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
85c4d68
·
verified ·
1 Parent(s): f43fca6

Add asset bathroom_supplies/personal_care/dce121494cf452e29cb0f17aab7449a9

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/dce121494cf452e29cb0f17aab7449a9/affordance/affordance_annot.json +420 -0
  3. dataset/bathroom_supplies/personal_care/dce121494cf452e29cb0f17aab7449a9/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5857,3 +5857,4 @@ dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/afforda
5857
  dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5858
  dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5859
  dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5857
  dataset/bathroom_supplies/personal_care/dab3262cdd93574f8c26a59712be1bd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5858
  dataset/bathroom_supplies/personal_care/dab74c710a055c5ca37c3b1c61f305b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5859
  dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5860
+ dataset/bathroom_supplies/personal_care/dce121494cf452e29cb0f17aab7449a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/dce121494cf452e29cb0f17aab7449a9/affordance/affordance_annot.json ADDED
@@ -0,0 +1,420 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "comb body with teeth",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the comb spine/body from the side to pick up and use the comb",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the thicker comb body while combing with the teeth facing outward",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "pinch one end of the comb body to reposition or store the comb",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "comb and separate hair",
23
+ "main structural body",
24
+ "support the teeth",
25
+ "provide primary grasp surface"
26
+ ],
27
+ "semantic_description": "Large pale yellow plastic comb section with a smooth matte finish, a gently curved thick spine, and many fine narrow teeth along one edge, occupying most of the object.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_2": {
31
+ "confidence": 0.9367996454238892,
32
+ "position": [
33
+ 0.013315323274582624,
34
+ -0.11001434223726392,
35
+ -0.0035948751610703766
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4902670005611473,
39
+ "xyz": [
40
+ -0.5037455561887885,
41
+ 0.4897173854576722,
42
+ 0.5158057436296397
43
+ ]
44
+ }
45
+ },
46
+ "grasp_4": {
47
+ "confidence": 0.9354740381240845,
48
+ "position": [
49
+ 0.01764667173847556,
50
+ -0.10952930198982358,
51
+ -0.002722840348724276
52
+ ],
53
+ "orientation": {
54
+ "w": 0.49441527188767015,
55
+ "xyz": [
56
+ -0.4975784384267592,
57
+ 0.4962722687579948,
58
+ 0.5115496767654362
59
+ ]
60
+ }
61
+ },
62
+ "grasp_6": {
63
+ "confidence": 0.9352666735649109,
64
+ "position": [
65
+ 0.012737569864839315,
66
+ -0.10889320122078061,
67
+ -0.007060291769448668
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5008549342596923,
71
+ "xyz": [
72
+ -0.4927726910386242,
73
+ 0.48686940284334546,
74
+ 0.5189196415334801
75
+ ]
76
+ }
77
+ },
78
+ "grasp_8": {
79
+ "confidence": 0.9346579313278198,
80
+ "position": [
81
+ 0.014607618097215891,
82
+ -0.11254316614940763,
83
+ -0.0028610346489585936
84
+ ],
85
+ "orientation": {
86
+ "w": 0.496273352718049,
87
+ "xyz": [
88
+ -0.49175774388378274,
89
+ 0.49469261539635334,
90
+ 0.5168813180843692
91
+ ]
92
+ }
93
+ },
94
+ "grasp_9": {
95
+ "confidence": 0.9344216585159302,
96
+ "position": [
97
+ 0.11619725031778216,
98
+ 0.0005916997324675322,
99
+ 0.02728511014720425
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6006102062764744,
103
+ "xyz": [
104
+ 0.15311564372451483,
105
+ -0.7831578478136026,
106
+ -0.04986747608736851
107
+ ]
108
+ }
109
+ },
110
+ "grasp_11": {
111
+ "confidence": 0.9341126680374146,
112
+ "position": [
113
+ 0.012988838832825422,
114
+ -0.11253684805706143,
115
+ -0.005344419332686812
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4990244073715445,
119
+ "xyz": [
120
+ -0.4942133573700086,
121
+ 0.4930446395147775,
122
+ 0.5134537775596617
123
+ ]
124
+ }
125
+ },
126
+ "grasp_13": {
127
+ "confidence": 0.9327073693275452,
128
+ "position": [
129
+ 0.11822218401357532,
130
+ -0.01230066129937768,
131
+ -0.01864769315579906
132
+ ],
133
+ "orientation": {
134
+ "w": 0.03655139213585225,
135
+ "xyz": [
136
+ -0.6590098492684846,
137
+ -0.007998575920081907,
138
+ 0.7512030598202529
139
+ ]
140
+ }
141
+ },
142
+ "grasp_18": {
143
+ "confidence": 0.9315617084503174,
144
+ "position": [
145
+ 0.014453138690441847,
146
+ -0.1098998193629086,
147
+ 0.0009571192204020917
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5088917325799164,
151
+ "xyz": [
152
+ -0.5056924289033432,
153
+ -0.5051757231419092,
154
+ -0.47968933760267907
155
+ ]
156
+ }
157
+ }
158
+ }
159
+ },
160
+ {
161
+ "part_name": "bear head decoration",
162
+ "mask_color": "Magenta",
163
+ "graspable": true,
164
+ "grasp_scenarios": [
165
+ {
166
+ "scenario": "grasp the bear head to pick up or reposition the comb when the comb body is less accessible",
167
+ "confidence": 0.47
168
+ },
169
+ {
170
+ "scenario": "hold the bear head to stabilize the comb during handling",
171
+ "confidence": 0.4
172
+ }
173
+ ],
174
+ "functional_labels": [
175
+ "decorate the comb",
176
+ "provide a playful bear theme",
177
+ "add visual identification",
178
+ "slightly enlarge the handling area"
179
+ ],
180
+ "semantic_description": "Rounded pale yellow plastic bear head attached near the back of the comb, with a smooth matte hard surface, medium size, and simple cartoon facial features on the front.",
181
+ "id": 7,
182
+ "grasp_group": {
183
+ "grasp_20": {
184
+ "confidence": 0.9454683065414429,
185
+ "position": [
186
+ -0.053001530934125185,
187
+ 0.11190889729186893,
188
+ -0.007775134930852801
189
+ ],
190
+ "orientation": {
191
+ "w": 0.6398373967063202,
192
+ "xyz": [
193
+ 0.36275540169614345,
194
+ 0.5836962673185023,
195
+ -0.3439698996057595
196
+ ]
197
+ }
198
+ },
199
+ "grasp_23": {
200
+ "confidence": 0.9418699145317078,
201
+ "position": [
202
+ -0.09063279675319791,
203
+ 0.07943181646987796,
204
+ 0.0021012869547121227
205
+ ],
206
+ "orientation": {
207
+ "w": 0.6656728730564485,
208
+ "xyz": [
209
+ 0.20172571273501091,
210
+ 0.6875118509036942,
211
+ -0.20859965907283012
212
+ ]
213
+ }
214
+ },
215
+ "grasp_24": {
216
+ "confidence": 0.9416271448135376,
217
+ "position": [
218
+ -0.01997268246486783,
219
+ 0.11881782067939639,
220
+ 0.022478265629615635
221
+ ],
222
+ "orientation": {
223
+ "w": 0.46369282729986594,
224
+ "xyz": [
225
+ 0.6804343714883984,
226
+ -0.3748354584016875,
227
+ 0.42602395136029775
228
+ ]
229
+ }
230
+ },
231
+ "grasp_25": {
232
+ "confidence": 0.9415906071662903,
233
+ "position": [
234
+ -0.011829060968011618,
235
+ 0.12447012914344668,
236
+ 0.003683449642267078
237
+ ],
238
+ "orientation": {
239
+ "w": 0.5309870012307172,
240
+ "xyz": [
241
+ 0.5098505079718217,
242
+ 0.5015715403659696,
243
+ -0.45445709801893747
244
+ ]
245
+ }
246
+ },
247
+ "grasp_29": {
248
+ "confidence": 0.9399886131286621,
249
+ "position": [
250
+ 0.1104499395005405,
251
+ 0.019817724358290434,
252
+ -0.0029122327105142176
253
+ ],
254
+ "orientation": {
255
+ "w": 0.0353954540365194,
256
+ "xyz": [
257
+ -0.6960635954596255,
258
+ -0.0019549299705647893,
259
+ 0.7171044632117263
260
+ ]
261
+ }
262
+ },
263
+ "grasp_31": {
264
+ "confidence": 0.938278317451477,
265
+ "position": [
266
+ 0.09345608903095126,
267
+ 0.061541888397186995,
268
+ 0.018037714005913585
269
+ ],
270
+ "orientation": {
271
+ "w": 0.624152276284085,
272
+ "xyz": [
273
+ 0.21081139477245822,
274
+ -0.735392731431469,
275
+ 0.15871364907042063
276
+ ]
277
+ }
278
+ },
279
+ "grasp_33": {
280
+ "confidence": 0.9378767609596252,
281
+ "position": [
282
+ -0.042175010312348604,
283
+ 0.1159530351869762,
284
+ -0.004982853832188994
285
+ ],
286
+ "orientation": {
287
+ "w": 0.6119746563662243,
288
+ "xyz": [
289
+ 0.36431116730040836,
290
+ 0.5882501792417257,
291
+ -0.3830484564225962
292
+ ]
293
+ }
294
+ },
295
+ "grasp_34": {
296
+ "confidence": 0.93760746717453,
297
+ "position": [
298
+ 0.015837309416383505,
299
+ 0.12044667406007648,
300
+ 0.012055488245096058
301
+ ],
302
+ "orientation": {
303
+ "w": 0.4051874499357554,
304
+ "xyz": [
305
+ 0.4944543694627975,
306
+ 0.558586978811642,
307
+ -0.5285060018919269
308
+ ]
309
+ }
310
+ },
311
+ "grasp_35": {
312
+ "confidence": 0.9374468326568604,
313
+ "position": [
314
+ -0.0878964145667851,
315
+ 0.08176229847595096,
316
+ -0.0028617997304536402
317
+ ],
318
+ "orientation": {
319
+ "w": 0.22526474552322245,
320
+ "xyz": [
321
+ 0.666136970950297,
322
+ -0.1982119561756277,
323
+ 0.6828098935915853
324
+ ]
325
+ }
326
+ },
327
+ "grasp_38": {
328
+ "confidence": 0.9365665912628174,
329
+ "position": [
330
+ 0.014117112848907709,
331
+ 0.12003762973472476,
332
+ -0.00627403991529718
333
+ ],
334
+ "orientation": {
335
+ "w": 0.4766254326214872,
336
+ "xyz": [
337
+ 0.48373109250318086,
338
+ 0.4992157358153969,
339
+ -0.538159898392988
340
+ ]
341
+ }
342
+ }
343
+ }
344
+ },
345
+ {
346
+ "part_name": "snout patch",
347
+ "mask_color": "Red",
348
+ "graspable": false,
349
+ "grasp_scenarios": [],
350
+ "functional_labels": [
351
+ "display the muzzle area",
352
+ "decorate the bear face",
353
+ "indicate face orientation"
354
+ ],
355
+ "semantic_description": "Small white oval snout area centered on the bear face, smooth and slightly raised, with the nose and mouth markings placed on it.",
356
+ "id": 0,
357
+ "grasp_group": {}
358
+ },
359
+ {
360
+ "part_name": "facial print detail",
361
+ "mask_color": "Blue",
362
+ "graspable": false,
363
+ "grasp_scenarios": [],
364
+ "functional_labels": [
365
+ "show facial expression",
366
+ "provide visual detail",
367
+ "define the cartoon face"
368
+ ],
369
+ "semantic_description": "Tiny dark printed facial markings on the snout area, including the nose and mouth.",
370
+ "id": 2,
371
+ "grasp_group": {}
372
+ },
373
+ {
374
+ "part_name": "inner ear patch",
375
+ "mask_color": "Yellow",
376
+ "graspable": false,
377
+ "grasp_scenarios": [],
378
+ "functional_labels": [
379
+ "decorate the ears",
380
+ "add color contrast",
381
+ "reinforce the bear appearance"
382
+ ],
383
+ "semantic_description": "Small orange-yellow inner-ear accents inside the rounded ears, smooth decorative patches visible on the front views.",
384
+ "id": 3,
385
+ "grasp_group": {}
386
+ },
387
+ {
388
+ "part_name": "cheek detail",
389
+ "mask_color": "Green",
390
+ "graspable": false,
391
+ "grasp_scenarios": [],
392
+ "functional_labels": [
393
+ "add facial detail",
394
+ "decorate the face",
395
+ "enhance the character appearance"
396
+ ],
397
+ "semantic_description": "Very small pale yellow circular cheek embossing on one side of the bear face, appearing as a subtle molded accent rather than a green mark.",
398
+ "id": 1,
399
+ "grasp_group": {}
400
+ },
401
+ {
402
+ "part_name": "paw-like side protrusion",
403
+ "mask_color": "Cyan",
404
+ "graspable": false,
405
+ "grasp_scenarios": [],
406
+ "functional_labels": [
407
+ "decorate the bear figure",
408
+ "suggest a paw or arm detail",
409
+ "add character styling"
410
+ ],
411
+ "semantic_description": "Small rounded pale yellow protruding paw-like detail attached on the side of the bear head/body area, made of smooth matte plastic and serving as a minor decorative element.",
412
+ "id": 6,
413
+ "grasp_group": {}
414
+ }
415
+ ],
416
+ "quality_check": {
417
+ "success": false,
418
+ "message": "Several mask-part identities are wrong; green/cyan parts are side paw pads, blue is nose print, not facial print generally."
419
+ }
420
+ }
dataset/bathroom_supplies/personal_care/dce121494cf452e29cb0f17aab7449a9/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dcff7fe4d15737fc1425c220613e863062a23e9dfe3c268f3cf57fa9c2282ed9
3
+ size 3782140