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
dbac3ac
·
verified ·
1 Parent(s): b107567

Add asset bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/affordance_annot.json +358 -0
  3. dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.urdf +1 -0
.gitattributes CHANGED
@@ -5807,3 +5807,4 @@ dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/afforda
5807
  dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5808
  dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5809
  dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5807
  dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5808
  dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5809
  dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5810
+ dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/affordance_annot.json ADDED
@@ -0,0 +1,358 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "comb body with teeth",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the comb along its thicker spine to pick it up from a surface",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the comb by one end to orient it for grooming or inspection",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "clamp the comb body to stabilize it while another tool interacts with the teeth",
18
+ "confidence": 0.81
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "comb hair",
23
+ "separate and align strands",
24
+ "provide a handhold",
25
+ "support the teeth structure",
26
+ "scrape or lift fine strands"
27
+ ],
28
+ "semantic_description": "Single-piece light blue plastic comb with a matte to satin smooth hard surface, long slightly curved tapered shape, fine evenly spaced teeth along one edge, and a small printed white logo near the center.",
29
+ "id": 2,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9870792627334595,
33
+ "position": [
34
+ 0.06598437405773439,
35
+ 0.0987623673863709,
36
+ 0.013090117136016488
37
+ ],
38
+ "orientation": {
39
+ "w": 0.49381501341916434,
40
+ "xyz": [
41
+ 0.5128658382944816,
42
+ -0.5583488207517987,
43
+ 0.4258661277883058
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9868853092193604,
49
+ "position": [
50
+ 0.057704394828760996,
51
+ 0.10058946581557393,
52
+ 0.020350573817268014
53
+ ],
54
+ "orientation": {
55
+ "w": 0.45752580684702393,
56
+ "xyz": [
57
+ 0.5365866951670203,
58
+ -0.556260152026076,
59
+ 0.43968113207942183
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9867203235626221,
65
+ "position": [
66
+ 0.06357932664104737,
67
+ 0.09751870902255177,
68
+ 0.01653370843268931
69
+ ],
70
+ "orientation": {
71
+ "w": 0.48001053293209406,
72
+ "xyz": [
73
+ 0.515479557171083,
74
+ -0.5647853677128364,
75
+ 0.42998628214214807
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.986433744430542,
81
+ "position": [
82
+ 0.04693245343514718,
83
+ 0.09850907744839787,
84
+ 0.015632862458005548
85
+ ],
86
+ "orientation": {
87
+ "w": 0.446624361737692,
88
+ "xyz": [
89
+ 0.5429098166550101,
90
+ -0.5390115440368627,
91
+ 0.4639419854647989
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9864054322242737,
97
+ "position": [
98
+ 0.05033344976254739,
99
+ 0.09832112910225987,
100
+ 0.01700066984631121
101
+ ],
102
+ "orientation": {
103
+ "w": 0.44949086198958743,
104
+ "xyz": [
105
+ 0.5455226079572604,
106
+ -0.5403585051710678,
107
+ 0.45648191101582114
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9863523244857788,
113
+ "position": [
114
+ 0.046479357552016154,
115
+ 0.09960753889754415,
116
+ 0.014968674862757325
117
+ ],
118
+ "orientation": {
119
+ "w": 0.45587791000312183,
120
+ "xyz": [
121
+ 0.5434732797829918,
122
+ -0.5314726887732735,
123
+ 0.46297830016234093
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.986302375793457,
129
+ "position": [
130
+ 0.05087705157347955,
131
+ 0.0990399238653481,
132
+ 0.013770442688837647
133
+ ],
134
+ "orientation": {
135
+ "w": 0.46430966731689566,
136
+ "xyz": [
137
+ 0.5396099914597483,
138
+ -0.5331778479322262,
139
+ 0.4571203041074027
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9857202172279358,
145
+ "position": [
146
+ 0.04640517212101258,
147
+ 0.09684985550120473,
148
+ 0.015564520144835114
149
+ ],
150
+ "orientation": {
151
+ "w": 0.4548288962131386,
152
+ "xyz": [
153
+ 0.5358754227515515,
154
+ 0.5506257732937629,
155
+ -0.45031040876825157
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9856606721878052,
161
+ "position": [
162
+ 0.05179128996678628,
163
+ 0.10202306183055043,
164
+ 0.02123571583069861
165
+ ],
166
+ "orientation": {
167
+ "w": 0.4392430853559321,
168
+ "xyz": [
169
+ 0.5450284418637982,
170
+ 0.5608027116884934,
171
+ -0.44216493312943106
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9854974150657654,
177
+ "position": [
178
+ 0.07929597623297013,
179
+ 0.09392813267186284,
180
+ 0.011221252614632249
181
+ ],
182
+ "orientation": {
183
+ "w": 0.3716259517760048,
184
+ "xyz": [
185
+ 0.5961333057071159,
186
+ 0.4576737348942914,
187
+ -0.5450265921780284
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9852558374404907,
193
+ "position": [
194
+ 0.05353929675766267,
195
+ 0.09817734779790044,
196
+ 0.016430402407422662
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4448206063634907,
200
+ "xyz": [
201
+ 0.5428600508257992,
202
+ 0.5464119218851049,
203
+ -0.4570247312713529
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9850737452507019,
209
+ "position": [
210
+ 0.050584862154209986,
211
+ 0.10030960710719228,
212
+ 0.015540724853053689
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4495204860458496,
216
+ "xyz": [
217
+ 0.5429605397455523,
218
+ -0.5404965423505345,
219
+ 0.4593350330765537
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9849201440811157,
225
+ "position": [
226
+ 0.030760038789594546,
227
+ 0.09703639568760991,
228
+ 0.016580797964707017
229
+ ],
230
+ "orientation": {
231
+ "w": 0.4543443997297643,
232
+ "xyz": [
233
+ 0.5310823576674456,
234
+ 0.5605296602707048,
235
+ -0.4442175095214007
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9845455884933472,
241
+ "position": [
242
+ 0.05169990114518441,
243
+ 0.09724735142663121,
244
+ 0.024633998284116387
245
+ ],
246
+ "orientation": {
247
+ "w": 0.4653507219445673,
248
+ "xyz": [
249
+ 0.5367762483344134,
250
+ -0.5786672492758317,
251
+ 0.4005798040656122
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9844893217086792,
257
+ "position": [
258
+ 0.028091084357583895,
259
+ 0.09902155818417668,
260
+ 0.01480868854559958
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4608381588117229,
264
+ "xyz": [
265
+ 0.5327780873663676,
266
+ 0.5453051990927642,
267
+ -0.45433241227944243
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9844783544540405,
273
+ "position": [
274
+ 0.03135841913172044,
275
+ 0.09828947158530354,
276
+ 0.014398075873032212
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4658538072015468,
280
+ "xyz": [
281
+ 0.5248561595328967,
282
+ 0.5558356045899724,
283
+ -0.4455928890661328
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9841960668563843,
289
+ "position": [
290
+ 0.029129428934538737,
291
+ 0.09243664564564824,
292
+ 0.029351998353376985
293
+ ],
294
+ "orientation": {
295
+ "w": 0.4249349538573216,
296
+ "xyz": [
297
+ 0.5641245210804591,
298
+ 0.5753047954594072,
299
+ -0.4125750865326566
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9841885566711426,
305
+ "position": [
306
+ 0.05557224355288781,
307
+ 0.09783845813944936,
308
+ 0.016568577149882913
309
+ ],
310
+ "orientation": {
311
+ "w": 0.4222587878505303,
312
+ "xyz": [
313
+ 0.5648168345520519,
314
+ 0.5111325827585624,
315
+ -0.4913480867289117
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9840918779373169,
321
+ "position": [
322
+ 0.10290275342413224,
323
+ 0.08895633788779378,
324
+ 0.0021480857394635677
325
+ ],
326
+ "orientation": {
327
+ "w": 0.33528722450700854,
328
+ "xyz": [
329
+ 0.6035351894256819,
330
+ 0.4028328817362583,
331
+ -0.6008772100848516
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9839071035385132,
337
+ "position": [
338
+ 0.025582535337889567,
339
+ 0.09644338162615895,
340
+ 0.01688608922995627
341
+ ],
342
+ "orientation": {
343
+ "w": 0.4471450761108376,
344
+ "xyz": [
345
+ 0.540904748665589,
346
+ 0.5477926044560192,
347
+ -0.45541914351961654
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ }
353
+ ],
354
+ "quality_check": {
355
+ "success": true,
356
+ "message": "YES"
357
+ }
358
+ }
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8eab3aa792d1efdf3f5b7d5a1714e1ea20bee57bc56e0acceba5e9f7ee56452b
3
+ size 3777008
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/comb_033.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>