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
77821c4
·
verified ·
1 Parent(s): b23e138

Add asset bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/affordance/affordance_annot.json +608 -0
  3. dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8027,3 +8027,4 @@ dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/afforda
8027
  dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8028
  dataset/bathroom_supplies/personal_care/9a2786912813510cbc64b01b9a3d8963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8029
  dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8027
  dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8028
  dataset/bathroom_supplies/personal_care/9a2786912813510cbc64b01b9a3d8963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8029
  dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8030
+ dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/affordance/affordance_annot.json ADDED
@@ -0,0 +1,608 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to unscrew or remove it for dispensing toothpaste",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "grasp the cap to stabilize the tube while placing it upright",
14
+ "confidence": 0.72
15
+ },
16
+ {
17
+ "scenario": "grasp the cap to pick up the toothpaste tube from a surface",
18
+ "confidence": 0.67
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the opening",
23
+ "seal the toothpaste",
24
+ "provide a gripping point for opening",
25
+ "support standing upright"
26
+ ],
27
+ "semantic_description": "Small light tan cap at the bottom end, likely plastic with a matte wood-grain-like finish, hard smooth texture, and a short cylindrical shape sized smaller than the tube body.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9740794897079468,
32
+ "position": [
33
+ 0.0520450899930438,
34
+ -0.09089530899655074,
35
+ -0.058490509167313576
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2043632039604514,
39
+ "xyz": [
40
+ 0.18513886714981384,
41
+ -0.6738397309881363,
42
+ -0.6854920113898764
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9674487709999084,
48
+ "position": [
49
+ 0.07410056689695921,
50
+ -0.07718931033741683,
51
+ -0.058662036433815956
52
+ ],
53
+ "orientation": {
54
+ "w": 0.2810005223364899,
55
+ "xyz": [
56
+ 0.2518608624696583,
57
+ -0.6484202704737826,
58
+ -0.6611777107868707
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9656921029090881,
64
+ "position": [
65
+ -0.1030251254705945,
66
+ -0.01694157614838332,
67
+ -0.05303225852549076
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5356989938497075,
71
+ "xyz": [
72
+ -0.5336239312208368,
73
+ 0.4596283715281805,
74
+ -0.46584745153664187
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9656191468238831,
80
+ "position": [
81
+ 0.0006735829956596717,
82
+ -0.10960797860752791,
83
+ -0.05329289473593235
84
+ ],
85
+ "orientation": {
86
+ "w": 0.01669944738179896,
87
+ "xyz": [
88
+ 0.008033266258958909,
89
+ 0.7064744669189237,
90
+ 0.7074958817420621
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9621649384498596,
96
+ "position": [
97
+ 0.07973210314230528,
98
+ -0.07314704253803939,
99
+ -0.0651217419654131
100
+ ],
101
+ "orientation": {
102
+ "w": 0.297941856983872,
103
+ "xyz": [
104
+ 0.2710417745671257,
105
+ -0.6362111452607649,
106
+ -0.6580291672429815
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9615814685821533,
112
+ "position": [
113
+ 0.0735290030570468,
114
+ -0.07339781417977065,
115
+ -0.054372457787394524
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6488272327895221,
119
+ "xyz": [
120
+ -0.6453623546694056,
121
+ -0.2852330741324147,
122
+ 0.28490831259762256
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9606121182441711,
128
+ "position": [
129
+ 0.006376868448569439,
130
+ -0.10607501759659499,
131
+ -0.06378308869898319
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7253556995847225,
135
+ "xyz": [
136
+ -0.6877082575777862,
137
+ -0.02725701632051658,
138
+ 0.013172570006891522
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9604809284210205,
144
+ "position": [
145
+ 0.0033117582643171772,
146
+ -0.1029466827167198,
147
+ -0.06176240183413029
148
+ ],
149
+ "orientation": {
150
+ "w": 0.732408827977104,
151
+ "xyz": [
152
+ -0.6806010671008896,
153
+ -0.01880541553275461,
154
+ 0.0024191959357913444
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9599720239639282,
160
+ "position": [
161
+ -0.10353710701747332,
162
+ -0.016787200118415058,
163
+ -0.05765691585838795
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5472630344706519,
167
+ "xyz": [
168
+ -0.527440608452434,
169
+ 0.45541663935467225,
170
+ -0.463578753024982
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9597427248954773,
176
+ "position": [
177
+ 0.012310744132264517,
178
+ -0.10712195083033293,
179
+ -0.06660359539091587
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7278165320475524,
183
+ "xyz": [
184
+ -0.6827652372407562,
185
+ -0.0457035949268666,
186
+ 0.04501008669852569
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9588649272918701,
192
+ "position": [
193
+ 0.07640528479532804,
194
+ -0.07015300437342376,
195
+ -0.06723853386938572
196
+ ],
197
+ "orientation": {
198
+ "w": 0.3041724450233069,
199
+ "xyz": [
200
+ 0.2636483195320363,
201
+ -0.6357164222088788,
202
+ -0.6586602446105417
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9551225304603577,
208
+ "position": [
209
+ -0.10321177741570864,
210
+ -0.004869134980253875,
211
+ -0.06367065943777561
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5171970180860179,
215
+ "xyz": [
216
+ -0.5081577249433594,
217
+ 0.4861374073288742,
218
+ -0.48780466608969686
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.9545753598213196,
224
+ "position": [
225
+ -0.0034707159647950903,
226
+ -0.1048642162932083,
227
+ -0.05438765324652195
228
+ ],
229
+ "orientation": {
230
+ "w": 0.013632664183880611,
231
+ "xyz": [
232
+ -0.0429577214710549,
233
+ -0.7072478929835454,
234
+ -0.7055276057700364
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.9541738629341125,
240
+ "position": [
241
+ -0.08896845033450518,
242
+ -0.011654981295578182,
243
+ -0.1166329625993967
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5756842212763449,
247
+ "xyz": [
248
+ 0.3379097600243264,
249
+ 0.371851975116834,
250
+ 0.6450819948312468
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.9538982510566711,
256
+ "position": [
257
+ 0.07688074359612074,
258
+ -0.06660924747120589,
259
+ -0.07700594700872898
260
+ ],
261
+ "orientation": {
262
+ "w": 0.3254594857329094,
263
+ "xyz": [
264
+ 0.24716945989709632,
265
+ -0.5768316456548523,
266
+ -0.7072825699900731
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.9531885385513306,
272
+ "position": [
273
+ -0.04828485300822649,
274
+ 0.09009917930234224,
275
+ -0.0650139544159174
276
+ ],
277
+ "orientation": {
278
+ "w": 0.15308925250058836,
279
+ "xyz": [
280
+ -0.20681086813193433,
281
+ 0.6625726917841324,
282
+ -0.7034133732687031
283
+ ]
284
+ }
285
+ },
286
+ "grasp_17": {
287
+ "confidence": 0.9528724551200867,
288
+ "position": [
289
+ -0.10431940307898913,
290
+ 0.0032083099940791726,
291
+ -0.05690315552055836
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5209389369607439,
295
+ "xyz": [
296
+ 0.5060185081609359,
297
+ 0.4825685145540908,
298
+ 0.4895870934959887
299
+ ]
300
+ }
301
+ },
302
+ "grasp_18": {
303
+ "confidence": 0.9524320363998413,
304
+ "position": [
305
+ 0.03586789766268339,
306
+ -0.09797004505526274,
307
+ -0.07936410047113895
308
+ ],
309
+ "orientation": {
310
+ "w": 0.7800805061830142,
311
+ "xyz": [
312
+ -0.597897789148018,
313
+ -0.1499958334550756,
314
+ 0.10720954972054264
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.9522124528884888,
320
+ "position": [
321
+ -0.0474778135685483,
322
+ 0.08681976154912263,
323
+ -0.051695508882403374
324
+ ],
325
+ "orientation": {
326
+ "w": 0.16452950284888676,
327
+ "xyz": [
328
+ -0.20620036250181142,
329
+ 0.6839918437532595,
330
+ -0.6801224969631844
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "tube body",
338
+ "mask_color": "Green",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "grasp the tube body to pick up and move the toothpaste",
343
+ "confidence": 0.94
344
+ },
345
+ {
346
+ "scenario": "grasp the tube body to hold it while unscrewing the cap",
347
+ "confidence": 0.91
348
+ },
349
+ {
350
+ "scenario": "grasp and squeeze the tube body to dispense toothpaste",
351
+ "confidence": 0.89
352
+ }
353
+ ],
354
+ "functional_labels": [
355
+ "contain toothpaste",
356
+ "main grasp surface",
357
+ "enable squeezing for dispensing",
358
+ "display product label"
359
+ ],
360
+ "semantic_description": "Large pale mint-green tube body made of flexible plastic with a mostly matte smooth surface, tapered flat-sided form, and printed botanical graphics and small text on the front and back.",
361
+ "id": 1,
362
+ "grasp_group": {
363
+ "grasp_21": {
364
+ "confidence": 0.9847511053085327,
365
+ "position": [
366
+ -0.040596692022518255,
367
+ 0.09614306048024446,
368
+ -0.013435352593660355
369
+ ],
370
+ "orientation": {
371
+ "w": 0.13692166208930448,
372
+ "xyz": [
373
+ -0.167168135555138,
374
+ 0.6851193329406151,
375
+ -0.6956427046528472
376
+ ]
377
+ }
378
+ },
379
+ "grasp_22": {
380
+ "confidence": 0.9847308397293091,
381
+ "position": [
382
+ -0.022511130329803564,
383
+ 0.10332275286782533,
384
+ -0.016717957332730293
385
+ ],
386
+ "orientation": {
387
+ "w": 0.07531735920191643,
388
+ "xyz": [
389
+ -0.08768747020976812,
390
+ 0.6926520754848998,
391
+ -0.7119489485191487
392
+ ]
393
+ }
394
+ },
395
+ "grasp_25": {
396
+ "confidence": 0.9831190705299377,
397
+ "position": [
398
+ -0.022641401868895628,
399
+ 0.10384900227654725,
400
+ -0.023879123851656914
401
+ ],
402
+ "orientation": {
403
+ "w": 0.07150735725423797,
404
+ "xyz": [
405
+ -0.10044448385335335,
406
+ 0.694723053673217,
407
+ -0.7086307093380225
408
+ ]
409
+ }
410
+ },
411
+ "grasp_26": {
412
+ "confidence": 0.9830319881439209,
413
+ "position": [
414
+ 0.00020916930225212127,
415
+ 0.11861153796780854,
416
+ 0.08395699225366116
417
+ ],
418
+ "orientation": {
419
+ "w": 0.06922124879610986,
420
+ "xyz": [
421
+ 0.043140394930692626,
422
+ 0.6966864182020447,
423
+ -0.7127239014745731
424
+ ]
425
+ }
426
+ },
427
+ "grasp_27": {
428
+ "confidence": 0.981846272945404,
429
+ "position": [
430
+ -0.009248689879314043,
431
+ 0.11235765472520143,
432
+ 0.09325261227786541
433
+ ],
434
+ "orientation": {
435
+ "w": 0.058318247223302436,
436
+ "xyz": [
437
+ -0.028524589070163357,
438
+ 0.7296665907174584,
439
+ -0.6807143279305504
440
+ ]
441
+ }
442
+ },
443
+ "grasp_28": {
444
+ "confidence": 0.9806437492370605,
445
+ "position": [
446
+ -0.051534121987060644,
447
+ 0.09371838823426515,
448
+ -0.025811610743403435
449
+ ],
450
+ "orientation": {
451
+ "w": 0.173356588557928,
452
+ "xyz": [
453
+ -0.1957561478971403,
454
+ 0.6777772306993656,
455
+ -0.6872008798812245
456
+ ]
457
+ }
458
+ },
459
+ "grasp_29": {
460
+ "confidence": 0.9806328415870667,
461
+ "position": [
462
+ 0.062322897705598734,
463
+ -0.08612394973170012,
464
+ -0.017736095935106277
465
+ ],
466
+ "orientation": {
467
+ "w": 0.21466151202965564,
468
+ "xyz": [
469
+ 0.23223306187799517,
470
+ -0.6684571429976518,
471
+ -0.6731666125108486
472
+ ]
473
+ }
474
+ },
475
+ "grasp_31": {
476
+ "confidence": 0.9796751737594604,
477
+ "position": [
478
+ 0.053712917360826395,
479
+ -0.09435059025418013,
480
+ -0.02628682367503643
481
+ ],
482
+ "orientation": {
483
+ "w": 0.1733388473116863,
484
+ "xyz": [
485
+ 0.19525893704884642,
486
+ -0.6853839177894262,
487
+ -0.6797620736337292
488
+ ]
489
+ }
490
+ },
491
+ "grasp_32": {
492
+ "confidence": 0.9795395135879517,
493
+ "position": [
494
+ 0.024536462369724177,
495
+ -0.10565497621428221,
496
+ -0.03501732833683491
497
+ ],
498
+ "orientation": {
499
+ "w": 0.7091554611099549,
500
+ "xyz": [
501
+ -0.6952016749034166,
502
+ -0.07923918832201271,
503
+ 0.08668514419137842
504
+ ]
505
+ }
506
+ },
507
+ "grasp_34": {
508
+ "confidence": 0.9794671535491943,
509
+ "position": [
510
+ -0.027701556813553907,
511
+ 0.10373532876837999,
512
+ -0.03724287636578083
513
+ ],
514
+ "orientation": {
515
+ "w": 0.7189448693260956,
516
+ "xyz": [
517
+ 0.6819834609207097,
518
+ 0.10834993056052566,
519
+ 0.07922831847151207
520
+ ]
521
+ }
522
+ },
523
+ "grasp_35": {
524
+ "confidence": 0.9792568683624268,
525
+ "position": [
526
+ 0.03763321960286703,
527
+ -0.10248828574549407,
528
+ -0.02509286068379879
529
+ ],
530
+ "orientation": {
531
+ "w": 0.11970506666182992,
532
+ "xyz": [
533
+ 0.1460838537035316,
534
+ -0.7029129056494366,
535
+ -0.6857431383353962
536
+ ]
537
+ }
538
+ },
539
+ "grasp_37": {
540
+ "confidence": 0.9789081811904907,
541
+ "position": [
542
+ -0.037927275654510595,
543
+ 0.09419925615657121,
544
+ -0.04920308105647564
545
+ ],
546
+ "orientation": {
547
+ "w": 0.13762059012477534,
548
+ "xyz": [
549
+ -0.14549038954270202,
550
+ 0.5683697828714296,
551
+ -0.7980281383780311
552
+ ]
553
+ }
554
+ },
555
+ "grasp_38": {
556
+ "confidence": 0.9787507057189941,
557
+ "position": [
558
+ -0.050692172851995565,
559
+ 0.09205541119445115,
560
+ -0.017140507698059082
561
+ ],
562
+ "orientation": {
563
+ "w": 0.18520135871650203,
564
+ "xyz": [
565
+ -0.20178323074625712,
566
+ 0.6854754362630894,
567
+ -0.6746164916447651
568
+ ]
569
+ }
570
+ },
571
+ "grasp_39": {
572
+ "confidence": 0.9779151678085327,
573
+ "position": [
574
+ 0.030972381922765635,
575
+ -0.1011672382010147,
576
+ -0.04781035892665386
577
+ ],
578
+ "orientation": {
579
+ "w": 0.7156370979887249,
580
+ "xyz": [
581
+ -0.6809858836465554,
582
+ -0.10900453890078299,
583
+ 0.11063354263253064
584
+ ]
585
+ }
586
+ }
587
+ }
588
+ },
589
+ {
590
+ "part_name": "sealed tube end",
591
+ "mask_color": "Blue",
592
+ "graspable": false,
593
+ "grasp_scenarios": [],
594
+ "functional_labels": [
595
+ "seal the filled tube",
596
+ "close the package end",
597
+ "indicate top boundary"
598
+ ],
599
+ "semantic_description": "Thin pale green crimped strip along the top edge, likely sealed plastic with a matte smooth feel, forming a narrow flattened band at the closed end of the tube.",
600
+ "id": 2,
601
+ "grasp_group": {}
602
+ }
603
+ ],
604
+ "quality_check": {
605
+ "success": true,
606
+ "message": "YES"
607
+ }
608
+ }
dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94757866acb1b91f248000cff5a6bc8d7445b6d5a359f7fde0dd421e046d638b
3
+ size 3781300