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
14d433b
·
verified ·
1 Parent(s): 9150181

Add asset bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/affordance/affordance_annot.json +491 -0
  3. dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5837,3 +5837,4 @@ dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/afforda
5837
  dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5838
  dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5839
  dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5837
  dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5838
  dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5839
  dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5840
+ dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,491 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle and neck body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main handle to pick up and move the toothbrush",
10
+ "confidence": 0.99
11
+ },
12
+ {
13
+ "scenario": "hold the handle to orient the bristle head during brushing",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to place the toothbrush into a holder or case",
18
+ "confidence": 0.93
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main structural body",
23
+ "primary grip region",
24
+ "connect handle to brush head",
25
+ "provide reach and leverage during brushing"
26
+ ],
27
+ "semantic_description": "Slim elongated toothbrush body including the handle and narrow neck, made of smooth white plastic with red accent areas visible along the front-side perimeter and neck region.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.948341965675354,
32
+ "position": [
33
+ 0.13826157618314028,
34
+ -1.3428652891889215e-05,
35
+ 0.04949957027565688
36
+ ],
37
+ "orientation": {
38
+ "w": 0.3435945420889491,
39
+ "xyz": [
40
+ -0.6213261055707766,
41
+ -0.6015723474662011,
42
+ 0.36607017352816595
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9456643462181091,
48
+ "position": [
49
+ 0.13926937151700258,
50
+ 0.004652405434171669,
51
+ 0.04921067401301116
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3286837024438162,
55
+ "xyz": [
56
+ -0.6283308544833351,
57
+ -0.5982564876698371,
58
+ 0.3731709206422936
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9444043040275574,
64
+ "position": [
65
+ 0.14147939253598452,
66
+ -0.016176212302525528,
67
+ 0.04705855145584792
68
+ ],
69
+ "orientation": {
70
+ "w": 0.2701773170953636,
71
+ "xyz": [
72
+ 0.6324177745852694,
73
+ -0.5794905657401268,
74
+ -0.43731299995993067
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9416804313659668,
80
+ "position": [
81
+ 0.13293338287621737,
82
+ 0.0030056068644626066,
83
+ 0.04958068102132529
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3659375813165944,
87
+ "xyz": [
88
+ 0.59383333314977,
89
+ -0.6337483871024863,
90
+ -0.3343869627622954
91
+ ]
92
+ }
93
+ },
94
+ "grasp_11": {
95
+ "confidence": 0.9367552995681763,
96
+ "position": [
97
+ 0.14430121053010225,
98
+ -0.0007360374584095553,
99
+ 0.047101794625632465
100
+ ],
101
+ "orientation": {
102
+ "w": 0.3784811486918666,
103
+ "xyz": [
104
+ -0.5975634510413821,
105
+ -0.6164712821798395,
106
+ 0.34588018201675524
107
+ ]
108
+ }
109
+ },
110
+ "grasp_12": {
111
+ "confidence": 0.9354448318481445,
112
+ "position": [
113
+ 0.1386640565469861,
114
+ -0.005070728904684074,
115
+ -0.044946660404093564
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6114869667419216,
119
+ "xyz": [
120
+ -0.38383972119282106,
121
+ -0.3549160755611267,
122
+ 0.5939573530546362
123
+ ]
124
+ }
125
+ },
126
+ "grasp_13": {
127
+ "confidence": 0.9349374771118164,
128
+ "position": [
129
+ 0.1300622271373868,
130
+ 0.00128915898676496,
131
+ 0.053583121742121875
132
+ ],
133
+ "orientation": {
134
+ "w": 0.3500717860547693,
135
+ "xyz": [
136
+ -0.6241911401177436,
137
+ -0.6149748993811813,
138
+ 0.33112088176078713
139
+ ]
140
+ }
141
+ },
142
+ "grasp_14": {
143
+ "confidence": 0.934515655040741,
144
+ "position": [
145
+ 0.1451226668432355,
146
+ 0.003953744933824055,
147
+ 0.044412976945750415
148
+ ],
149
+ "orientation": {
150
+ "w": 0.3490201279883193,
151
+ "xyz": [
152
+ -0.6072434259861486,
153
+ -0.602288717349967,
154
+ 0.38299957285688163
155
+ ]
156
+ }
157
+ },
158
+ "grasp_15": {
159
+ "confidence": 0.9341697692871094,
160
+ "position": [
161
+ 0.14378986228257418,
162
+ -0.00042321883665863425,
163
+ 0.052724852110259235
164
+ ],
165
+ "orientation": {
166
+ "w": 0.33435669782039845,
167
+ "xyz": [
168
+ -0.6265832119013022,
169
+ -0.6054109335368266,
170
+ 0.35927242969667794
171
+ ]
172
+ }
173
+ },
174
+ "grasp_17": {
175
+ "confidence": 0.9307209849357605,
176
+ "position": [
177
+ 0.1403342979028821,
178
+ -0.004356213568826206,
179
+ -0.044673622702248394
180
+ ],
181
+ "orientation": {
182
+ "w": 0.601720252036981,
183
+ "xyz": [
184
+ 0.34438770958618187,
185
+ -0.38009230232664903,
186
+ -0.6122578586564346
187
+ ]
188
+ }
189
+ },
190
+ "grasp_19": {
191
+ "confidence": 0.9294795989990234,
192
+ "position": [
193
+ 0.13411413598805666,
194
+ -0.004515015709330328,
195
+ 0.047886821324937046
196
+ ],
197
+ "orientation": {
198
+ "w": 0.37111648410654646,
199
+ "xyz": [
200
+ -0.6022821002266858,
201
+ -0.6203177470863676,
202
+ 0.3387251387491361
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "grip inlay",
210
+ "mask_color": "Green",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "pinch the soft grip inlay for a secure hold while manipulating the toothbrush",
215
+ "confidence": 0.9
216
+ },
217
+ {
218
+ "scenario": "use the grip inlay to stabilize the toothbrush during precise orientation",
219
+ "confidence": 0.84
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "improve grip traction",
224
+ "provide finger placement",
225
+ "reduce slipping when wet",
226
+ "aid controlled handling"
227
+ ],
228
+ "semantic_description": "Long red rubber-like inlay centered on the front of the handle, slightly recessed with a matte appearance and extending over much of the main grip area.",
229
+ "id": 1,
230
+ "grasp_group": {
231
+ "grasp_20": {
232
+ "confidence": 0.8587615489959717,
233
+ "position": [
234
+ 0.14739683736115694,
235
+ -0.001056269000400789,
236
+ 0.009958156268112361
237
+ ],
238
+ "orientation": {
239
+ "w": 0.49273862775603305,
240
+ "xyz": [
241
+ -0.5048800311476578,
242
+ -0.5137090599681575,
243
+ 0.4882702126610571
244
+ ]
245
+ }
246
+ },
247
+ "grasp_21": {
248
+ "confidence": 0.6306341290473938,
249
+ "position": [
250
+ 0.1442061560228467,
251
+ -0.007660414747078903,
252
+ 0.014325313153676689
253
+ ],
254
+ "orientation": {
255
+ "w": 0.4072857534923255,
256
+ "xyz": [
257
+ -0.6115563084593226,
258
+ -0.3977139286589245,
259
+ 0.5494914262629391
260
+ ]
261
+ }
262
+ },
263
+ "grasp_22": {
264
+ "confidence": 0.9873688817024231,
265
+ "position": [
266
+ 0.016519884578883648,
267
+ 0.08354324316314887,
268
+ -0.034418651019223034
269
+ ],
270
+ "orientation": {
271
+ "w": 0.6545217362433958,
272
+ "xyz": [
273
+ 0.2733952127540715,
274
+ -0.5097879190546414,
275
+ 0.4867983484093023
276
+ ]
277
+ }
278
+ },
279
+ "grasp_23": {
280
+ "confidence": 0.9041286706924438,
281
+ "position": [
282
+ 0.1485708700492978,
283
+ -0.00388091076456476,
284
+ 0.014867285150103271
285
+ ],
286
+ "orientation": {
287
+ "w": 0.5160410455801033,
288
+ "xyz": [
289
+ -0.48416072059469883,
290
+ -0.5523819044545969,
291
+ 0.4406407465735868
292
+ ]
293
+ }
294
+ },
295
+ "grasp_24": {
296
+ "confidence": 0.8615111112594604,
297
+ "position": [
298
+ 0.1611748980358243,
299
+ -0.0019776070985244587,
300
+ 0.00974798935931176
301
+ ],
302
+ "orientation": {
303
+ "w": 0.49085772829049795,
304
+ "xyz": [
305
+ -0.5100703361751686,
306
+ -0.5050912498862257,
307
+ 0.49373046495027323
308
+ ]
309
+ }
310
+ },
311
+ "grasp_25": {
312
+ "confidence": 0.7261200547218323,
313
+ "position": [
314
+ 0.16216266620904207,
315
+ 0.0016415650461567566,
316
+ 0.012470305780880153
317
+ ],
318
+ "orientation": {
319
+ "w": 0.4755956894221113,
320
+ "xyz": [
321
+ 0.5114791728340332,
322
+ -0.5175161765806134,
323
+ -0.49434279901451283
324
+ ]
325
+ }
326
+ },
327
+ "grasp_26": {
328
+ "confidence": 0.5962112545967102,
329
+ "position": [
330
+ 0.15872830618172884,
331
+ 0.019400520526687615,
332
+ 0.00986594136338681
333
+ ],
334
+ "orientation": {
335
+ "w": 0.531138234590152,
336
+ "xyz": [
337
+ 0.5219489419984529,
338
+ -0.49657649084805466,
339
+ -0.4459520898484326
340
+ ]
341
+ }
342
+ },
343
+ "grasp_27": {
344
+ "confidence": 0.21383878588676453,
345
+ "position": [
346
+ -0.10115285497158766,
347
+ 0.0019725994643522426,
348
+ 0.057291759992949665
349
+ ],
350
+ "orientation": {
351
+ "w": 0.304952030191542,
352
+ "xyz": [
353
+ -0.6202828182881316,
354
+ 0.6158783408037268,
355
+ -0.3780837922305562
356
+ ]
357
+ }
358
+ },
359
+ "grasp_28": {
360
+ "confidence": 0.9390314221382141,
361
+ "position": [
362
+ 0.13520069885998964,
363
+ -0.01880948962934781,
364
+ 0.06624416902195662
365
+ ],
366
+ "orientation": {
367
+ "w": 0.380623296507404,
368
+ "xyz": [
369
+ -0.6112006568782802,
370
+ -0.6482243228380039,
371
+ 0.2477193784680708
372
+ ]
373
+ }
374
+ },
375
+ "grasp_29": {
376
+ "confidence": 0.9350093007087708,
377
+ "position": [
378
+ 0.13094076979905367,
379
+ -0.001116524523240514,
380
+ 0.06157484545838088
381
+ ],
382
+ "orientation": {
383
+ "w": 0.33913606556428133,
384
+ "xyz": [
385
+ -0.630301833715466,
386
+ -0.6051773927625993,
387
+ 0.34852066041708774
388
+ ]
389
+ }
390
+ },
391
+ "grasp_30": {
392
+ "confidence": 0.6066108345985413,
393
+ "position": [
394
+ 0.117293287999928,
395
+ -0.014625378607888706,
396
+ 0.05600754066836089
397
+ ],
398
+ "orientation": {
399
+ "w": 0.3007900431661895,
400
+ "xyz": [
401
+ 0.6323749995358686,
402
+ -0.5846031715042871,
403
+ -0.409714951839961
404
+ ]
405
+ }
406
+ },
407
+ "grasp_31": {
408
+ "confidence": 0.9354981184005737,
409
+ "position": [
410
+ -0.07270521204918623,
411
+ -0.0631332748598652,
412
+ 0.0663546834839508
413
+ ],
414
+ "orientation": {
415
+ "w": 0.014698042958051187,
416
+ "xyz": [
417
+ 0.6658718553712513,
418
+ 0.6178585841310779,
419
+ 0.41791076771625557
420
+ ]
421
+ }
422
+ },
423
+ "grasp_32": {
424
+ "confidence": 0.8559266924858093,
425
+ "position": [
426
+ 0.1384971784427762,
427
+ -0.0005284488579491153,
428
+ 0.06698297604452819
429
+ ],
430
+ "orientation": {
431
+ "w": 0.33083545556863797,
432
+ "xyz": [
433
+ 0.6066988962334833,
434
+ -0.6460835206934675,
435
+ -0.32409942137575354
436
+ ]
437
+ }
438
+ },
439
+ "grasp_33": {
440
+ "confidence": 0.5035675764083862,
441
+ "position": [
442
+ -0.11142622213810682,
443
+ -0.005003628510166891,
444
+ 0.062289497698657215
445
+ ],
446
+ "orientation": {
447
+ "w": 0.33589205468884026,
448
+ "xyz": [
449
+ -0.6124752400166716,
450
+ 0.6314549691054497,
451
+ -0.33662327601558606
452
+ ]
453
+ }
454
+ }
455
+ }
456
+ },
457
+ {
458
+ "part_name": "logo patch",
459
+ "mask_color": "Blue",
460
+ "graspable": false,
461
+ "grasp_scenarios": [],
462
+ "functional_labels": [
463
+ "display branding",
464
+ "provide visual identification",
465
+ "mark the front side of the handle"
466
+ ],
467
+ "semantic_description": "Small blue oval patch near the upper handle to neck transition on the front side, with white branding text and a smooth inset appearance.",
468
+ "id": 2,
469
+ "grasp_group": {}
470
+ },
471
+ {
472
+ "part_name": "bristle head",
473
+ "mask_color": "Yellow",
474
+ "graspable": false,
475
+ "grasp_scenarios": [],
476
+ "functional_labels": [
477
+ "scrub teeth surfaces",
478
+ "clean along the gumline",
479
+ "hold and apply toothpaste",
480
+ "reach into the mouth for cleaning"
481
+ ],
482
+ "semantic_description": "Compact rectangular toothbrush head at the narrow end, with a small plastic base and dense short light-colored bristles.",
483
+ "id": 3,
484
+ "grasp_group": {}
485
+ }
486
+ ],
487
+ "quality_check": {
488
+ "success": false,
489
+ "message": "Main body color/part mapping is wrong; grip inlay color description is incorrect and neck is not visibly red."
490
+ }
491
+ }
dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d51690b0d79df50b8cb006ac8c2b5cd2813c922756e7e6e9165cd217bd5e8bd
3
+ size 3718328