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
4d7f77e
·
verified ·
1 Parent(s): 7b23f9e

Add asset bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/affordance/affordance_annot.json +444 -0
  3. dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/razor_015.urdf +1 -0
.gitattributes CHANGED
@@ -5762,3 +5762,4 @@ dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/afforda
5762
  dataset/bathroom_supplies/personal_care/2bb5d1d111d45bf6a831502feebba7ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5763
  dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5764
  dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5762
  dataset/bathroom_supplies/personal_care/2bb5d1d111d45bf6a831502feebba7ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5763
  dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5764
  dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5765
+ dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/affordance/affordance_annot.json ADDED
@@ -0,0 +1,444 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "razor body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the body to pick up and hold the razor during shaving",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "grasp the body to orient the shaving head toward the face",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the body to place the razor into storage or a charging position",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip",
23
+ "house internal motor and electronics",
24
+ "support the shaving head",
25
+ "enable orientation and handling"
26
+ ],
27
+ "semantic_description": "Large light gray to silver plastic body with a smooth satin surface, rounded ergonomic shape, and elongated form making up most of the razor handle and housing.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9938117265701294,
32
+ "position": [
33
+ 0.0107263857498765,
34
+ -0.04835798822023207,
35
+ -0.09139462758321315
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6527919026136613,
39
+ "xyz": [
40
+ -0.08568995984934286,
41
+ 0.2399158021362987,
42
+ 0.7134145853207309
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9935854077339172,
48
+ "position": [
49
+ 0.018131849355995655,
50
+ -0.04685575000621611,
51
+ -0.09404669154901057
52
+ ],
53
+ "orientation": {
54
+ "w": 0.668191348614014,
55
+ "xyz": [
56
+ -0.22175520403011187,
57
+ -0.11100782322055458,
58
+ -0.7014429515696787
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9934791326522827,
64
+ "position": [
65
+ 0.023281552828848362,
66
+ -0.04105082384921843,
67
+ -0.09769969631452113
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6742355267989002,
71
+ "xyz": [
72
+ -0.19335686124271936,
73
+ -0.07966177397743313,
74
+ -0.7082891926179183
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9931305050849915,
80
+ "position": [
81
+ 0.027446010150015354,
82
+ -0.06379049501992995,
83
+ -0.08556627680081874
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6256876022996425,
87
+ "xyz": [
88
+ -0.14366618342399795,
89
+ 0.2865862320711807,
90
+ 0.7111563707484801
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9925634264945984,
96
+ "position": [
97
+ 0.02552757877856493,
98
+ -0.04850242145039374,
99
+ -0.09244141925591975
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6807090902186856,
103
+ "xyz": [
104
+ -0.2143841009315061,
105
+ -0.12191574037951247,
106
+ -0.6897906523063023
107
+ ]
108
+ }
109
+ },
110
+ "grasp_6": {
111
+ "confidence": 0.9917305111885071,
112
+ "position": [
113
+ 0.024418220855295658,
114
+ -0.0488512874362641,
115
+ -0.09227688808459789
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6552868824828627,
119
+ "xyz": [
120
+ -0.11199707205730214,
121
+ 0.21202702642997773,
122
+ 0.7163101964650116
123
+ ]
124
+ }
125
+ },
126
+ "grasp_7": {
127
+ "confidence": 0.9915450811386108,
128
+ "position": [
129
+ 0.009912661276757717,
130
+ -0.04219952083803946,
131
+ -0.09523767430800945
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6884342798319856,
135
+ "xyz": [
136
+ -0.1923171124889721,
137
+ -0.10484057588491769,
138
+ -0.6914338900026802
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.9915342926979065,
144
+ "position": [
145
+ 0.04321825224906206,
146
+ -0.10596335164882476,
147
+ 0.005277351359836757
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5169612444050575,
151
+ "xyz": [
152
+ -0.5459176462744092,
153
+ -0.5003618752870054,
154
+ -0.4293751145893926
155
+ ]
156
+ }
157
+ },
158
+ "grasp_11": {
159
+ "confidence": 0.9909924268722534,
160
+ "position": [
161
+ 0.055614844895899296,
162
+ 0.006243487841857132,
163
+ 0.09387349139433354
164
+ ],
165
+ "orientation": {
166
+ "w": 0.09229352856685247,
167
+ "xyz": [
168
+ 0.6990434302521621,
169
+ -0.7075679781985129,
170
+ -0.04655903171285738
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.9908708930015564,
176
+ "position": [
177
+ 0.05509727541357279,
178
+ 0.004622658270818647,
179
+ 0.09718394826631993
180
+ ],
181
+ "orientation": {
182
+ "w": 0.09694698404783991,
183
+ "xyz": [
184
+ 0.6938978623207447,
185
+ -0.7114796904268917,
186
+ -0.05388588925481963
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.9906884431838989,
192
+ "position": [
193
+ 0.04402038920670748,
194
+ 0.10518003769539064,
195
+ 0.008419306832365692
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4965288181556976,
199
+ "xyz": [
200
+ 0.5721113797309019,
201
+ -0.4997148554169122,
202
+ 0.42003900437812197
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.9906524419784546,
208
+ "position": [
209
+ 0.019522634334862232,
210
+ -0.10524066023208434,
211
+ -0.0019716544775292277
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5307930587644563,
215
+ "xyz": [
216
+ -0.5395513820511563,
217
+ -0.454652664242303,
218
+ -0.4695039827216968
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.990595817565918,
224
+ "position": [
225
+ 0.04838114324957132,
226
+ -0.10659705333091551,
227
+ -0.011010663700290024
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5661817727985937,
231
+ "xyz": [
232
+ -0.5282145080463303,
233
+ -0.45086900734162183,
234
+ -0.4440098781094806
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.9904097318649292,
240
+ "position": [
241
+ 0.04078919533640146,
242
+ -0.10351745269872481,
243
+ -0.019621614483185112
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5778140701450446,
247
+ "xyz": [
248
+ -0.5088538609179653,
249
+ -0.42405221267159177,
250
+ -0.47684208025259717
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.9903258681297302,
256
+ "position": [
257
+ 0.008167690597474575,
258
+ -0.03318174786545569,
259
+ -0.09819273848552257
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6893368606587973,
263
+ "xyz": [
264
+ -0.16307716259917712,
265
+ -0.04828647331676128,
266
+ -0.7041938284806997
267
+ ]
268
+ }
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "part_name": "shaving head",
274
+ "mask_color": "Green",
275
+ "graspable": true,
276
+ "grasp_scenarios": [
277
+ {
278
+ "scenario": "delicately grasp the shaving head to reorient the razor during inspection or maintenance",
279
+ "confidence": 0.34
280
+ },
281
+ {
282
+ "scenario": "grasp the shaving head to steady the razor while attaching or detaching components",
283
+ "confidence": 0.29
284
+ }
285
+ ],
286
+ "functional_labels": [
287
+ "cut facial hair",
288
+ "contact the skin",
289
+ "house rotary cutters",
290
+ "guide shaving motion"
291
+ ],
292
+ "semantic_description": "Small light gray head assembly at the top with three circular rotary cutter areas visible from the front, smooth hard plastic around the cutters, and a compact clover-like shape.",
293
+ "id": 1,
294
+ "grasp_group": {
295
+ "grasp_20": {
296
+ "confidence": 0.9409698843955994,
297
+ "position": [
298
+ -0.08662060555070639,
299
+ -0.00797171003796393,
300
+ 0.09950926702003926
301
+ ],
302
+ "orientation": {
303
+ "w": 0.16011857084001452,
304
+ "xyz": [
305
+ -0.7091182647303976,
306
+ 0.6747953439324326,
307
+ -0.12713997681693684
308
+ ]
309
+ }
310
+ },
311
+ "grasp_21": {
312
+ "confidence": 0.9397581219673157,
313
+ "position": [
314
+ -0.08400011714547873,
315
+ 0.009750278222782072,
316
+ 0.0989530588267371
317
+ ],
318
+ "orientation": {
319
+ "w": 0.17085944031114228,
320
+ "xyz": [
321
+ 0.6755380348399906,
322
+ 0.7098284435064002,
323
+ 0.10295142510119792
324
+ ]
325
+ }
326
+ },
327
+ "grasp_22": {
328
+ "confidence": 0.9394983649253845,
329
+ "position": [
330
+ -0.1470884596928954,
331
+ 0.002212415238318499,
332
+ 0.0218368450878188
333
+ ],
334
+ "orientation": {
335
+ "w": 0.45131989522474303,
336
+ "xyz": [
337
+ 0.5473905242334338,
338
+ 0.5170799491235436,
339
+ 0.478855189350775
340
+ ]
341
+ }
342
+ },
343
+ "grasp_25": {
344
+ "confidence": 0.9376387000083923,
345
+ "position": [
346
+ -0.09050093498080969,
347
+ 0.042427768486959394,
348
+ 0.08696019451599568
349
+ ],
350
+ "orientation": {
351
+ "w": 0.3025950270630346,
352
+ "xyz": [
353
+ 0.636096644539463,
354
+ 0.7096598327264719,
355
+ -0.014150272682659667
356
+ ]
357
+ }
358
+ },
359
+ "grasp_26": {
360
+ "confidence": 0.937437117099762,
361
+ "position": [
362
+ -0.12433144357055426,
363
+ 0.0006711450041620992,
364
+ 0.07036243181210011
365
+ ],
366
+ "orientation": {
367
+ "w": 0.3015368924986122,
368
+ "xyz": [
369
+ 0.62505617361248,
370
+ 0.6496021004257363,
371
+ 0.31047929627219334
372
+ ]
373
+ }
374
+ },
375
+ "grasp_30": {
376
+ "confidence": 0.9304443597793579,
377
+ "position": [
378
+ -0.14716971572488546,
379
+ -0.002912061732786242,
380
+ 0.014906872878782451
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5322104721063277,
384
+ "xyz": [
385
+ -0.4709216630992848,
386
+ 0.5682183182962853,
387
+ -0.41486472898609283
388
+ ]
389
+ }
390
+ },
391
+ "grasp_35": {
392
+ "confidence": 0.9267443418502808,
393
+ "position": [
394
+ -0.1279457425698638,
395
+ 0.0009315251008956693,
396
+ 0.06260028283577412
397
+ ],
398
+ "orientation": {
399
+ "w": 0.3154986186524549,
400
+ "xyz": [
401
+ 0.6176244628151891,
402
+ 0.6459860121714356,
403
+ 0.3189086336860256
404
+ ]
405
+ }
406
+ },
407
+ "grasp_39": {
408
+ "confidence": 0.9201413989067078,
409
+ "position": [
410
+ -0.05288706999272108,
411
+ -0.008408125933783595,
412
+ -0.10586874384898692
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6942764440331449,
416
+ "xyz": [
417
+ 0.012425587623915123,
418
+ 0.06368081391883451,
419
+ 0.7167779139813998
420
+ ]
421
+ }
422
+ }
423
+ }
424
+ },
425
+ {
426
+ "part_name": "power button",
427
+ "mask_color": "Teal",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "turn the razor on and off",
432
+ "user control input",
433
+ "indicate control location"
434
+ ],
435
+ "semantic_description": "Small dark gray recessed button on the front of the handle, likely plastic with a smooth slightly glossy surface, rectangular-rounded in shape and positioned below the head.",
436
+ "id": 10,
437
+ "grasp_group": {}
438
+ }
439
+ ],
440
+ "quality_check": {
441
+ "success": true,
442
+ "message": "YES"
443
+ }
444
+ }
dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07ad49980fa054b1f07461552f969895152db67c42e6c761181a49a3c102745e
3
+ size 3789656
dataset/bathroom_supplies/personal_care/2e1f754fb9ed57bba0dc0fb01d09ca54/razor_015.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>