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
394404c
·
verified ·
1 Parent(s): c5cbbf0

Add asset bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/affordance_annot.json +365 -0
  3. dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/razor_039.urdf +1 -0
.gitattributes CHANGED
@@ -5867,3 +5867,4 @@ dataset/bathroom_supplies/personal_care/e7176834630159a289a0a52dca914021/afforda
5867
  dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5868
  dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5869
  dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5867
  dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5868
  dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5869
  dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5870
+ dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "razor handle",
5
+ "mask_color": "Lime Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and orient the razor",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle during shaving motions",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "stabilize the razor by the handle while placing or retrieving it from storage",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip surface",
23
+ "support controlled shaving motion",
24
+ "provide reach and leverage",
25
+ "connect the hand to the razor head"
26
+ ],
27
+ "semantic_description": "Long slightly curved blue-and-black plastic handle with a matte to semi-gloss finish, hard smooth structure, ribbed rubberized grip texture, and a thicker rounded end forming the main rear portion of the razor.",
28
+ "id": 9,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9765176773071289,
32
+ "position": [
33
+ 0.033958838786929846,
34
+ 0.07403367893130053,
35
+ 0.058739677420817316
36
+ ],
37
+ "orientation": {
38
+ "w": 0.37945744453776326,
39
+ "xyz": [
40
+ 0.6088786907047501,
41
+ -0.667206782181569,
42
+ 0.20028454159384354
43
+ ]
44
+ }
45
+ },
46
+ "grasp_3": {
47
+ "confidence": 0.973935067653656,
48
+ "position": [
49
+ 0.0959328948520124,
50
+ 0.08693554387718905,
51
+ -0.004455901798792183
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3388707142936923,
55
+ "xyz": [
56
+ 0.5941284754563867,
57
+ 0.38475892559594327,
58
+ -0.6197891277040997
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9737694263458252,
64
+ "position": [
65
+ -0.03614141279831529,
66
+ 0.08065721527964342,
67
+ 0.04238335450645536
68
+ ],
69
+ "orientation": {
70
+ "w": 0.46433061542986015,
71
+ "xyz": [
72
+ 0.5345790867036192,
73
+ 0.6658146705632648,
74
+ -0.23518738081874918
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9736035466194153,
80
+ "position": [
81
+ 0.08946457644924521,
82
+ 0.08594656870991457,
83
+ -0.014925581053830683
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3786136904707657,
87
+ "xyz": [
88
+ 0.5695607615187858,
89
+ 0.3467095828525225,
90
+ -0.6419070629650974
91
+ ]
92
+ }
93
+ },
94
+ "grasp_8": {
95
+ "confidence": 0.9665657877922058,
96
+ "position": [
97
+ -0.035949133802205324,
98
+ 0.03405569256574381,
99
+ 0.08147224446292967
100
+ ],
101
+ "orientation": {
102
+ "w": 0.28836746613016245,
103
+ "xyz": [
104
+ 0.6675248054767758,
105
+ 0.6852643524320438,
106
+ 0.04083632986390063
107
+ ]
108
+ }
109
+ },
110
+ "grasp_9": {
111
+ "confidence": 0.9643465876579285,
112
+ "position": [
113
+ -0.022707755211740732,
114
+ 0.02314127744466532,
115
+ 0.0846990387653932
116
+ ],
117
+ "orientation": {
118
+ "w": 0.07759245371474781,
119
+ "xyz": [
120
+ -0.6788936047549179,
121
+ 0.6888375068407606,
122
+ -0.24204498284162587
123
+ ]
124
+ }
125
+ },
126
+ "grasp_10": {
127
+ "confidence": 0.9635961055755615,
128
+ "position": [
129
+ -0.04147865483537316,
130
+ 0.008504840967361815,
131
+ 0.08726706763263792
132
+ ],
133
+ "orientation": {
134
+ "w": 0.1889772605180496,
135
+ "xyz": [
136
+ 0.6838622348513584,
137
+ 0.6911328799611154,
138
+ 0.13767854222010528
139
+ ]
140
+ }
141
+ },
142
+ "grasp_12": {
143
+ "confidence": 0.9595832824707031,
144
+ "position": [
145
+ 0.0960002257488668,
146
+ -0.0798826353129698,
147
+ -0.008649828494526446
148
+ ],
149
+ "orientation": {
150
+ "w": 0.3315246785322421,
151
+ "xyz": [
152
+ -0.607516746878662,
153
+ 0.3163805861056711,
154
+ 0.6487820238889893
155
+ ]
156
+ }
157
+ },
158
+ "grasp_14": {
159
+ "confidence": 0.9583559036254883,
160
+ "position": [
161
+ -0.03556054877117276,
162
+ 0.0005388085410231724,
163
+ 0.08867495914455503
164
+ ],
165
+ "orientation": {
166
+ "w": 0.15276446144070766,
167
+ "xyz": [
168
+ -0.6862593622035404,
169
+ 0.6909112799858574,
170
+ -0.16838263062746164
171
+ ]
172
+ }
173
+ },
174
+ "grasp_15": {
175
+ "confidence": 0.9575180411338806,
176
+ "position": [
177
+ 0.09664939483627677,
178
+ 0.07511437819630373,
179
+ 0.027356881997548044
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5459745070285069,
183
+ "xyz": [
184
+ 0.4504914504587866,
185
+ -0.680325676741045,
186
+ 0.1900691040262892
187
+ ]
188
+ }
189
+ },
190
+ "grasp_17": {
191
+ "confidence": 0.9453734755516052,
192
+ "position": [
193
+ 0.1317631541751325,
194
+ -0.054435147481854074,
195
+ -0.003552527050487697
196
+ ],
197
+ "orientation": {
198
+ "w": 0.17356531732053274,
199
+ "xyz": [
200
+ -0.6737366658076991,
201
+ 0.2005393743150765,
202
+ 0.6897375914933636
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "razor neck",
210
+ "mask_color": "Teal",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "pinch the neck to reorient the razor precisely",
215
+ "confidence": 0.58
216
+ },
217
+ {
218
+ "scenario": "hold near the neck for short-range placement or adjustment",
219
+ "confidence": 0.46
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "connect handle to cartridge",
224
+ "position the head",
225
+ "support pivoting geometry",
226
+ "transfer shaving force"
227
+ ],
228
+ "semantic_description": "Small blue-and-silver plastic neck and head mount with a smooth mostly matte surface, hard texture, and compact forked shape located between the long handle and the blade cartridge.",
229
+ "id": 10,
230
+ "grasp_group": {
231
+ "grasp_20": {
232
+ "confidence": 0.9838089942932129,
233
+ "position": [
234
+ -0.03530180314555764,
235
+ -0.09943777187436353,
236
+ -0.005064506665803492
237
+ ],
238
+ "orientation": {
239
+ "w": 0.5328892145686168,
240
+ "xyz": [
241
+ -0.5122317066805264,
242
+ -0.45843604512901315,
243
+ -0.4934411375169964
244
+ ]
245
+ }
246
+ },
247
+ "grasp_21": {
248
+ "confidence": 0.9830986857414246,
249
+ "position": [
250
+ -0.03586305910721421,
251
+ -0.10270386798947584,
252
+ 0.005670522688888013
253
+ ],
254
+ "orientation": {
255
+ "w": 0.4760243981216341,
256
+ "xyz": [
257
+ -0.49741092889672456,
258
+ 0.5173616557930008,
259
+ 0.5082519624380787
260
+ ]
261
+ }
262
+ },
263
+ "grasp_24": {
264
+ "confidence": 0.9820671081542969,
265
+ "position": [
266
+ -0.03514089109376073,
267
+ -0.10130900754302274,
268
+ -0.004381838836707175
269
+ ],
270
+ "orientation": {
271
+ "w": 0.5350604940522011,
272
+ "xyz": [
273
+ -0.5059768092503669,
274
+ -0.4673596068386293,
275
+ -0.4891551227382509
276
+ ]
277
+ }
278
+ },
279
+ "grasp_25": {
280
+ "confidence": 0.9816862344741821,
281
+ "position": [
282
+ -0.03618226619437337,
283
+ 0.09753673658997286,
284
+ -0.008051207871176302
285
+ ],
286
+ "orientation": {
287
+ "w": 0.48992498978465127,
288
+ "xyz": [
289
+ 0.4712150338241022,
290
+ 0.5037622445194443,
291
+ -0.5330605005807414
292
+ ]
293
+ }
294
+ },
295
+ "grasp_30": {
296
+ "confidence": 0.9797356128692627,
297
+ "position": [
298
+ -0.036417307797819376,
299
+ 0.10245181010395754,
300
+ 0.0008035723003558815
301
+ ],
302
+ "orientation": {
303
+ "w": 0.48326070839602225,
304
+ "xyz": [
305
+ 0.48924005964667916,
306
+ 0.515482125476374,
307
+ -0.5112547604393021
308
+ ]
309
+ }
310
+ },
311
+ "grasp_31": {
312
+ "confidence": 0.9785253405570984,
313
+ "position": [
314
+ -0.04756139451637864,
315
+ -0.0961318002518965,
316
+ 0.010561917326413095
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5025765415178355,
320
+ "xyz": [
321
+ -0.4735036494569924,
322
+ 0.554690423517865,
323
+ 0.4642517075083865
324
+ ]
325
+ }
326
+ },
327
+ "grasp_32": {
328
+ "confidence": 0.9777311682701111,
329
+ "position": [
330
+ -0.04780860850587487,
331
+ 0.09707726673514117,
332
+ 0.004896979662589729
333
+ ],
334
+ "orientation": {
335
+ "w": 0.4656068985662395,
336
+ "xyz": [
337
+ 0.5668293597191819,
338
+ -0.4569301444331021,
339
+ 0.503119802906042
340
+ ]
341
+ }
342
+ }
343
+ }
344
+ },
345
+ {
346
+ "part_name": "blade cartridge",
347
+ "mask_color": "Pink",
348
+ "graspable": false,
349
+ "grasp_scenarios": [],
350
+ "functional_labels": [
351
+ "shave hair",
352
+ "provide cutting edges",
353
+ "contact the skin during shaving",
354
+ "define the working end"
355
+ ],
356
+ "semantic_description": "Compact rectangular razor cartridge with a blue frame and shiny silver blades, featuring a hard smooth plastic-and-metal construction, reflective finish on the blades, and a short wide form at the front tip of the razor.",
357
+ "id": 8,
358
+ "grasp_group": {}
359
+ }
360
+ ],
361
+ "quality_check": {
362
+ "success": true,
363
+ "message": "YES"
364
+ }
365
+ }
dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15ead72cabd4c70a66af2affd71b299eebe5b51a3910d39182e8d08c65eee8b3
3
+ size 3792776
dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/razor_039.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>