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
7ccde67
·
verified ·
1 Parent(s): ac608c3

Add asset bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/affordance_annot.json +326 -0
  3. dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.urdf +4 -3
.gitattributes CHANGED
@@ -8022,3 +8022,4 @@ dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/afforda
8022
  dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8023
  dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8024
  dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8022
  dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8023
  dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8024
  dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8025
+ dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/affordance_annot.json ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tube body",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main tube body to pick up and move the item",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold and squeeze the flexible body to help dispense contents through the opening end",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "grasp the body to stabilize the tube while the cap/opening end is manipulated",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain the paste inside",
23
+ "provide the main squeeze surface",
24
+ "provide the primary grasping surface",
25
+ "display product branding and graphics",
26
+ "support handling and storage"
27
+ ],
28
+ "semantic_description": "Soft light pink plastic squeeze-tube body with a smooth slightly glossy surface, tapered flat form that is wider at the sealed top and narrower toward the dispensing end, medium size, with colorful printed fruit and cartoon character graphics visible on the front.",
29
+ "id": 8,
30
+ "grasp_group": {
31
+ "grasp_1": {
32
+ "confidence": 0.9834023714065552,
33
+ "position": [
34
+ 0.05609413325146306,
35
+ -0.08567413681885228,
36
+ -0.045618739910423756
37
+ ],
38
+ "orientation": {
39
+ "w": 0.2009768011287926,
40
+ "xyz": [
41
+ 0.21030520944500958,
42
+ -0.6515573995574339,
43
+ -0.7006090203317988
44
+ ]
45
+ }
46
+ },
47
+ "grasp_2": {
48
+ "confidence": 0.9828807711601257,
49
+ "position": [
50
+ -0.024765200025285594,
51
+ 0.10376349842408672,
52
+ -0.008055567741394043
53
+ ],
54
+ "orientation": {
55
+ "w": 0.11993927589738776,
56
+ "xyz": [
57
+ -0.0828523896791765,
58
+ 0.6957630782917722,
59
+ -0.7033233897060568
60
+ ]
61
+ }
62
+ },
63
+ "grasp_3": {
64
+ "confidence": 0.9828683137893677,
65
+ "position": [
66
+ 0.054889582985197194,
67
+ -0.0822006388916634,
68
+ -0.04706533718854189
69
+ ],
70
+ "orientation": {
71
+ "w": 0.21625622210627932,
72
+ "xyz": [
73
+ 0.1950547204285898,
74
+ -0.6307492297421746,
75
+ -0.7192651191448796
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.9828588366508484,
81
+ "position": [
82
+ -0.03847493887587916,
83
+ 0.09899620717624202,
84
+ -0.03452640864998102
85
+ ],
86
+ "orientation": {
87
+ "w": 0.1663514610122415,
88
+ "xyz": [
89
+ -0.13897210511451794,
90
+ 0.6372009119012476,
91
+ -0.7395870086009834
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9822061061859131,
97
+ "position": [
98
+ 0.03931129440024961,
99
+ -0.09586430335184559,
100
+ -0.03501132968813181
101
+ ],
102
+ "orientation": {
103
+ "w": 0.10797645758332097,
104
+ "xyz": [
105
+ 0.1835592190415446,
106
+ -0.6514075766063886,
107
+ -0.7282274829010557
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9816563725471497,
113
+ "position": [
114
+ 0.002193220381741412,
115
+ -0.1055308430804871,
116
+ -0.02309610415250063
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7357760250920129,
120
+ "xyz": [
121
+ -0.6766719300103857,
122
+ -0.025269129514923994,
123
+ -0.010498148854709056
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9814090728759766,
129
+ "position": [
130
+ 0.05224079354957212,
131
+ -0.0855333729996346,
132
+ -0.012603211216628551
133
+ ],
134
+ "orientation": {
135
+ "w": 0.1384757475721888,
136
+ "xyz": [
137
+ 0.2663171364782959,
138
+ -0.6894616396708784,
139
+ -0.6591982232793618
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9811490178108215,
145
+ "position": [
146
+ 0.02907976224378217,
147
+ -0.10223939263960347,
148
+ -0.01493422593921423
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6890786507534298,
152
+ "xyz": [
153
+ -0.7106766771224792,
154
+ -0.10429115524238242,
155
+ 0.09608656830272196
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9808710217475891,
161
+ "position": [
162
+ -0.012008070058072917,
163
+ 0.10764735942939296,
164
+ -0.007652578875422478
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7198739853270812,
168
+ "xyz": [
169
+ 0.6907460823773225,
170
+ 0.048796616765765854,
171
+ 0.047646459699550746
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9807624220848083,
177
+ "position": [
178
+ 0.017572543540154584,
179
+ -0.1056722923531197,
180
+ -0.015752713195979595
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7321624441833983,
184
+ "xyz": [
185
+ -0.6760639581748283,
186
+ -0.06941249247262216,
187
+ 0.0453606180856779
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9806092381477356,
193
+ "position": [
194
+ 0.0607634791667806,
195
+ 0.08222766226390377,
196
+ -0.029181872494518757
197
+ ],
198
+ "orientation": {
199
+ "w": 0.21910823252256645,
200
+ "xyz": [
201
+ -0.2312446183317279,
202
+ -0.6798594667569239,
203
+ 0.6605366109417716
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.9794979095458984,
209
+ "position": [
210
+ -0.0075599216361297294,
211
+ -0.10711797320982441,
212
+ -0.032179647125303745
213
+ ],
214
+ "orientation": {
215
+ "w": 0.7604784477451566,
216
+ "xyz": [
217
+ -0.6473136518736661,
218
+ 0.0026803925524913064,
219
+ -0.05148186194049838
220
+ ]
221
+ }
222
+ },
223
+ "grasp_14": {
224
+ "confidence": 0.9794036746025085,
225
+ "position": [
226
+ 0.00900922245637048,
227
+ -0.10599574440857396,
228
+ -0.03701177332550287
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7362336722218726,
232
+ "xyz": [
233
+ -0.6697169630365685,
234
+ -0.08974241349977907,
235
+ -0.037221882367854675
236
+ ]
237
+ }
238
+ },
239
+ "grasp_15": {
240
+ "confidence": 0.979194700717926,
241
+ "position": [
242
+ -0.003357357156346552,
243
+ 0.10821176326135173,
244
+ -0.025024757720530033
245
+ ],
246
+ "orientation": {
247
+ "w": 0.06532622964143875,
248
+ "xyz": [
249
+ 0.015627692787388858,
250
+ 0.6946838319503061,
251
+ -0.7161722087360112
252
+ ]
253
+ }
254
+ },
255
+ "grasp_16": {
256
+ "confidence": 0.97918301820755,
257
+ "position": [
258
+ -0.01704143085225951,
259
+ 0.10303979372838512,
260
+ -0.04343221057206392
261
+ ],
262
+ "orientation": {
263
+ "w": 0.08601829042451462,
264
+ "xyz": [
265
+ -0.06990257671524204,
266
+ 0.6629217072830219,
267
+ -0.7404385818513085
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9789783358573914,
273
+ "position": [
274
+ 0.0003682669630507007,
275
+ -0.10818475479027256,
276
+ -0.010275082662701607
277
+ ],
278
+ "orientation": {
279
+ "w": 0.6805136531781316,
280
+ "xyz": [
281
+ -0.7327035637360158,
282
+ 0.003845355730823341,
283
+ -0.00564524277588543
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9788402318954468,
289
+ "position": [
290
+ 0.03441019072488416,
291
+ 0.0992401615367271,
292
+ -0.03157640341669321
293
+ ],
294
+ "orientation": {
295
+ "w": 0.1338058742084344,
296
+ "xyz": [
297
+ -0.12342955843632951,
298
+ -0.6926450259484414,
299
+ 0.6979283632009902
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.9783653020858765,
305
+ "position": [
306
+ -0.024311191446031444,
307
+ 0.10441190010169521,
308
+ -0.04375722352415323
309
+ ],
310
+ "orientation": {
311
+ "w": 0.10214478408477254,
312
+ "xyz": [
313
+ -0.08959303874611864,
314
+ 0.6746017389022684,
315
+ -0.7255701374522985
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ }
321
+ ],
322
+ "quality_check": {
323
+ "success": true,
324
+ "message": "YES"
325
+ }
326
+ }
dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5dfcf09ece793094de0ff01d87d9c4180cc9040b9a4dabbf44e3a5ec682cdaec
3
+ size 3777008
dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/toothpaste_015.urdf CHANGED
@@ -51,16 +51,17 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>0</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
- <mesh filename="None" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>1</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
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>
65
  </quality>
66
  </custom_data>
67
  </robot>