
+ "position": [
321
+ -0.005828489898703992,
322
+ -0.10085379917290993,
323
+ 0.0003691006568260491
324
+ ],
325
+ "orientation": {
326
+ "w": 0.4969781608699497,
327
+ "xyz": [
328
+ -0.5241633164594486,
329
+ 0.46759903091564603,
330
+ 0.5095259282738247
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "cartridge frame",
338
+ "mask_color": "Cyan",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "grasp the cartridge frame to inspect or clean the razor head",
343
+ "confidence": 0.55
344
+ },
345
+ {
346
+ "scenario": "hold the head frame to stabilize the razor while handling the blade assembly",
347
+ "confidence": 0.47
348
+ }
349
+ ],
350
+ "functional_labels": [
351
+ "support the blade housing",
352
+ "present the shaving edge assembly",
353
+ "connect to the neck",
354
+ "protect blade edges at the sides"
355
+ ],
356
+ "semantic_description": "Rectangular silver-colored head housing with a smooth slightly reflective finish, mounted crosswise at the top of the razor and enclosing the shaving assembly.",
357
+ "id": 6,
358
+ "grasp_group": {
359
+ "grasp_60": {
360
+ "confidence": 0.9812886714935303,
361
+ "position": [
362
+ -0.06994968827348202,
363
+ -0.09764768023160286,
364
+ 0.0010838413727469742
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6077155391498847,
368
+ "xyz": [
369
+ -0.37446884723141544,
370
+ 0.6057365817703528,
371
+ 0.35147987059589686
372
+ ]
373
+ }
374
+ },
375
+ "grasp_61": {
376
+ "confidence": 0.9788616895675659,
377
+ "position": [
378
+ -0.06983965809922665,
379
+ -0.09576303351786919,
380
+ -0.003166644659359008
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6156736432338519,
384
+ "xyz": [
385
+ -0.37092538567788047,
386
+ 0.598964985119235,
387
+ 0.35298905066302766
388
+ ]
389
+ }
390
+ },
391
+ "grasp_64": {
392
+ "confidence": 0.9761862754821777,
393
+ "position": [
394
+ -0.020320642623119056,
395
+ -0.10584745396045037,
396
+ -0.005045750003773719
397
+ ],
398
+ "orientation": {
399
+ "w": 0.518872863616045,
400
+ "xyz": [
401
+ -0.47628735823769963,
402
+ -0.5015318227566147,
403
+ -0.5023814631813817
404
+ ]
405
+ }
406
+ },
407
+ "grasp_65": {
408
+ "confidence": 0.9756624102592468,
409
+ "position": [
410
+ -0.02296205412130803,
411
+ 0.10930802833172493,
412
+ 0.0030032735667191446
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5042080197716164,
416
+ "xyz": [
417
+ 0.5115771386099199,
418
+ 0.5024862273202506,
419
+ -0.481217929220362
420
+ ]
421
+ }
422
+ },
423
+ "grasp_66": {
424
+ "confidence": 0.975471019744873,
425
+ "position": [
426
+ -0.027056693914346397,
427
+ 0.10964418362709694,
428
+ 0.010628977499436587
429
+ ],
430
+ "orientation": {
431
+ "w": 0.46593148691561287,
432
+ "xyz": [
433
+ 0.5081517286772474,
434
+ -0.5249069983351842,
435
+ 0.4991616103444634
436
+ ]
437
+ }
438
+ },
439
+ "grasp_67": {
440
+ "confidence": 0.9754189848899841,
441
+ "position": [
442
+ -0.02589687693398446,
443
+ 0.10783981691929512,
444
+ 0.00249372300459072
445
+ ],
446
+ "orientation": {
447
+ "w": 0.49674363932308846,
448
+ "xyz": [
449
+ 0.5009022526534742,
450
+ 0.5184715692553639,
451
+ -0.48324933725004615
452
+ ]
453
+ }
454
+ },
455
+ "grasp_75": {
456
+ "confidence": 0.9716362357139587,
457
+ "position": [
458
+ -0.036909175920300186,
459
+ -0.10368387986090966,
460
+ -0.0020313591812737286
461
+ ],
462
+ "orientation": {
463
+ "w": 0.545401924302579,
464
+ "xyz": [
465
+ -0.46867719748230113,
466
+ 0.5208824484584265,
467
+ 0.4599564114295343
468
+ ]
469
+ }
470
+ },
471
+ "grasp_76": {
472
+ "confidence": 0.9706597924232483,
473
+ "position": [
474
+ -0.02445116068702191,
475
+ 0.10495675515267067,
476
+ 0.0018893074593506753
477
+ ],
478
+ "orientation": {
479
+ "w": 0.5059295598304446,
480
+ "xyz": [
481
+ 0.5115852996395668,
482
+ 0.5086197239784402,
483
+ -0.47288660169491237
484
+ ]
485
+ }
486
+ },
487
+ "grasp_77": {
488
+ "confidence": 0.9701963663101196,
489
+ "position": [
490
+ -0.023084878805093467,
491
+ -0.10368043024209328,
492
+ -0.002362731203902513
493
+ ],
494
+ "orientation": {
495
+ "w": 0.5049977826063209,
496
+ "xyz": [
497
+ -0.4810531538950343,
498
+ -0.504233100168544,
499
+ -0.5092289105940063
500
+ ]
501
+ }
502
+ },
503
+ "grasp_78": {
504
+ "confidence": 0.9701184034347534,
505
+ "position": [
506
+ -0.02091114583890885,
507
+ -0.10522936124471016,
508
+ -0.0006503264885395765
509
+ ],
510
+ "orientation": {
511
+ "w": 0.5096009852901233,
512
+ "xyz": [
513
+ -0.5089635015051017,
514
+ 0.484117355058309,
515
+ 0.49688366491397995
516
+ ]
517
+ }
518
+ }
519
+ }
520
+ },
521
+ {
522
+ "part_name": "blade guard / shaving face",
523
+ "mask_color": "Lime Green",
524
+ "graspable": false,
525
+ "grasp_scenarios": [],
526
+ "functional_labels": [
527
+ "provide the primary shaving contact surface",
528
+ "guide skin and hair toward the blade",
529
+ "support safe shaving contact"
530
+ ],
531
+ "semantic_description": "Broad metallic shaving face spanning the front of the head, with fine parallel texture or slots visible across the main contact area.",
532
+ "id": 9,
533
+ "grasp_group": {}
534
+ },
535
+ {
536
+ "part_name": "side knob",
537
+ "mask_color": "Pink",
538
+ "graspable": true,
539
+ "grasp_scenarios": [
540
+ {
541
+ "scenario": "pinch a side knob to manipulate or steady the cartridge during cleaning or blade handling",
542
+ "confidence": 0.41
543
+ },
544
+ {
545
+ "scenario": "grasp a side knob lightly to orient the head for close inspection",
546
+ "confidence": 0.31
547
+ }
548
+ ],
549
+ "functional_labels": [
550
+ "bound the cartridge side",
551
+ "assist head handling",
552
+ "protect cartridge edge",
553
+ "indicate cartridge width"
554
+ ],
555
+ "semantic_description": "Small round silver-colored side protrusion with a smooth reflective finish, located at each lateral end of the cartridge frame like a compact end knob.",
556
+ "id": 8,
557
+ "grasp_group": {
558
+ "grasp_80": {
559
+ "confidence": 0.949458658695221,
560
+ "position": [
561
+ -0.12691884662490338,
562
+ -0.02029019992914982,
563
+ -0.00034472750849090517
564
+ ],
565
+ "orientation": {
566
+ "w": 0.7046009704589932,
567
+ "xyz": [
568
+ 0.008049438015941105,
569
+ 0.7095135721329069,
570
+ 0.00794795162757593
571
+ ]
572
+ }
573
+ },
574
+ "grasp_81": {
575
+ "confidence": 0.8906733989715576,
576
+ "position": [
577
+ -0.1313801797805354,
578
+ -0.02262550059822388,
579
+ 0.001784544496331364
580
+ ],
581
+ "orientation": {
582
+ "w": 0.7016317850627385,
583
+ "xyz": [
584
+ 0.008371829328114236,
585
+ 0.7123828091397785,
586
+ 0.012388862154951384
587
+ ]
588
+ }
589
+ },
590
+ "grasp_83": {
591
+ "confidence": 0.9622687697410583,
592
+ "position": [
593
+ -0.12190069432836026,
594
+ -0.023432271817000583,
595
+ -0.0038830976118333638
596
+ ],
597
+ "orientation": {
598
+ "w": 0.708415497069803,
599
+ "xyz": [
600
+ 0.0007335036242352309,
601
+ 0.7050846794670917,
602
+ 0.03166291623596931
603
+ ]
604
+ }
605
+ },
606
+ "grasp_85": {
607
+ "confidence": 0.900136411190033,
608
+ "position": [
609
+ -0.11943725671153516,
610
+ -0.06778681863215752,
611
+ -0.006080866151023656
612
+ ],
613
+ "orientation": {
614
+ "w": 0.18063672900080807,
615
+ "xyz": [
616
+ -0.6676715632657811,
617
+ -0.17347228134954085,
618
+ -0.7010652062008939
619
+ ]
620
+ }
621
+ },
622
+ "grasp_86": {
623
+ "confidence": 0.8698529601097107,
624
+ "position": [
625
+ -0.04098012100439519,
626
+ -0.003649208025308326,
627
+ 0.09970019262982532
628
+ ],
629
+ "orientation": {
630
+ "w": 0.034236852093112204,
631
+ "xyz": [
632
+ -0.7173380597524996,
633
+ 0.6955550036086067,
634
+ -0.02138183678508702
635
+ ]
636
+ }
637
+ },
638
+ "grasp_87": {
639
+ "confidence": 0.8663300275802612,
640
+ "position": [
641
+ -0.08168474759440869,
642
+ -0.0008834974432829767,
643
+ 0.0822047094698064
644
+ ],
645
+ "orientation": {
646
+ "w": 0.17728811501852124,
647
+ "xyz": [
648
+ 0.6615837226730457,
649
+ 0.704222049575265,
650
+ 0.1869417210236036
651
+ ]
652
+ }
653
+ },
654
+ "grasp_88": {
655
+ "confidence": 0.8594661355018616,
656
+ "position": [
657
+ -0.08139823551755399,
658
+ -0.003225095133529976,
659
+ 0.08287842076970264
660
+ ],
661
+ "orientation": {
662
+ "w": 0.16504052027158897,
663
+ "xyz": [
664
+ 0.6668568950421447,
665
+ 0.7005495980640891,
666
+ 0.1931159466628198
667
+ ]
668
+ }
669
+ },
670
+ "grasp_90": {
671
+ "confidence": 0.7469315528869629,
672
+ "position": [
673
+ -0.11034081305842847,
674
+ -0.00938571643200703,
675
+ 0.05503411841345951
676
+ ],
677
+ "orientation": {
678
+ "w": 0.36587491844709813,
679
+ "xyz": [
680
+ -0.6139844227296846,
681
+ 0.6030687282742428,
682
+ -0.35421290444351816
683
+ ]
684
+ }
685
+ },
686
+ "grasp_92": {
687
+ "confidence": 0.3701654374599457,
688
+ "position": [
689
+ -0.09228018100839108,
690
+ -0.06378177393344231,
691
+ 0.06552482646657154
692
+ ],
693
+ "orientation": {
694
+ "w": 0.20451253186410911,
695
+ "xyz": [
696
+ -0.9020363653209841,
697
+ -0.094359566445193,
698
+ -0.3682408073113507
699
+ ]
700
+ }
701
+ },
702
+ "grasp_94": {
703
+ "confidence": 0.971126139163971,
704
+ "position": [
705
+ -0.11074233229737729,
706
+ -0.06826516080764122,
707
+ -0.003168702416587621
708
+ ],
709
+ "orientation": {
710
+ "w": 0.18464076232898569,
711
+ "xyz": [
712
+ -0.6696562196330711,
713
+ -0.18393326787688147,
714
+ -0.6954400688495351
715
+ ]
716
+ }
717
+ },
718
+ "grasp_95": {
719
+ "confidence": 0.964939534664154,
720
+ "position": [
721
+ -0.11320361669640988,
722
+ -0.06933849889901467,
723
+ -0.0015281643136404455
724
+ ],
725
+ "orientation": {
726
+ "w": 0.6842108421649437,
727
+ "xyz": [
728
+ -0.18107888913225995,
729
+ 0.678954595411547,
730
+ 0.19515792769986906
731
+ ]
732
+ }
733
+ },
734
+ "grasp_96": {
735
+ "confidence": 0.9549014568328857,
736
+ "position": [
737
+ -0.1140585633693263,
738
+ -0.070054611453088,
739
+ -0.0030040161800570786
740
+ ],
741
+ "orientation": {
742
+ "w": 0.17686306984154662,
743
+ "xyz": [
744
+ -0.668303941050355,
745
+ -0.19182428439028965,
746
+ -0.6966295578145827
747
+ ]
748
+ }
749
+ },
750
+ "grasp_99": {
751
+ "confidence": 0.9024339318275452,
752
+ "position": [
753
+ -0.027273665997199714,
754
+ -0.004716509749414399,
755
+ 0.10178158682538196
756
+ ],
757
+ "orientation": {
758
+ "w": 0.03985906111293339,
759
+ "xyz": [
760
+ -0.71789460672248,
761
+ 0.694854156922916,
762
+ -0.01470678390794227
763
+ ]
764
+ }
765
+ }
766
+ }
767
+ },
768
+ {
769
+ "part_name": "cartridge end cap",
770
+ "mask_color": "Purple",
771
+ "graspable": false,
772
+ "grasp_scenarios": [],
773
+ "functional_labels": [
774
+ "cover the cartridge end",
775
+ "protect side components",
776
+ "finish the head silhouette"
777
+ ],
778
+ "semantic_description": "Thin silver-colored end piece wrapping the outer edge of the cartridge, visible as a narrow cap at the head side.",
779
+ "id": 5,
780
+ "grasp_group": {}
781
+ },
782
+ {
783
+ "part_name": "end button",
784
+ "mask_color": "Yellow",
785
+ "graspable": false,
786
+ "grasp_scenarios": [],
787
+ "functional_labels": [
788
+ "cap the side mechanism",
789
+ "provide a finished side detail",
790
+ "mark the cartridge end"
791
+ ],
792
+ "semantic_description": "Tiny circular end detail centered on the cartridge side face, visible as a small round insert within the side end area.",
793
+ "id": 3,
794
+ "grasp_group": {}
795
+ },
796
+ {
797
+ "part_name": "side panel of razor head",
798
+ "mask_color": "Olive",
799
+ "graspable": false,
800
+ "grasp_scenarios": [],
801
+ "functional_labels": [
802
+ "enclose the shaving assembly side",
803
+ "stiffen the cartridge body",
804
+ "protect internal head components"
805
+ ],
806
+ "semantic_description": "Narrow elongated side wall on the razor head, running along the side beneath the top frame and beside the shaving face.",
807
+ "id": 14,
808
+ "grasp_group": {}
809
+ },
810
+ {
811
+ "part_name": "rear strip of razor head",
812
+ "mask_color": "Navy",
813
+ "graspable": false,
814
+ "grasp_scenarios": [],
815
+ "functional_labels": [
816
+ "cover the rear edge of the cartridge",
817
+ "protect head internals",
818
+ "provide structural backing"
819
+ ],
820
+ "semantic_description": "Thin dark strip along the rear edge of the cartridge side, appearing as a narrow backing element behind the shaving face.",
821
+ "id": 13,
822
+ "grasp_group": {}
823
+ }
824
+ ],
825
+ "quality_check": {
826
+ "success": false,
827
+ "message": "Several head-part identities/functions are incorrect; shaving face misdescribed as broad metallic surface and side/end parts are speculative or mislabeled."
828
+ }
829
+ }
dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f671645ad60347fd7770294ed0e6ca6dfb652f116683db03e6df667aa6b26e8c
3
+ size 3781568