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
1
xinjjj commited on
Commit
95461e4
·
verified ·
1 Parent(s): 4d579d9

Add asset bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/affordance/affordance_annot.json +611 -0
  3. dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/hand_sanitizer_009.urdf +1 -0
.gitattributes CHANGED
@@ -5717,4 +5717,4 @@ dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/afforda
5717
  dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5718
  dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5719
  dataset/bathroom_supplies/bath_products/fd92c3189e125d03ae2ca25a172123ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5720
- dataset/bathroom_supplies/bath_products/ff936edf61c95f7fad6c2474129185e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5717
  dataset/bathroom_supplies/bath_products/fb677688833d532da0612a86d8b38919/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5718
  dataset/bathroom_supplies/bath_products/fb89e3eceb855857a3618993f4e34292/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5719
  dataset/bathroom_supplies/bath_products/fd92c3189e125d03ae2ca25a172123ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5720
+ dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/affordance/affordance_annot.json ADDED
@@ -0,0 +1,611 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pump head",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch or hold the pump head to rotate or reorient the dispenser nozzle during setup",
10
+ "confidence": 0.39
11
+ },
12
+ {
13
+ "scenario": "lightly pinch the pump head to steady the top while another hand manipulates the bottle",
14
+ "confidence": 0.24
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "dispense sanitizer when pressed",
19
+ "provide nozzle outlet",
20
+ "direct the pumped liquid",
21
+ "serve as pump actuator surface"
22
+ ],
23
+ "semantic_description": "A small curved light-pink plastic pump head with a smooth slightly glossy surface sits at the top and forms the dispenser spout and pressable cap.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_21": {
27
+ "confidence": 0.896805465221405,
28
+ "position": [
29
+ -0.008405091357417405,
30
+ 0.08479749303387507,
31
+ 0.10071298945695162
32
+ ],
33
+ "orientation": {
34
+ "w": 0.505847746512304,
35
+ "xyz": [
36
+ 0.8596894194981879,
37
+ -0.02735805235360933,
38
+ 0.06560256338520193
39
+ ]
40
+ }
41
+ },
42
+ "grasp_23": {
43
+ "confidence": 0.9173323512077332,
44
+ "position": [
45
+ -0.018978017033077776,
46
+ -0.08870217312050954,
47
+ 0.10383461136370897
48
+ ],
49
+ "orientation": {
50
+ "w": 0.48741747630753285,
51
+ "xyz": [
52
+ -0.8688752495208105,
53
+ 0.0361243178137689,
54
+ -0.07858141143193478
55
+ ]
56
+ }
57
+ },
58
+ "grasp_24": {
59
+ "confidence": 0.9045131802558899,
60
+ "position": [
61
+ -0.013678203918971121,
62
+ 0.08296102177428111,
63
+ 0.10761246550828218
64
+ ],
65
+ "orientation": {
66
+ "w": 0.08574001757948715,
67
+ "xyz": [
68
+ 0.03760971347671191,
69
+ 0.8845351998072565,
70
+ -0.45698100522845114
71
+ ]
72
+ }
73
+ },
74
+ "grasp_28": {
75
+ "confidence": 0.8916400074958801,
76
+ "position": [
77
+ -0.023112990544177592,
78
+ 0.07863732319401606,
79
+ 0.11256494093686342
80
+ ],
81
+ "orientation": {
82
+ "w": 0.09066080057677942,
83
+ "xyz": [
84
+ -0.08773998074493437,
85
+ 0.8926108292808171,
86
+ -0.4328143048332246
87
+ ]
88
+ }
89
+ },
90
+ "grasp_29": {
91
+ "confidence": 0.8880617022514343,
92
+ "position": [
93
+ 0.04240501986350864,
94
+ -0.04103843975735799,
95
+ 0.13981834519654512
96
+ ],
97
+ "orientation": {
98
+ "w": 0.1976202712003827,
99
+ "xyz": [
100
+ -0.95516480628826,
101
+ -0.13562547694821492,
102
+ 0.17381642972276098
103
+ ]
104
+ }
105
+ }
106
+ }
107
+ },
108
+ {
109
+ "part_name": "pump stem",
110
+ "mask_color": "Yellow",
111
+ "graspable": false,
112
+ "grasp_scenarios": [],
113
+ "functional_labels": [
114
+ "connect pump head to collar",
115
+ "transmit pressing motion",
116
+ "guide pump movement"
117
+ ],
118
+ "semantic_description": "A short narrow light-pink plastic stem with a smooth finish is located between the pump head and collar, acting as the central moving connector.",
119
+ "id": 3,
120
+ "grasp_group": {}
121
+ },
122
+ {
123
+ "part_name": "pump collar",
124
+ "mask_color": "Orange",
125
+ "graspable": true,
126
+ "grasp_scenarios": [
127
+ {
128
+ "scenario": "grasp the collar to stabilize the bottle while pressing or turning the dispenser",
129
+ "confidence": 0.41
130
+ },
131
+ {
132
+ "scenario": "grasp the collar for light repositioning of the bottle",
133
+ "confidence": 0.22
134
+ }
135
+ ],
136
+ "functional_labels": [
137
+ "mount the dispenser pump",
138
+ "secure pump to bottle",
139
+ "provide top structural transition",
140
+ "stabilize the pump assembly"
141
+ ],
142
+ "semantic_description": "A short cylindrical light-pink plastic collar with a smooth slightly glossy finish wraps the bottle opening below the pump head at the top.",
143
+ "id": 4,
144
+ "grasp_group": {
145
+ "grasp_40": {
146
+ "confidence": 0.9670247435569763,
147
+ "position": [
148
+ -0.006671379436738789,
149
+ 0.10306636881159648,
150
+ 0.02806954551488161
151
+ ],
152
+ "orientation": {
153
+ "w": 0.6824198634586978,
154
+ "xyz": [
155
+ 0.729982748408661,
156
+ 0.03570977688620269,
157
+ 0.012374522919617556
158
+ ]
159
+ }
160
+ },
161
+ "grasp_41": {
162
+ "confidence": 0.964039146900177,
163
+ "position": [
164
+ -0.027844278723932803,
165
+ 0.09447453063057765,
166
+ 0.05708558578044176
167
+ ],
168
+ "orientation": {
169
+ "w": 0.08619930637301235,
170
+ "xyz": [
171
+ -0.13556577007715442,
172
+ 0.8064672059511919,
173
+ -0.5690362442669868
174
+ ]
175
+ }
176
+ },
177
+ "grasp_42": {
178
+ "confidence": 0.9638317227363586,
179
+ "position": [
180
+ -0.012186203734017909,
181
+ 0.10210458081292018,
182
+ 0.03588032443076372
183
+ ],
184
+ "orientation": {
185
+ "w": 0.6903853659657827,
186
+ "xyz": [
187
+ 0.7206624842299727,
188
+ 0.04719752285410894,
189
+ 0.042261378588637336
190
+ ]
191
+ }
192
+ },
193
+ "grasp_43": {
194
+ "confidence": 0.9629252552986145,
195
+ "position": [
196
+ 0.0005225852364674211,
197
+ 0.10326033722685679,
198
+ 0.03116003144532442
199
+ ],
200
+ "orientation": {
201
+ "w": 0.6865298587278416,
202
+ "xyz": [
203
+ 0.7270072005147521,
204
+ 0.01171133547395875,
205
+ 0.000357905363806437
206
+ ]
207
+ }
208
+ },
209
+ "grasp_44": {
210
+ "confidence": 0.9618375897407532,
211
+ "position": [
212
+ 0.0036241038469597697,
213
+ 0.08962267529295787,
214
+ 0.07556984294205904
215
+ ],
216
+ "orientation": {
217
+ "w": 0.5126157983334719,
218
+ "xyz": [
219
+ 0.857422064993778,
220
+ 0.03624328813074029,
221
+ -0.027182160072642892
222
+ ]
223
+ }
224
+ },
225
+ "grasp_45": {
226
+ "confidence": 0.9613363146781921,
227
+ "position": [
228
+ -0.018873582244850695,
229
+ 0.09656435143278941,
230
+ 0.037488547153770924
231
+ ],
232
+ "orientation": {
233
+ "w": 0.09416799814087269,
234
+ "xyz": [
235
+ -0.02503383083808689,
236
+ 0.7295171895701816,
237
+ -0.676986237350018
238
+ ]
239
+ }
240
+ },
241
+ "grasp_46": {
242
+ "confidence": 0.9590905904769897,
243
+ "position": [
244
+ -0.025885893614031374,
245
+ 0.09301162403153285,
246
+ 0.06504624057561159
247
+ ],
248
+ "orientation": {
249
+ "w": 0.08798622875337281,
250
+ "xyz": [
251
+ -0.12211175852606138,
252
+ 0.8246350484905777,
253
+ -0.5452744068635307
254
+ ]
255
+ }
256
+ },
257
+ "grasp_47": {
258
+ "confidence": 0.9572364091873169,
259
+ "position": [
260
+ -0.031051647500135005,
261
+ 0.08118853610085353,
262
+ 0.08049749303609133
263
+ ],
264
+ "orientation": {
265
+ "w": 0.10421412581132024,
266
+ "xyz": [
267
+ -0.14432004288680733,
268
+ 0.8662277928669134,
269
+ -0.466862455191514
270
+ ]
271
+ }
272
+ },
273
+ "grasp_48": {
274
+ "confidence": 0.9569091200828552,
275
+ "position": [
276
+ -8.83725006133318e-05,
277
+ 0.08783919256256922,
278
+ 0.0780435698106885
279
+ ],
280
+ "orientation": {
281
+ "w": 0.028234258293231222,
282
+ "xyz": [
283
+ 0.06427838490819283,
284
+ 0.8688091890445255,
285
+ -0.49014457961301505
286
+ ]
287
+ }
288
+ },
289
+ "grasp_49": {
290
+ "confidence": 0.956156849861145,
291
+ "position": [
292
+ -0.025527218938805163,
293
+ -0.09677686650229589,
294
+ 0.019937516190111637
295
+ ],
296
+ "orientation": {
297
+ "w": 0.7142593863227007,
298
+ "xyz": [
299
+ -0.6869333962053045,
300
+ 0.12544287911664054,
301
+ -0.04711817384717911
302
+ ]
303
+ }
304
+ },
305
+ "grasp_50": {
306
+ "confidence": 0.9555349349975586,
307
+ "position": [
308
+ -0.0016594699409324676,
309
+ 0.09259185087012156,
310
+ 0.06807087827473879
311
+ ],
312
+ "orientation": {
313
+ "w": 0.5242922024808044,
314
+ "xyz": [
315
+ 0.8507866883247405,
316
+ 0.03569291782393946,
317
+ 0.0023901892104482183
318
+ ]
319
+ }
320
+ },
321
+ "grasp_51": {
322
+ "confidence": 0.9550172686576843,
323
+ "position": [
324
+ -0.036432669148780406,
325
+ 0.082388213687409,
326
+ 0.08073452580720186
327
+ ],
328
+ "orientation": {
329
+ "w": 0.08877635699448533,
330
+ "xyz": [
331
+ -0.22280102479332856,
332
+ 0.8395016278204138,
333
+ -0.4875607435763323
334
+ ]
335
+ }
336
+ },
337
+ "grasp_52": {
338
+ "confidence": 0.9538041949272156,
339
+ "position": [
340
+ 0.0042963739251717925,
341
+ -0.10046716887427465,
342
+ 0.01952426228672266
343
+ ],
344
+ "orientation": {
345
+ "w": 0.7092932007884883,
346
+ "xyz": [
347
+ -0.7045198138905825,
348
+ -0.008972697162046628,
349
+ 0.021782512629130002
350
+ ]
351
+ }
352
+ },
353
+ "grasp_53": {
354
+ "confidence": 0.9527658820152283,
355
+ "position": [
356
+ -0.02916356606874615,
357
+ 0.07762490850018366,
358
+ 0.08245356846600771
359
+ ],
360
+ "orientation": {
361
+ "w": 0.0711286494883741,
362
+ "xyz": [
363
+ -0.18056925282134767,
364
+ 0.8696713934483176,
365
+ -0.45388008061068397
366
+ ]
367
+ }
368
+ },
369
+ "grasp_54": {
370
+ "confidence": 0.9524793028831482,
371
+ "position": [
372
+ -0.038201403454877436,
373
+ 0.08868988495396479,
374
+ 0.041765970177948475
375
+ ],
376
+ "orientation": {
377
+ "w": 0.6099425538440609,
378
+ "xyz": [
379
+ 0.7661959508248464,
380
+ 0.13695150658193644,
381
+ 0.14885607409417984
382
+ ]
383
+ }
384
+ },
385
+ "grasp_55": {
386
+ "confidence": 0.9514304399490356,
387
+ "position": [
388
+ 0.03616538213100284,
389
+ 0.08419005464838847,
390
+ 0.059897017665207386
391
+ ],
392
+ "orientation": {
393
+ "w": 0.12505956026774895,
394
+ "xyz": [
395
+ -0.17510862315416817,
396
+ -0.7978437254043876,
397
+ 0.5631540342708528
398
+ ]
399
+ }
400
+ },
401
+ "grasp_56": {
402
+ "confidence": 0.9481135606765747,
403
+ "position": [
404
+ -0.0011902546102646738,
405
+ 0.0861578721933256,
406
+ 0.07446896750479937
407
+ ],
408
+ "orientation": {
409
+ "w": 0.4998297047490803,
410
+ "xyz": [
411
+ 0.8657145788112585,
412
+ 0.025897480524773697,
413
+ 0.006152624363746276
414
+ ]
415
+ }
416
+ },
417
+ "grasp_57": {
418
+ "confidence": 0.9475852251052856,
419
+ "position": [
420
+ 0.016949209733866155,
421
+ 0.09309328239487513,
422
+ 0.06326476205140352
423
+ ],
424
+ "orientation": {
425
+ "w": 0.5405444881092777,
426
+ "xyz": [
427
+ 0.8320197028597602,
428
+ 0.026430876349759713,
429
+ -0.12188633722948071
430
+ ]
431
+ }
432
+ },
433
+ "grasp_58": {
434
+ "confidence": 0.9464555978775024,
435
+ "position": [
436
+ 0.02545040228869766,
437
+ 0.08139443289564952,
438
+ 0.07507102657109499
439
+ ],
440
+ "orientation": {
441
+ "w": 0.06842277476539509,
442
+ "xyz": [
443
+ -0.1656637383796115,
444
+ -0.8509787395190307,
445
+ 0.4936689524024151
446
+ ]
447
+ }
448
+ },
449
+ "grasp_59": {
450
+ "confidence": 0.9462177157402039,
451
+ "position": [
452
+ 0.0020490650786086917,
453
+ 0.08552334349678858,
454
+ 0.07781205046921968
455
+ ],
456
+ "orientation": {
457
+ "w": 0.04662487198364763,
458
+ "xyz": [
459
+ 0.05246303149470117,
460
+ -0.8718614440518324,
461
+ 0.48469719827408536
462
+ ]
463
+ }
464
+ }
465
+ }
466
+ },
467
+ {
468
+ "part_name": "bottle body",
469
+ "mask_color": "Red",
470
+ "graspable": true,
471
+ "grasp_scenarios": [
472
+ {
473
+ "scenario": "grasp the bottle body to pick up and move the sanitizer",
474
+ "confidence": 0.95
475
+ },
476
+ {
477
+ "scenario": "hold the bottle body steady while pressing the pump",
478
+ "confidence": 0.93
479
+ },
480
+ {
481
+ "scenario": "grasp the bottle body to place or reorient it on a surface",
482
+ "confidence": 0.91
483
+ }
484
+ ],
485
+ "functional_labels": [
486
+ "contain sanitizer",
487
+ "provide main grasp surface",
488
+ "support pumping operation",
489
+ "stabilize the container upright"
490
+ ],
491
+ "semantic_description": "The main rounded bottle is pale pink semi-translucent plastic with a smooth glossy surface, medium size, and a squat oval shape, with Dior branding visible on the front.",
492
+ "id": 0,
493
+ "grasp_group": {
494
+ "grasp_2": {
495
+ "confidence": 0.9881466627120972,
496
+ "position": [
497
+ 0.006215407862327993,
498
+ -0.10745179016066686,
499
+ -0.02489516418427229
500
+ ],
501
+ "orientation": {
502
+ "w": 0.7102855193955184,
503
+ "xyz": [
504
+ -0.7028939421262632,
505
+ -0.032042107897834016,
506
+ 0.02019629621251299
507
+ ]
508
+ }
509
+ },
510
+ "grasp_4": {
511
+ "confidence": 0.9876219630241394,
512
+ "position": [
513
+ 0.012926102033816278,
514
+ -0.10776502001954213,
515
+ -0.0268361521884799
516
+ ],
517
+ "orientation": {
518
+ "w": 0.710777599684273,
519
+ "xyz": [
520
+ -0.6999007368523741,
521
+ -0.054949829113339455,
522
+ 0.043757040816105944
523
+ ]
524
+ }
525
+ },
526
+ "grasp_5": {
527
+ "confidence": 0.9875561594963074,
528
+ "position": [
529
+ 0.010646549402736127,
530
+ -0.1061198349661936,
531
+ -0.029118654318153858
532
+ ],
533
+ "orientation": {
534
+ "w": 0.715605452382549,
535
+ "xyz": [
536
+ -0.6961039229083329,
537
+ -0.035118100324429746,
538
+ 0.04598786863510938
539
+ ]
540
+ }
541
+ },
542
+ "grasp_6": {
543
+ "confidence": 0.9875498414039612,
544
+ "position": [
545
+ -0.004851965815760195,
546
+ 0.11350086968468531,
547
+ -0.02106636855751276
548
+ ],
549
+ "orientation": {
550
+ "w": 0.011975197502345465,
551
+ "xyz": [
552
+ 0.028011203721974635,
553
+ -0.7180523221386033,
554
+ 0.695322105057926
555
+ ]
556
+ }
557
+ },
558
+ "grasp_15": {
559
+ "confidence": 0.9868807792663574,
560
+ "position": [
561
+ 0.004140342469327152,
562
+ 0.10997349660920008,
563
+ -0.029070249758660793
564
+ ],
565
+ "orientation": {
566
+ "w": 0.06617673090448183,
567
+ "xyz": [
568
+ 0.010780504320387877,
569
+ -0.7007672878012667,
570
+ 0.7102320954174429
571
+ ]
572
+ }
573
+ },
574
+ "grasp_18": {
575
+ "confidence": 0.986807644367218,
576
+ "position": [
577
+ -0.002050264272838831,
578
+ 0.11256397407578334,
579
+ -0.0354646360501647
580
+ ],
581
+ "orientation": {
582
+ "w": 0.050079210528151716,
583
+ "xyz": [
584
+ 0.03517110147491199,
585
+ -0.697700908257906,
586
+ 0.7137706276599025
587
+ ]
588
+ }
589
+ }
590
+ }
591
+ },
592
+ {
593
+ "part_name": "front label text",
594
+ "mask_color": "Green",
595
+ "graspable": false,
596
+ "grasp_scenarios": [],
597
+ "functional_labels": [
598
+ "brand identification",
599
+ "visual decoration",
600
+ "indicate front orientation"
601
+ ],
602
+ "semantic_description": "Printed 'Dior' lettering appears on the front of the bottle in a dark pink to red tone with a flat printed finish, serving as decorative branding on the bottle body.",
603
+ "id": 1,
604
+ "grasp_group": {}
605
+ }
606
+ ],
607
+ "quality_check": {
608
+ "success": true,
609
+ "message": "YES"
610
+ }
611
+ }
dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:487dcead6b25172c7e3c7b715f083e33866f96d495127f1502bd64b84a993de5
3
+ size 3774948
dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/hand_sanitizer_009.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>YES</PartSegChecker>