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
f1003d4
·
verified ·
1 Parent(s): 921e575

Add asset bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/affordance/affordance_annot.json +690 -0
  3. dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/toothpaste_035.urdf +1 -0
.gitattributes CHANGED
@@ -5860,4 +5860,4 @@ dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/afforda
5860
  dataset/bathroom_supplies/personal_care/de2585cc44bb573982a59a874158fa0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5861
  dataset/bathroom_supplies/personal_care/dee5cb6ba6355d528864e8579f170e32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5862
  dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5863
- dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5860
  dataset/bathroom_supplies/personal_care/de2585cc44bb573982a59a874158fa0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5861
  dataset/bathroom_supplies/personal_care/dee5cb6ba6355d528864e8579f170e32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5862
  dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5863
+ dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/affordance/affordance_annot.json ADDED
@@ -0,0 +1,690 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tube body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the tube body to pick up and move the toothpaste",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the tube body while unscrewing or removing the cap",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "squeeze the tube body to dispense toothpaste",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain toothpaste",
23
+ "squeeze to dispense contents",
24
+ "provide main grasp surface",
25
+ "support handling and storage"
26
+ ],
27
+ "semantic_description": "Tapered dark-to-light blue plastic tube body with a glossy smooth surface, soft slightly flexible feel, printed white branding, and a large elongated form above the cap.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9870672821998596,
32
+ "position": [
33
+ -0.09920699804206379,
34
+ 0.026737062667962164,
35
+ -0.02396579086780548
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5864915627641846,
39
+ "xyz": [
40
+ 0.5497843129083098,
41
+ 0.42605390859470504,
42
+ 0.4150215934834434
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9859448671340942,
48
+ "position": [
49
+ -0.0708927130617667,
50
+ 0.07091479789232835,
51
+ -0.01832720637321472
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6665477290193481,
55
+ "xyz": [
56
+ 0.648000918823847,
57
+ 0.2739738531064263,
58
+ 0.24646959641427893
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9855771660804749,
64
+ "position": [
65
+ -0.1023115208663512,
66
+ -0.0036169333034195006,
67
+ -0.01564251072704792
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5105930693815822,
71
+ "xyz": [
72
+ -0.4968691353891269,
73
+ 0.49818385771132156,
74
+ -0.49419492481511973
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.985153079032898,
80
+ "position": [
81
+ 0.09991007388452999,
82
+ -0.024973738531116396,
83
+ -0.0286190677434206
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5546644332252202,
87
+ "xyz": [
88
+ -0.5640692777727534,
89
+ -0.4112919436042005,
90
+ 0.45278267801910127
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9848663210868835,
96
+ "position": [
97
+ 0.10340071559767239,
98
+ -0.021514888445381075,
99
+ -0.00553548987954855
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4465556590951931,
103
+ "xyz": [
104
+ 0.4297405339481775,
105
+ -0.5402378535245717,
106
+ -0.5692575677416649
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9848470687866211,
112
+ "position": [
113
+ -0.09879263400216587,
114
+ 0.0186075497767888,
115
+ -0.039465511217713356
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4989512989940694,
119
+ "xyz": [
120
+ -0.38943207015023484,
121
+ 0.49998235366888455,
122
+ -0.5911073591069189
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9847770929336548,
128
+ "position": [
129
+ 0.10088234485010616,
130
+ -0.028301855141762644,
131
+ -0.009997768327593803
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5450912599268505,
135
+ "xyz": [
136
+ -0.5769827845902119,
137
+ -0.3875433363378309,
138
+ 0.4688033138727019
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9846158623695374,
144
+ "position": [
145
+ 0.09412860215525143,
146
+ -0.03709356818581,
147
+ -0.025711974129080772
148
+ ],
149
+ "orientation": {
150
+ "w": 0.44859831629065866,
151
+ "xyz": [
152
+ 0.3247486486503403,
153
+ -0.4968385607272444,
154
+ -0.6681686242225416
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9844350218772888,
160
+ "position": [
161
+ 0.09848846585373394,
162
+ 0.023781942611094564,
163
+ -0.019382143393158913
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5443089709805422,
167
+ "xyz": [
168
+ 0.5683819660729063,
169
+ -0.46178304055640873,
170
+ -0.40917735544342915
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9844067096710205,
176
+ "position": [
177
+ 0.10030342728714459,
178
+ -0.03174424875760451,
179
+ -0.009156299754977226
180
+ ],
181
+ "orientation": {
182
+ "w": 0.422053315296012,
183
+ "xyz": [
184
+ 0.39506963558629743,
185
+ -0.5693044381232429,
186
+ -0.5845369439295804
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9844006896018982,
192
+ "position": [
193
+ 0.08830566049437039,
194
+ -0.04493517387891188,
195
+ -0.01816864311695099
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5752821718984859,
199
+ "xyz": [
200
+ -0.630466355230751,
201
+ -0.3711345324209232,
202
+ 0.36581656121957606
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9843906760215759,
208
+ "position": [
209
+ 0.09022497475962155,
210
+ -0.04636361409211531,
211
+ -0.02717476151883602
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5849452239010892,
215
+ "xyz": [
216
+ -0.6188233125325228,
217
+ -0.37092840783700365,
218
+ 0.37055216793467255
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9842826724052429,
224
+ "position": [
225
+ 0.1011128211102914,
226
+ -0.0037256680079735816,
227
+ -0.03146507777273655
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4955829366792877,
231
+ "xyz": [
232
+ 0.4834258667625755,
233
+ -0.49288629963375674,
234
+ -0.5270294866993007
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9842727184295654,
240
+ "position": [
241
+ -0.09914804904838093,
242
+ 0.009601820667739958,
243
+ -0.0006959512829780579
244
+ ],
245
+ "orientation": {
246
+ "w": 0.488953166847393,
247
+ "xyz": [
248
+ 0.5686293966606575,
249
+ 0.5107339321201834,
250
+ 0.42040011948654055
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9839518666267395,
256
+ "position": [
257
+ 0.10373694539885037,
258
+ 0.00809321872657165,
259
+ 0.0070653671864420176
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4637554732954152,
263
+ "xyz": [
264
+ -0.491028708711493,
265
+ -0.5103958161824491,
266
+ 0.5322760365009128
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9838886260986328,
272
+ "position": [
273
+ 0.09436391384224407,
274
+ -0.033636346051935107,
275
+ -0.028252510353922844
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4487963049751462,
279
+ "xyz": [
280
+ 0.3434110893765685,
281
+ -0.48492264586056455,
282
+ -0.667458409090367
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9838846325874329,
288
+ "position": [
289
+ -0.10217141269822605,
290
+ -0.007365825644228607,
291
+ -0.026551922783255577
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5043068302480471,
295
+ "xyz": [
296
+ 0.47159394494694706,
297
+ 0.5145889305498881,
298
+ 0.5084014207396219
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.983859121799469,
304
+ "position": [
305
+ -0.10114902912755497,
306
+ -0.0011330990237183869,
307
+ 0.007408410077914596
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4318463770483366,
311
+ "xyz": [
312
+ 0.5634459844308741,
313
+ 0.5698090369351387,
314
+ 0.4139504688800323
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9837995767593384,
320
+ "position": [
321
+ 0.09114941299776547,
322
+ -0.04392165277386084,
323
+ -0.030591746792197227
324
+ ],
325
+ "orientation": {
326
+ "w": 0.3958523533596818,
327
+ "xyz": [
328
+ 0.3490312674415543,
329
+ -0.5640698998356439,
330
+ -0.6350616007814915
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.983716607093811,
336
+ "position": [
337
+ 0.10382147223572247,
338
+ -0.007913200708571821,
339
+ -0.012316936627030373
340
+ ],
341
+ "orientation": {
342
+ "w": 0.48361924173818027,
343
+ "xyz": [
344
+ 0.4712345247483685,
345
+ -0.5183396039653523,
346
+ -0.5247613806929854
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "cap",
354
+ "mask_color": "Blue",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the cap to unscrew or remove it for opening",
359
+ "confidence": 0.93
360
+ },
361
+ {
362
+ "scenario": "grasp the cap to reclose the toothpaste tube",
363
+ "confidence": 0.9
364
+ },
365
+ {
366
+ "scenario": "hold the cap area to stabilize the tube during placement",
367
+ "confidence": 0.58
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "cover the nozzle opening",
372
+ "enable opening and closing",
373
+ "seal contents",
374
+ "provide a standing base"
375
+ ],
376
+ "semantic_description": "Short white plastic cap with a glossy smooth hard surface, rounded cylindrical shape, and small size at the bottom end of the tube, with faint molded seam details visible.",
377
+ "id": 2,
378
+ "grasp_group": {
379
+ "grasp_20": {
380
+ "confidence": 0.9801083207130432,
381
+ "position": [
382
+ 0.0985566386661958,
383
+ -0.018969220633152872,
384
+ -0.05507679097354412
385
+ ],
386
+ "orientation": {
387
+ "w": 0.5440187910596451,
388
+ "xyz": [
389
+ -0.5388974436363992,
390
+ -0.43275328478908326,
391
+ 0.4757706324694859
392
+ ]
393
+ }
394
+ },
395
+ "grasp_21": {
396
+ "confidence": 0.9790877103805542,
397
+ "position": [
398
+ 0.10154815108398907,
399
+ 0.02014658454572782,
400
+ -0.04109068028628826
401
+ ],
402
+ "orientation": {
403
+ "w": 0.5494903618129624,
404
+ "xyz": [
405
+ 0.5478480417697337,
406
+ -0.4482382197637226,
407
+ -0.4438528627222944
408
+ ]
409
+ }
410
+ },
411
+ "grasp_22": {
412
+ "confidence": 0.9783108830451965,
413
+ "position": [
414
+ 0.09981678516487591,
415
+ -0.018638055364135653,
416
+ -0.06848551519215107
417
+ ],
418
+ "orientation": {
419
+ "w": 0.579286275334694,
420
+ "xyz": [
421
+ -0.49990958040006095,
422
+ -0.4240942618597633,
423
+ 0.48441911573627505
424
+ ]
425
+ }
426
+ },
427
+ "grasp_23": {
428
+ "confidence": 0.9782201051712036,
429
+ "position": [
430
+ 0.03998064712504856,
431
+ 0.09334162663435563,
432
+ -0.04136977903544903
433
+ ],
434
+ "orientation": {
435
+ "w": 0.14575617089656537,
436
+ "xyz": [
437
+ -0.12488608895977718,
438
+ -0.7075144010795408,
439
+ 0.6801337924959768
440
+ ]
441
+ }
442
+ },
443
+ "grasp_24": {
444
+ "confidence": 0.9776788949966431,
445
+ "position": [
446
+ 0.09265441537718289,
447
+ -0.042802471260074526,
448
+ -0.06016150303184986
449
+ ],
450
+ "orientation": {
451
+ "w": 0.39533996220520023,
452
+ "xyz": [
453
+ 0.3632297029183149,
454
+ -0.5537018684768722,
455
+ -0.6365412304373417
456
+ ]
457
+ }
458
+ },
459
+ "grasp_25": {
460
+ "confidence": 0.9775668978691101,
461
+ "position": [
462
+ 0.0943773993931245,
463
+ -0.03671805519843474,
464
+ -0.05993431992828846
465
+ ],
466
+ "orientation": {
467
+ "w": 0.4270118377598076,
468
+ "xyz": [
469
+ 0.37410107886347194,
470
+ -0.5433234704910846,
471
+ -0.6184730225480345
472
+ ]
473
+ }
474
+ },
475
+ "grasp_26": {
476
+ "confidence": 0.97699373960495,
477
+ "position": [
478
+ 0.10251779944519512,
479
+ -0.0184188648709096,
480
+ -0.05668198503553867
481
+ ],
482
+ "orientation": {
483
+ "w": 0.4661737693485238,
484
+ "xyz": [
485
+ 0.4374167921791359,
486
+ -0.5206766979110211,
487
+ -0.5659013544281192
488
+ ]
489
+ }
490
+ },
491
+ "grasp_27": {
492
+ "confidence": 0.9760136604309082,
493
+ "position": [
494
+ -0.027944299421506003,
495
+ 0.09111525904154405,
496
+ -0.04707430489361286
497
+ ],
498
+ "orientation": {
499
+ "w": 0.10782050104866686,
500
+ "xyz": [
501
+ -0.11987284826175483,
502
+ 0.6852807904569106,
503
+ -0.7102080526394925
504
+ ]
505
+ }
506
+ },
507
+ "grasp_29": {
508
+ "confidence": 0.9756119251251221,
509
+ "position": [
510
+ -0.05404346718569286,
511
+ 0.08426531445002183,
512
+ -0.04640665091574192
513
+ ],
514
+ "orientation": {
515
+ "w": 0.6908331347772181,
516
+ "xyz": [
517
+ 0.6686234356824994,
518
+ 0.20248599868807815,
519
+ 0.18625708438957267
520
+ ]
521
+ }
522
+ },
523
+ "grasp_30": {
524
+ "confidence": 0.9754253029823303,
525
+ "position": [
526
+ 0.04790236891130917,
527
+ 0.08323817740892991,
528
+ -0.05161979980766773
529
+ ],
530
+ "orientation": {
531
+ "w": 0.1971771324090045,
532
+ "xyz": [
533
+ -0.1620300823402327,
534
+ -0.6543192173239626,
535
+ 0.7118523672169225
536
+ ]
537
+ }
538
+ },
539
+ "grasp_31": {
540
+ "confidence": 0.9753668904304504,
541
+ "position": [
542
+ 0.06794073522905819,
543
+ 0.07125001441454515,
544
+ -0.06675414182245731
545
+ ],
546
+ "orientation": {
547
+ "w": 0.6980995311176855,
548
+ "xyz": [
549
+ 0.6241250826091712,
550
+ -0.22501548516973602,
551
+ -0.26924516215744954
552
+ ]
553
+ }
554
+ },
555
+ "grasp_32": {
556
+ "confidence": 0.9750900268554688,
557
+ "position": [
558
+ 0.09428883434156887,
559
+ 0.035625327785965055,
560
+ -0.05746576376259327
561
+ ],
562
+ "orientation": {
563
+ "w": 0.6029495304248965,
564
+ "xyz": [
565
+ 0.5669936781394066,
566
+ -0.3831940403281153,
567
+ -0.41003946171967204
568
+ ]
569
+ }
570
+ },
571
+ "grasp_33": {
572
+ "confidence": 0.9746221303939819,
573
+ "position": [
574
+ 0.09810402334551327,
575
+ 0.013372859393712133,
576
+ -0.04995155520737171
577
+ ],
578
+ "orientation": {
579
+ "w": 0.5544181684662174,
580
+ "xyz": [
581
+ 0.5149191189769325,
582
+ -0.45815783465116333,
583
+ -0.46644420238045775
584
+ ]
585
+ }
586
+ },
587
+ "grasp_34": {
588
+ "confidence": 0.974259614944458,
589
+ "position": [
590
+ 0.03825733900885098,
591
+ 0.09091816883301362,
592
+ -0.04813010059297085
593
+ ],
594
+ "orientation": {
595
+ "w": 0.13906226443194644,
596
+ "xyz": [
597
+ -0.12554961995493688,
598
+ -0.6946735145908236,
599
+ 0.6944981552648375
600
+ ]
601
+ }
602
+ },
603
+ "grasp_35": {
604
+ "confidence": 0.974032998085022,
605
+ "position": [
606
+ 0.10421050430159084,
607
+ -0.00954080984229222,
608
+ -0.05430314131081104
609
+ ],
610
+ "orientation": {
611
+ "w": 0.4838715118313769,
612
+ "xyz": [
613
+ 0.46330744990253253,
614
+ -0.5062317752700833,
615
+ -0.5430874299868579
616
+ ]
617
+ }
618
+ },
619
+ "grasp_36": {
620
+ "confidence": 0.9739863872528076,
621
+ "position": [
622
+ 0.04978483633021824,
623
+ -0.08993890095734969,
624
+ -0.051460182294249535
625
+ ],
626
+ "orientation": {
627
+ "w": 0.6976264482952061,
628
+ "xyz": [
629
+ -0.6704990410787932,
630
+ -0.16793982965532883,
631
+ 0.18853272439227528
632
+ ]
633
+ }
634
+ },
635
+ "grasp_37": {
636
+ "confidence": 0.9730609059333801,
637
+ "position": [
638
+ 0.040885270544094965,
639
+ -0.09290830005193129,
640
+ -0.05172630585730076
641
+ ],
642
+ "orientation": {
643
+ "w": 0.7196763533291686,
644
+ "xyz": [
645
+ -0.6631744698635607,
646
+ -0.13670567506209785,
647
+ 0.15354845289299138
648
+ ]
649
+ }
650
+ },
651
+ "grasp_38": {
652
+ "confidence": 0.9728612303733826,
653
+ "position": [
654
+ 0.10189603359322064,
655
+ 0.012214223330374807,
656
+ -0.053843868896365166
657
+ ],
658
+ "orientation": {
659
+ "w": 0.4580804327909658,
660
+ "xyz": [
661
+ -0.46166368449141626,
662
+ -0.5037757671737341,
663
+ 0.5685410591367767
664
+ ]
665
+ }
666
+ },
667
+ "grasp_39": {
668
+ "confidence": 0.9727231860160828,
669
+ "position": [
670
+ 0.03833326787571423,
671
+ -0.09260541159892455,
672
+ -0.05505461432039738
673
+ ],
674
+ "orientation": {
675
+ "w": 0.7192166682191491,
676
+ "xyz": [
677
+ -0.6664485692075042,
678
+ -0.13940664173960593,
679
+ 0.13834549864705356
680
+ ]
681
+ }
682
+ }
683
+ }
684
+ }
685
+ ],
686
+ "quality_check": {
687
+ "success": true,
688
+ "message": "YES"
689
+ }
690
+ }
dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:546acd047c678916bf6b73cf4ed63da7c6962063665b6a75993ac90969fa4e78
3
+ size 3780088
dataset/bathroom_supplies/personal_care/e4938754d4da531088d59f01fc117594/toothpaste_035.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>