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
2656984
·
verified ·
1 Parent(s): 85755dc

Add asset bathroom_supplies/personal_care/db0a5cebee8e5071bc88556b2bce8f47

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/personal_care/db0a5cebee8e5071bc88556b2bce8f47/affordance/affordance_annot.json +243 -0
  3. dataset/bathroom_supplies/personal_care/db0a5cebee8e5071bc88556b2bce8f47/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5855,4 +5855,4 @@ dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/afforda
5855
  dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5856
  dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5857
  dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5858
- dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5855
  dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5856
  dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5857
  dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5858
+ dataset/bathroom_supplies/personal_care/db0a5cebee8e5071bc88556b2bce8f47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/db0a5cebee8e5071bc88556b2bce8f47/affordance/affordance_annot.json ADDED
@@ -0,0 +1,243 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "brush body and handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and manipulate the hairbrush",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the neck or body edge to stabilize the brush during use",
14
+ "confidence": 0.7
15
+ },
16
+ {
17
+ "scenario": "grasp the back of the brush body to reorient it for storage or handoff",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main grip",
23
+ "support the bristle bed",
24
+ "transfer brushing force",
25
+ "serve as rigid frame",
26
+ "enable orientation and handling"
27
+ ],
28
+ "semantic_description": "Brown wooden hairbrush body with an integrated handle, smooth satin finish, oval head and narrow neck, medium-sized and elongated, with visible wood grain and printed branding on the handle.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9442455172538757,
33
+ "position": [
34
+ -0.02287016695481725,
35
+ 0.087972270881437,
36
+ 0.0007573389448225498
37
+ ],
38
+ "orientation": {
39
+ "w": 0.6021242529259132,
40
+ "xyz": [
41
+ 0.35005372125189255,
42
+ 0.6177273205684917,
43
+ -0.36513248787171115
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.8523390293121338,
49
+ "position": [
50
+ -0.12217021061223932,
51
+ -0.00015726530909887515,
52
+ 0.0034127661492675543
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5090416220668437,
56
+ "xyz": [
57
+ 0.5015681626697863,
58
+ 0.5093757016239563,
59
+ 0.47941881460234115
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.8480371832847595,
65
+ "position": [
66
+ -0.12711818589014,
67
+ -0.0007517120939155575,
68
+ 0.002075882046483457
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4936139005723952,
72
+ "xyz": [
73
+ 0.5089800963130533,
74
+ 0.49981697977613726,
75
+ 0.49746111953229155
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.819876492023468,
81
+ "position": [
82
+ -0.11989019883912988,
83
+ -0.005077165926195448,
84
+ 0.006366046145558357
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5410032554489107,
88
+ "xyz": [
89
+ 0.44369961557682064,
90
+ 0.5775450421299237,
91
+ 0.4205803764345252
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.8015444278717041,
97
+ "position": [
98
+ -0.12007482422632165,
99
+ -0.009137444572843378,
100
+ 0.0038092152681201696
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5074335245282822,
104
+ "xyz": [
105
+ -0.5198589524170881,
106
+ 0.49562949400582723,
107
+ -0.47603496977442816
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.779665470123291,
113
+ "position": [
114
+ -0.1283333755854983,
115
+ -0.008019551078177756,
116
+ -0.013961008749902248
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5894310575553804,
120
+ "xyz": [
121
+ -0.4521457581476555,
122
+ 0.48324208645300293,
123
+ -0.4632626983243701
124
+ ]
125
+ }
126
+ },
127
+ "grasp_9": {
128
+ "confidence": 0.7779689431190491,
129
+ "position": [
130
+ -0.12701954020303674,
131
+ -0.006819354744948214,
132
+ 0.00033865426667034626
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5049572268215022,
136
+ "xyz": [
137
+ 0.492970852122925,
138
+ 0.51935307621988,
139
+ 0.4819443124043304
140
+ ]
141
+ }
142
+ },
143
+ "grasp_14": {
144
+ "confidence": 0.738800585269928,
145
+ "position": [
146
+ -0.1174303524021525,
147
+ -3.7180307117523625e-05,
148
+ 0.0025488469254923984
149
+ ],
150
+ "orientation": {
151
+ "w": 0.422891753686506,
152
+ "xyz": [
153
+ -0.5738762057648837,
154
+ 0.4335929654681546,
155
+ -0.5512039599072054
156
+ ]
157
+ }
158
+ },
159
+ "grasp_16": {
160
+ "confidence": 0.7351241707801819,
161
+ "position": [
162
+ -0.11583427412551828,
163
+ -0.002512059782020515,
164
+ 0.0028806071495637298
165
+ ],
166
+ "orientation": {
167
+ "w": 0.505860589148766,
168
+ "xyz": [
169
+ 0.49873427459414665,
170
+ 0.504876427044542,
171
+ 0.49037636678968416
172
+ ]
173
+ }
174
+ },
175
+ "grasp_17": {
176
+ "confidence": 0.7289010882377625,
177
+ "position": [
178
+ -0.1297582395200152,
179
+ 0.0059330790281819645,
180
+ 0.0011225769994780421
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4454270495537864,
184
+ "xyz": [
185
+ -0.5322134624966613,
186
+ 0.4698119502673791,
187
+ -0.5455458782257319
188
+ ]
189
+ }
190
+ },
191
+ "grasp_19": {
192
+ "confidence": 0.714804470539093,
193
+ "position": [
194
+ 0.1493889384146314,
195
+ 0.003632829848356778,
196
+ -0.0011022198013961315
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7122870824560744,
200
+ "xyz": [
201
+ -0.035554003480342565,
202
+ -0.7000463685536445,
203
+ 0.03630574166144588
204
+ ]
205
+ }
206
+ }
207
+ }
208
+ },
209
+ {
210
+ "part_name": "bristle field",
211
+ "mask_color": "Blue",
212
+ "graspable": false,
213
+ "grasp_scenarios": [],
214
+ "functional_labels": [
215
+ "contact and detangle hair",
216
+ "separate hair strands",
217
+ "apply brushing force to hair",
218
+ "support grooming action"
219
+ ],
220
+ "semantic_description": "Dense array of dark bristles covering the oval brushing face, each tipped with small light-colored rounded beads, projecting upward from the brush head.",
221
+ "id": 2,
222
+ "grasp_group": {}
223
+ },
224
+ {
225
+ "part_name": "decorative rivet or pin",
226
+ "mask_color": "Green",
227
+ "graspable": false,
228
+ "grasp_scenarios": [],
229
+ "functional_labels": [
230
+ "fastener detail",
231
+ "decorative accent",
232
+ "possible assembly point"
233
+ ],
234
+ "semantic_description": "Small round light-colored metal pin or rivet visible on the wooden handle area near the neck and handle end, appearing glossy and metallic.",
235
+ "id": 1,
236
+ "grasp_group": {}
237
+ }
238
+ ],
239
+ "quality_check": {
240
+ "success": true,
241
+ "message": "YES"
242
+ }
243
+ }
dataset/bathroom_supplies/personal_care/db0a5cebee8e5071bc88556b2bce8f47/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:beb6fb8c07230dcbae77da391b69d61b437b3a36e96d0d5badaa8e745999c425
3
+ size 3768072