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
4e6efcd
·
verified ·
1 Parent(s): 9664fab

Add asset bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/affordance/affordance_annot.json +580 -0
  3. dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.urdf +1 -0
.gitattributes CHANGED
@@ -8018,3 +8018,4 @@ dataset/bathroom_supplies/personal_care/8ff578405af35fc183c3a41850888a8d/afforda
8018
  dataset/bathroom_supplies/personal_care/9068da1f13d25154a9264cfec79a2d3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8019
  dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8020
  dataset/bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8018
  dataset/bathroom_supplies/personal_care/9068da1f13d25154a9264cfec79a2d3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8019
  dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8020
  dataset/bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8021
+ dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,580 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tube body",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the middle of the tube body to pick up and move the tube",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "squeeze the flexible tube body while the cap is open to dispense contents from the bottom opening",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp the upper tapered body to orient the tube during use or placement",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain product",
23
+ "provide main grasp surface",
24
+ "enable squeezing for dispensing",
25
+ "support orientation during use",
26
+ "store product"
27
+ ],
28
+ "semantic_description": "Large white plastic tube body with a smooth slightly glossy surface and tapered conical shape, narrower toward the sealed top end and broader near the cap. A red branded panel is visible near the upper front, with embossed vertical text on the white body.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9851740002632141,
33
+ "position": [
34
+ -0.09042503571254201,
35
+ 0.042464334139367566,
36
+ -0.036072893999516964
37
+ ],
38
+ "orientation": {
39
+ "w": 0.407446884824619,
40
+ "xyz": [
41
+ -0.34495946111080916,
42
+ 0.5586837406237534,
43
+ -0.6347144903021388
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9840425848960876,
49
+ "position": [
50
+ -0.10209108030539937,
51
+ 0.012022866489132866,
52
+ -0.021567451767623425
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5363774470654626,
56
+ "xyz": [
57
+ 0.5285995732148221,
58
+ 0.491716803152777,
59
+ 0.4371456404607715
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9823557734489441,
65
+ "position": [
66
+ -0.10284744834643789,
67
+ 0.012253122025867924,
68
+ -0.019990296103060246
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5557121498099092,
72
+ "xyz": [
73
+ 0.5151431551235711,
74
+ 0.4613647030803376,
75
+ 0.46146955157905345
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9823049306869507,
81
+ "position": [
82
+ 0.10584633910912089,
83
+ 0.008583210030337796,
84
+ -0.018967936746776104
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4507026082812118,
88
+ "xyz": [
89
+ -0.49861790036102405,
90
+ -0.5489789441029052,
91
+ 0.49685960518011074
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9822287559509277,
97
+ "position": [
98
+ -0.09260500108939596,
99
+ 0.04350979215814732,
100
+ -0.02200168650597334
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6131083021325898,
104
+ "xyz": [
105
+ 0.5980444223949013,
106
+ 0.37076169247326696,
107
+ 0.35913346557066994
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9822256565093994,
113
+ "position": [
114
+ 0.10291883462923579,
115
+ -0.024856500705936924,
116
+ 0.0017174611566588283
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5316927737218494,
120
+ "xyz": [
121
+ -0.5829257150847525,
122
+ -0.42316746541663597,
123
+ 0.4454544884471992
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9821591973304749,
129
+ "position": [
130
+ -0.1030271190975327,
131
+ 0.018167717003962025,
132
+ -0.033466256223618984
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5615226635225088,
136
+ "xyz": [
137
+ 0.5290082672549133,
138
+ 0.4380628833525829,
139
+ 0.46145797398610733
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9820849299430847,
145
+ "position": [
146
+ -0.10323599612456746,
147
+ -0.009663585020462051,
148
+ -0.015108109451830387
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5275254008944434,
152
+ "xyz": [
153
+ -0.5028291345827948,
154
+ 0.4856775338711433,
155
+ -0.48269777906959427
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9819552302360535,
161
+ "position": [
162
+ 0.10754170382278971,
163
+ -0.0014719955215696245,
164
+ -0.004263918846845627
165
+ ],
166
+ "orientation": {
167
+ "w": 0.48924251118733714,
168
+ "xyz": [
169
+ -0.5139244801201612,
170
+ -0.49005963601380664,
171
+ 0.5063249422360571
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9817928671836853,
177
+ "position": [
178
+ 0.1037652950908523,
179
+ -0.015883937856415287,
180
+ -0.03477232437580824
181
+ ],
182
+ "orientation": {
183
+ "w": 0.46371260981481366,
184
+ "xyz": [
185
+ 0.44997671326685623,
186
+ -0.5354792126317401,
187
+ -0.5438323140965264
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9817497730255127,
193
+ "position": [
194
+ 0.10249201321857981,
195
+ -0.00933193918899633,
196
+ -0.03721905406564474
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4859499715753076,
200
+ "xyz": [
201
+ 0.46722785451875465,
202
+ -0.5097930762614682,
203
+ -0.5344733636802003
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9811506867408752,
209
+ "position": [
210
+ -0.10505930965882726,
211
+ -0.0030201276822481304,
212
+ -0.01838934514671564
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5165886127507071,
216
+ "xyz": [
217
+ 0.481791016855069,
218
+ 0.4996732402152143,
219
+ 0.5013384827308666
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9810419082641602,
225
+ "position": [
226
+ 0.10352926069754176,
227
+ -0.02643824034021236,
228
+ -0.020509756170213223
229
+ ],
230
+ "orientation": {
231
+ "w": 0.43601691570099854,
232
+ "xyz": [
233
+ 0.4153501162392009,
234
+ -0.5383207374228063,
235
+ -0.5895628158417363
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9808527827262878,
241
+ "position": [
242
+ -0.07486943042022176,
243
+ 0.0682961713464465,
244
+ -0.020042370073497295
245
+ ],
246
+ "orientation": {
247
+ "w": 0.6637011640598119,
248
+ "xyz": [
249
+ 0.6397179484744089,
250
+ 0.2806232225234996,
251
+ 0.2674178718894278
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.980424702167511,
257
+ "position": [
258
+ 0.10789056235807948,
259
+ -0.001889547478640452,
260
+ -0.0023743812926113605
261
+ ],
262
+ "orientation": {
263
+ "w": 0.49097527862226226,
264
+ "xyz": [
265
+ 0.4860395599435951,
266
+ -0.49179608106580364,
267
+ -0.5299485225943611
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9803441762924194,
273
+ "position": [
274
+ -0.05220363175612874,
275
+ -0.0021742993558291346,
276
+ 0.16619799006730318
277
+ ],
278
+ "orientation": {
279
+ "w": 0.18543412773168272,
280
+ "xyz": [
281
+ -0.6925295167773937,
282
+ 0.6776646192547573,
283
+ -0.16366953435127865
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9803159832954407,
289
+ "position": [
290
+ -0.1001233447168488,
291
+ 0.034585740038892254,
292
+ -0.024847972206771374
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5907302771561969,
296
+ "xyz": [
297
+ 0.5701193999458569,
298
+ 0.4009833174842572,
299
+ 0.406465236589377
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9801525473594666,
305
+ "position": [
306
+ 0.10225382560747676,
307
+ -0.03634535559103824,
308
+ -0.011906642466783524
309
+ ],
310
+ "orientation": {
311
+ "w": 0.5606894972725316,
312
+ "xyz": [
313
+ -0.5995160182108406,
314
+ -0.40510346570315303,
315
+ 0.4026152178348315
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9801219701766968,
321
+ "position": [
322
+ -0.10400593167287298,
323
+ -0.000779321911977604,
324
+ -0.02325241919606924
325
+ ],
326
+ "orientation": {
327
+ "w": 0.5191542337833283,
328
+ "xyz": [
329
+ 0.4808849203660289,
330
+ 0.4839795245526566,
331
+ 0.514774120098503
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9800218939781189,
337
+ "position": [
338
+ -0.10513523107510991,
339
+ -0.009802785149076954,
340
+ -0.006064938381314278
341
+ ],
342
+ "orientation": {
343
+ "w": 0.5311790862742236,
344
+ "xyz": [
345
+ -0.5165954259332018,
346
+ 0.4716075362009474,
347
+ -0.47808396334560976
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "cap",
355
+ "mask_color": "Cyan",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the cap to twist it open or closed",
360
+ "confidence": 0.94
361
+ },
362
+ {
363
+ "scenario": "grasp the cap end to stabilize the tube while rotating the body",
364
+ "confidence": 0.76
365
+ },
366
+ {
367
+ "scenario": "pinch the cap to reposition the tube on a surface",
368
+ "confidence": 0.58
369
+ }
370
+ ],
371
+ "functional_labels": [
372
+ "cover the opening",
373
+ "seal the tube",
374
+ "enable opening and closing",
375
+ "provide a standing base",
376
+ "protect the dispensing opening"
377
+ ],
378
+ "semantic_description": "Small white plastic cap at the wider bottom end of the tube, with a smooth slightly glossy hard surface and short rounded cylindrical form that also serves as the tube's standing base.",
379
+ "id": 6,
380
+ "grasp_group": {
381
+ "grasp_20": {
382
+ "confidence": 0.9750521779060364,
383
+ "position": [
384
+ 0.10472046697395854,
385
+ 0.0004441258206497878,
386
+ -0.048764306120574474
387
+ ],
388
+ "orientation": {
389
+ "w": 0.5009803113966156,
390
+ "xyz": [
391
+ -0.49011191993938297,
392
+ -0.49333764096196675,
393
+ 0.5151960845506917
394
+ ]
395
+ }
396
+ },
397
+ "grasp_21": {
398
+ "confidence": 0.9728797674179077,
399
+ "position": [
400
+ 0.10091292971628718,
401
+ -0.0036083046870771796,
402
+ -0.052809241227805614
403
+ ],
404
+ "orientation": {
405
+ "w": 0.5039774933070933,
406
+ "xyz": [
407
+ 0.4749839415941327,
408
+ -0.48420935807932974,
409
+ -0.5347319319210361
410
+ ]
411
+ }
412
+ },
413
+ "grasp_23": {
414
+ "confidence": 0.9727658033370972,
415
+ "position": [
416
+ 0.10501350575941615,
417
+ 0.009432348975678906,
418
+ -0.061085875146090984
419
+ ],
420
+ "orientation": {
421
+ "w": 0.5454343022794506,
422
+ "xyz": [
423
+ 0.5047745187921432,
424
+ -0.4483938142106132,
425
+ -0.4966357764526715
426
+ ]
427
+ }
428
+ },
429
+ "grasp_25": {
430
+ "confidence": 0.9712868332862854,
431
+ "position": [
432
+ 0.10492118561523966,
433
+ -0.00811054409132339,
434
+ -0.0631808890029788
435
+ ],
436
+ "orientation": {
437
+ "w": 0.4954760751619013,
438
+ "xyz": [
439
+ 0.459689886749571,
440
+ -0.4950304981058501,
441
+ -0.5460160005965017
442
+ ]
443
+ }
444
+ },
445
+ "grasp_27": {
446
+ "confidence": 0.9710625410079956,
447
+ "position": [
448
+ 0.08507585639017634,
449
+ -0.028858688106993213,
450
+ -0.10687087755650282
451
+ ],
452
+ "orientation": {
453
+ "w": 0.7083276694551625,
454
+ "xyz": [
455
+ -0.4009480188462388,
456
+ -0.2925921634884776,
457
+ 0.5018988192182032
458
+ ]
459
+ }
460
+ },
461
+ "grasp_29": {
462
+ "confidence": 0.9707722663879395,
463
+ "position": [
464
+ 0.10630177074926905,
465
+ -0.0006296007777564228,
466
+ -0.06126623135060072
467
+ ],
468
+ "orientation": {
469
+ "w": 0.5202385348435623,
470
+ "xyz": [
471
+ 0.4768791983800939,
472
+ -0.48766527634846957,
473
+ -0.513926721683309
474
+ ]
475
+ }
476
+ },
477
+ "grasp_30": {
478
+ "confidence": 0.970033586025238,
479
+ "position": [
480
+ 0.1036250751640182,
481
+ -0.00876921639428474,
482
+ -0.062126810662448406
483
+ ],
484
+ "orientation": {
485
+ "w": 0.5130240145701824,
486
+ "xyz": [
487
+ 0.44522651764219356,
488
+ -0.5003945998294771,
489
+ -0.5368286066557892
490
+ ]
491
+ }
492
+ },
493
+ "grasp_31": {
494
+ "confidence": 0.9693937301635742,
495
+ "position": [
496
+ 0.09603222573059611,
497
+ -0.0385226238577161,
498
+ -0.05642250087112188
499
+ ],
500
+ "orientation": {
501
+ "w": 0.6316296964028507,
502
+ "xyz": [
503
+ -0.5486806745954477,
504
+ -0.3669065472989087,
505
+ 0.40666082857428
506
+ ]
507
+ }
508
+ },
509
+ "grasp_33": {
510
+ "confidence": 0.9692930579185486,
511
+ "position": [
512
+ 0.10205597543972544,
513
+ -0.001823961763875559,
514
+ -0.08665184210985899
515
+ ],
516
+ "orientation": {
517
+ "w": 0.5968556846938718,
518
+ "xyz": [
519
+ -0.40839348100325507,
520
+ -0.43920389382789404,
521
+ 0.5329896771693328
522
+ ]
523
+ }
524
+ },
525
+ "grasp_35": {
526
+ "confidence": 0.9689419269561768,
527
+ "position": [
528
+ 0.09947597348946147,
529
+ 0.015838810795685276,
530
+ -0.04872273560613394
531
+ ],
532
+ "orientation": {
533
+ "w": 0.5627489251682074,
534
+ "xyz": [
535
+ 0.5202449360629104,
536
+ -0.4430807617241097,
537
+ -0.4651218037384487
538
+ ]
539
+ }
540
+ },
541
+ "grasp_36": {
542
+ "confidence": 0.9687913060188293,
543
+ "position": [
544
+ 0.046399590763030574,
545
+ 0.009969765873393044,
546
+ -0.14713412057608366
547
+ ],
548
+ "orientation": {
549
+ "w": 0.7309138735663523,
550
+ "xyz": [
551
+ 0.17841082820343385,
552
+ -0.13989098948317003,
553
+ -0.6437118896442842
554
+ ]
555
+ }
556
+ },
557
+ "grasp_37": {
558
+ "confidence": 0.9682467579841614,
559
+ "position": [
560
+ 0.10523001963156275,
561
+ -0.004217922134557739,
562
+ -0.06314514856785536
563
+ ],
564
+ "orientation": {
565
+ "w": 0.5095889600055244,
566
+ "xyz": [
567
+ -0.498841777248677,
568
+ -0.47252265330282617,
569
+ 0.5178786684422585
570
+ ]
571
+ }
572
+ }
573
+ }
574
+ }
575
+ ],
576
+ "quality_check": {
577
+ "success": false,
578
+ "message": "Tube opening location and cap functions are incorrect; cap does not cover opening or open tube."
579
+ }
580
+ }
dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5f6874ecf2a1bb3885ee9eb557d40c929b8e004fde98e142b64e76b54f93df97
3
+ size 3780204
dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/toothpaste_037.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>