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
2661524
·
verified ·
1 Parent(s): 5f2eff9

Add asset bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/affordance_annot.json +345 -0
  3. dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/nail_clipper_029.urdf +1 -0
.gitattributes CHANGED
@@ -7982,3 +7982,4 @@ dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/afforda
7982
  dataset/bathroom_supplies/personal_care/732f9e8ac9a2534baf6f7ffe1ca3c864/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7983
  dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7984
  dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7982
  dataset/bathroom_supplies/personal_care/732f9e8ac9a2534baf6f7ffe1ca3c864/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7983
  dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7984
  dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7985
+ dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/affordance_annot.json ADDED
@@ -0,0 +1,345 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "clipper body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the body to pick up and hold the nail clipper",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the clipper while the lever is actuated",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "grasp the body near the end to orient the cutting jaws toward a nail",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "support the cutting mechanism",
24
+ "house and align the jaws",
25
+ "stabilize during clipping",
26
+ "provide leverage base"
27
+ ],
28
+ "semantic_description": "Elongated silver metal body with a reflective smooth hard surface, slightly tapered rectangular form, and a small hanging hole at the rear, forming the main lower structure of the clipper.",
29
+ "id": 3,
30
+ "grasp_group": {
31
+ "grasp_25": {
32
+ "confidence": 0.8415769338607788,
33
+ "position": [
34
+ -0.1000394260045141,
35
+ -0.0035194970050724805,
36
+ 0.01806012127781287
37
+ ],
38
+ "orientation": {
39
+ "w": 0.3780321367735603,
40
+ "xyz": [
41
+ 0.5980868149351887,
42
+ 0.4978764530570359,
43
+ 0.5015006509053029
44
+ ]
45
+ }
46
+ },
47
+ "grasp_26": {
48
+ "confidence": 0.8191003203392029,
49
+ "position": [
50
+ -0.10254700831137598,
51
+ 0.015447539618435258,
52
+ 0.006288706383202225
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5188732544810745,
56
+ "xyz": [
57
+ 0.5603272282519636,
58
+ 0.476768551650246,
59
+ 0.43531102814081846
60
+ ]
61
+ }
62
+ },
63
+ "grasp_28": {
64
+ "confidence": 0.8158438205718994,
65
+ "position": [
66
+ -0.09997894964180887,
67
+ -0.0028706878738375963,
68
+ 0.01016470935428515
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4928182491769781,
72
+ "xyz": [
73
+ 0.4689661727286244,
74
+ 0.5847222822535937,
75
+ 0.4419284498089625
76
+ ]
77
+ }
78
+ },
79
+ "grasp_29": {
80
+ "confidence": 0.8074412941932678,
81
+ "position": [
82
+ -0.10585231683216989,
83
+ -0.004859562622186786,
84
+ 0.00146773416781798
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4394862144763677,
88
+ "xyz": [
89
+ 0.5337144726504996,
90
+ 0.48190582926333525,
91
+ 0.5383005672397606
92
+ ]
93
+ }
94
+ },
95
+ "grasp_31": {
96
+ "confidence": 0.7872984409332275,
97
+ "position": [
98
+ -0.10091385594569147,
99
+ 0.005915714303228015,
100
+ -0.03209288831567392
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6514848630399239,
104
+ "xyz": [
105
+ 0.3863667789303762,
106
+ 0.4530456447731519,
107
+ 0.4701466038597919
108
+ ]
109
+ }
110
+ },
111
+ "grasp_33": {
112
+ "confidence": 0.7713229656219482,
113
+ "position": [
114
+ -0.10419840714894235,
115
+ 0.004904102875116223,
116
+ -0.022427052666898817
117
+ ],
118
+ "orientation": {
119
+ "w": 0.648478104706282,
120
+ "xyz": [
121
+ 0.38250547009322755,
122
+ 0.5052233220731912,
123
+ 0.4217998434075526
124
+ ]
125
+ }
126
+ },
127
+ "grasp_35": {
128
+ "confidence": 0.733019232749939,
129
+ "position": [
130
+ -0.10421632579527795,
131
+ 0.0054752853384343325,
132
+ -0.031803049554582685
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5311165052864252,
136
+ "xyz": [
137
+ 0.4704887964200055,
138
+ 0.37554431796658616,
139
+ 0.5962566691439187
140
+ ]
141
+ }
142
+ },
143
+ "grasp_37": {
144
+ "confidence": 0.72100430727005,
145
+ "position": [
146
+ -0.1059801762457937,
147
+ 0.01823750917446887,
148
+ 0.01613975834334269
149
+ ],
150
+ "orientation": {
151
+ "w": 0.41168540679910937,
152
+ "xyz": [
153
+ -0.49748821539511834,
154
+ 0.5827176880539994,
155
+ -0.4934173663346619
156
+ ]
157
+ }
158
+ },
159
+ "grasp_39": {
160
+ "confidence": 0.6998114585876465,
161
+ "position": [
162
+ -0.0908097883220762,
163
+ 0.053209137512567395,
164
+ 0.005832439812365919
165
+ ],
166
+ "orientation": {
167
+ "w": 0.3036586338329387,
168
+ "xyz": [
169
+ -0.41271972917992933,
170
+ 0.6098654995540663,
171
+ -0.6045807900504518
172
+ ]
173
+ }
174
+ },
175
+ "grasp_41": {
176
+ "confidence": 0.6938888430595398,
177
+ "position": [
178
+ -0.1065508013125509,
179
+ 0.020684175534370297,
180
+ 0.020686573872808367
181
+ ],
182
+ "orientation": {
183
+ "w": 0.49018196931069574,
184
+ "xyz": [
185
+ 0.6031184616961025,
186
+ 0.4995727496791723,
187
+ 0.382618381552697
188
+ ]
189
+ }
190
+ },
191
+ "grasp_44": {
192
+ "confidence": 0.672933042049408,
193
+ "position": [
194
+ 0.09204434254206717,
195
+ -0.025872934268591052,
196
+ -0.03449846844887361
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4985190868680956,
200
+ "xyz": [
201
+ -0.5449160881094923,
202
+ -0.21003908679402106,
203
+ 0.6406471407618874
204
+ ]
205
+ }
206
+ }
207
+ }
208
+ },
209
+ {
210
+ "part_name": "lever",
211
+ "mask_color": "Blue",
212
+ "graspable": true,
213
+ "grasp_scenarios": [
214
+ {
215
+ "scenario": "grasp the lever to flip it into operating position",
216
+ "confidence": 0.74
217
+ },
218
+ {
219
+ "scenario": "pinch the lever to press and actuate the cutting jaws",
220
+ "confidence": 0.7
221
+ },
222
+ {
223
+ "scenario": "lightly grasp the lever to manipulate or reposition the clipper",
224
+ "confidence": 0.43
225
+ }
226
+ ],
227
+ "functional_labels": [
228
+ "press to cut nails",
229
+ "provide mechanical leverage",
230
+ "open and close the jaws",
231
+ "fold for storage"
232
+ ],
233
+ "semantic_description": "Slim silver metal lever with a smooth reflective finish and hard surface, long and slightly arched with a pointed front, mounted on top of the clipper body and showing faint engraved markings.",
234
+ "id": 2,
235
+ "grasp_group": {
236
+ "grasp_11": {
237
+ "confidence": 0.3551552891731262,
238
+ "position": [
239
+ 0.08486242988146842,
240
+ 0.013294150462570542,
241
+ 0.04500272456789389
242
+ ],
243
+ "orientation": {
244
+ "w": 0.33744087563829145,
245
+ "xyz": [
246
+ 0.7390723856972559,
247
+ -0.3929423450433376,
248
+ -0.4306994051772918
249
+ ]
250
+ }
251
+ }
252
+ }
253
+ },
254
+ {
255
+ "part_name": "pivot pin",
256
+ "mask_color": "Red",
257
+ "graspable": false,
258
+ "grasp_scenarios": [],
259
+ "functional_labels": [
260
+ "connect lever to body",
261
+ "act as rotation pivot",
262
+ "retain the lever in place"
263
+ ],
264
+ "semantic_description": "Tiny silver metal pin with a smooth reflective hard surface, cylindrical and located at the top center near the jaws, serving as the lever's hinge point.",
265
+ "id": 0,
266
+ "grasp_group": {}
267
+ },
268
+ {
269
+ "part_name": "fold-out nail file/cleaner",
270
+ "mask_color": "Green",
271
+ "graspable": true,
272
+ "grasp_scenarios": [
273
+ {
274
+ "scenario": "pinch the small tab to unfold the file/cleaner from the body",
275
+ "confidence": 0.62
276
+ },
277
+ {
278
+ "scenario": "lightly grasp the extended file/cleaner to use it for cleaning under nails",
279
+ "confidence": 0.55
280
+ }
281
+ ],
282
+ "functional_labels": [
283
+ "file nail edges",
284
+ "clean under nails",
285
+ "provide a small fold-out grooming tool"
286
+ ],
287
+ "semantic_description": "Small silver metal fold-out tab near the hinge area, partially tucked into the clipper body. It is narrow, hard, and reflective, much smaller than the main lever and body.",
288
+ "id": 1,
289
+ "grasp_group": {
290
+ "grasp_0": {
291
+ "confidence": 0.7565048336982727,
292
+ "position": [
293
+ -0.10752006224356592,
294
+ 0.009150253949883336,
295
+ 0.00275569997029379
296
+ ],
297
+ "orientation": {
298
+ "w": 0.49172112454571115,
299
+ "xyz": [
300
+ 0.5578777276979173,
301
+ 0.4715856257350448,
302
+ 0.473909035801382
303
+ ]
304
+ }
305
+ },
306
+ "grasp_1": {
307
+ "confidence": 0.7278589010238647,
308
+ "position": [
309
+ -0.10702313086949289,
310
+ 0.016000189228179806,
311
+ 0.000141837983392179
312
+ ],
313
+ "orientation": {
314
+ "w": 0.5330187556399535,
315
+ "xyz": [
316
+ 0.5476790500502197,
317
+ 0.47136278249757135,
318
+ 0.44017700024907236
319
+ ]
320
+ }
321
+ },
322
+ "grasp_2": {
323
+ "confidence": 0.5259996652603149,
324
+ "position": [
325
+ -0.11409061006270349,
326
+ 0.006305218549641722,
327
+ 0.004178989736828953
328
+ ],
329
+ "orientation": {
330
+ "w": 0.48884954738923203,
331
+ "xyz": [
332
+ 0.5426946945291452,
333
+ 0.4915508552493244,
334
+ 0.4742218312677289
335
+ ]
336
+ }
337
+ }
338
+ }
339
+ }
340
+ ],
341
+ "quality_check": {
342
+ "success": true,
343
+ "message": "YES"
344
+ }
345
+ }
dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e024e6c0309c66d2d119b867b0e5f1182f8f90b691f96979e98b90b4cf1e51a9
3
+ size 3779016
dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/nail_clipper_029.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>