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
ea14161
·
verified ·
1 Parent(s): 40f40ee

Add asset bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/affordance/affordance_annot.json +549 -0
  3. dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5853,4 +5853,4 @@ dataset/bathroom_supplies/personal_care/d4bdf748418f57aa8cb876a7571aec6f/afforda
5853
  dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5854
  dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5855
  dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5856
- dataset/bathroom_supplies/personal_care/d998a4f05c4e5e728c4f8e7589e58d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5853
  dataset/bathroom_supplies/personal_care/d71e67153c9f59d4843d96f330d37c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5854
  dataset/bathroom_supplies/personal_care/d7ebd57c32bb5218bdbf3317d98f8494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5855
  dataset/bathroom_supplies/personal_care/d81754a5cad2550d92e9cbac8945057d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5856
+ dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/affordance/affordance_annot.json ADDED
@@ -0,0 +1,549 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "left handle loop",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the left handle loop together with the other handle loop to pick up and control the scissors",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "place one finger through this loop while opening and closing the scissors for cutting",
14
+ "confidence": 0.88
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide finger grip",
19
+ "support opening and closing motion",
20
+ "main grasp surface",
21
+ "help stabilize the tool during cutting"
22
+ ],
23
+ "semantic_description": "Pale pink plastic handle loop with a smooth matte surface and rounded oval shape, located on the object's left side in the frontal view at the rear of the scissors.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_1": {
27
+ "confidence": 0.9701843857765198,
28
+ "position": [
29
+ 0.10722163855098188,
30
+ 0.01811768492916599,
31
+ -0.0026702612503868295
32
+ ],
33
+ "orientation": {
34
+ "w": 0.7119520113843666,
35
+ "xyz": [
36
+ 0.04664113932430392,
37
+ -0.699064803968538,
38
+ 0.04751144557593746
39
+ ]
40
+ }
41
+ },
42
+ "grasp_2": {
43
+ "confidence": 0.9688782691955566,
44
+ "position": [
45
+ 0.10831470577977598,
46
+ 0.020242717175278813,
47
+ -0.001195989023472066
48
+ ],
49
+ "orientation": {
50
+ "w": 0.7047177294600836,
51
+ "xyz": [
52
+ 0.04111083917179088,
53
+ -0.7055763434659836,
54
+ 0.06200680791967375
55
+ ]
56
+ }
57
+ },
58
+ "grasp_3": {
59
+ "confidence": 0.9687846899032593,
60
+ "position": [
61
+ 0.10669568716548383,
62
+ 0.027195675356779248,
63
+ -0.0035585252899181796
64
+ ],
65
+ "orientation": {
66
+ "w": 0.09889785039181972,
67
+ "xyz": [
68
+ 0.6998428191413775,
69
+ 0.06454295211991568,
70
+ -0.704466784891788
71
+ ]
72
+ }
73
+ },
74
+ "grasp_6": {
75
+ "confidence": 0.9672133922576904,
76
+ "position": [
77
+ 0.11149903177283704,
78
+ 0.0037217045319266617,
79
+ -0.0023514269250881625
80
+ ],
81
+ "orientation": {
82
+ "w": 0.709288123538837,
83
+ "xyz": [
84
+ 0.0022165534336576237,
85
+ -0.7049008132868606,
86
+ -0.004504234136208411
87
+ ]
88
+ }
89
+ },
90
+ "grasp_10": {
91
+ "confidence": 0.9651818871498108,
92
+ "position": [
93
+ 0.10950035392306745,
94
+ 0.02133418811718002,
95
+ 0.006810164371927385
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6824842727721716,
99
+ "xyz": [
100
+ 0.05300570724074207,
101
+ -0.726488538862511,
102
+ 0.06016656313902404
103
+ ]
104
+ }
105
+ },
106
+ "grasp_11": {
107
+ "confidence": 0.9639681577682495,
108
+ "position": [
109
+ 0.11305533139966428,
110
+ 0.008825060969684273,
111
+ -0.0016108239633467747
112
+ ],
113
+ "orientation": {
114
+ "w": 0.7098930744247847,
115
+ "xyz": [
116
+ 0.01893180017865746,
117
+ -0.7040203715316907,
118
+ 0.0069804222009094
119
+ ]
120
+ }
121
+ },
122
+ "grasp_12": {
123
+ "confidence": 0.9626948237419128,
124
+ "position": [
125
+ 0.10967638879083097,
126
+ 0.002135185699444264,
127
+ 0.0014233112469810294
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7046788560024789,
131
+ "xyz": [
132
+ 0.0642273195234621,
133
+ -0.7027083573993397,
134
+ -0.07418575180579709
135
+ ]
136
+ }
137
+ },
138
+ "grasp_13": {
139
+ "confidence": 0.9613393545150757,
140
+ "position": [
141
+ 0.10429671942256391,
142
+ 0.05002747481921688,
143
+ 0.008868151171554928
144
+ ],
145
+ "orientation": {
146
+ "w": 0.670018377599598,
147
+ "xyz": [
148
+ 0.23598985005707052,
149
+ -0.6982276529185641,
150
+ 0.08866966250458687
151
+ ]
152
+ }
153
+ },
154
+ "grasp_15": {
155
+ "confidence": 0.9600231051445007,
156
+ "position": [
157
+ 0.10777511983178556,
158
+ 0.03651348879793659,
159
+ -0.004586615306834574
160
+ ],
161
+ "orientation": {
162
+ "w": 0.18514849234480543,
163
+ "xyz": [
164
+ 0.6903742901726513,
165
+ 0.03867785970816151,
166
+ -0.6982889075586475
167
+ ]
168
+ }
169
+ },
170
+ "grasp_16": {
171
+ "confidence": 0.9599829912185669,
172
+ "position": [
173
+ 0.10395411937497556,
174
+ 0.011699346883688122,
175
+ -0.020473469221542473
176
+ ],
177
+ "orientation": {
178
+ "w": 0.7750210982033182,
179
+ "xyz": [
180
+ 0.08009256756054359,
181
+ -0.6247595597013493,
182
+ -0.051019315195896184
183
+ ]
184
+ }
185
+ },
186
+ "grasp_17": {
187
+ "confidence": 0.9590945243835449,
188
+ "position": [
189
+ -0.04820261732675135,
190
+ 0.09641791885951534,
191
+ -0.00513988983402669
192
+ ],
193
+ "orientation": {
194
+ "w": 0.621686741194976,
195
+ "xyz": [
196
+ 0.33212689946258056,
197
+ 0.607985222065972,
198
+ -0.3654466968316094
199
+ ]
200
+ }
201
+ },
202
+ "grasp_18": {
203
+ "confidence": 0.958199143409729,
204
+ "position": [
205
+ -0.010997802251949906,
206
+ 0.10742563015082851,
207
+ 0.0009060837928700494
208
+ ],
209
+ "orientation": {
210
+ "w": 0.5216465499445636,
211
+ "xyz": [
212
+ 0.46222304687752824,
213
+ 0.5376719341980205,
214
+ -0.47449301685267015
215
+ ]
216
+ }
217
+ }
218
+ }
219
+ },
220
+ {
221
+ "part_name": "right handle loop",
222
+ "mask_color": "Green",
223
+ "graspable": true,
224
+ "grasp_scenarios": [
225
+ {
226
+ "scenario": "grasp the right handle loop together with the other handle loop to pick up and control the scissors",
227
+ "confidence": 0.92
228
+ },
229
+ {
230
+ "scenario": "place one finger through this loop while opening and closing the scissors for cutting",
231
+ "confidence": 0.88
232
+ }
233
+ ],
234
+ "functional_labels": [
235
+ "provide finger grip",
236
+ "support opening and closing motion",
237
+ "main grasp surface",
238
+ "help balance and stabilize the tool"
239
+ ],
240
+ "semantic_description": "Pale pink plastic handle loop with a smooth matte surface and rounded oval shape, located on the object's right side in the frontal view at the rear of the scissors.",
241
+ "id": 1,
242
+ "grasp_group": {
243
+ "grasp_20": {
244
+ "confidence": 0.9686138033866882,
245
+ "position": [
246
+ 0.10909005790017545,
247
+ 0.0015511783421970904,
248
+ -0.0028212260785949184
249
+ ],
250
+ "orientation": {
251
+ "w": 0.04642910491653563,
252
+ "xyz": [
253
+ 0.7081719154814576,
254
+ 0.012313910265582262,
255
+ -0.7044041765591287
256
+ ]
257
+ }
258
+ },
259
+ "grasp_21": {
260
+ "confidence": 0.9676326513290405,
261
+ "position": [
262
+ 0.10399313806556165,
263
+ 0.030597113131079823,
264
+ -0.0074031908861798
265
+ ],
266
+ "orientation": {
267
+ "w": 0.7106129213892111,
268
+ "xyz": [
269
+ 0.11196853731882177,
270
+ -0.6791516485040011,
271
+ 0.14575788465696213
272
+ ]
273
+ }
274
+ },
275
+ "grasp_22": {
276
+ "confidence": 0.9669422507286072,
277
+ "position": [
278
+ 0.11092626838944852,
279
+ 0.006715217663440853,
280
+ -0.008650831119666691
281
+ ],
282
+ "orientation": {
283
+ "w": 0.7187244231196923,
284
+ "xyz": [
285
+ 0.028729634614715446,
286
+ -0.6935009945195894,
287
+ 0.04081889643916101
288
+ ]
289
+ }
290
+ },
291
+ "grasp_23": {
292
+ "confidence": 0.9655282497406006,
293
+ "position": [
294
+ -0.044596275547519326,
295
+ -0.09540326142450795,
296
+ -0.007025459954093094
297
+ ],
298
+ "orientation": {
299
+ "w": 0.6133498231083024,
300
+ "xyz": [
301
+ -0.34320345843069244,
302
+ 0.6008235798973041,
303
+ 0.3808207011883859
304
+ ]
305
+ }
306
+ },
307
+ "grasp_25": {
308
+ "confidence": 0.9606392979621887,
309
+ "position": [
310
+ 0.10491126566193998,
311
+ -0.0011204735492356122,
312
+ -0.004001753111879225
313
+ ],
314
+ "orientation": {
315
+ "w": 0.05573525126757615,
316
+ "xyz": [
317
+ -0.6938695691784658,
318
+ -0.07310273324267724,
319
+ 0.7142090682193
320
+ ]
321
+ }
322
+ },
323
+ "grasp_26": {
324
+ "confidence": 0.9591550827026367,
325
+ "position": [
326
+ 0.10146446316502988,
327
+ 0.0266160742030479,
328
+ 0.007729100356300478
329
+ ],
330
+ "orientation": {
331
+ "w": 0.6738161741290333,
332
+ "xyz": [
333
+ 0.1205492387139624,
334
+ -0.7198652131535708,
335
+ 0.11503790427055094
336
+ ]
337
+ }
338
+ },
339
+ "grasp_27": {
340
+ "confidence": 0.9570527076721191,
341
+ "position": [
342
+ -0.010145046981051564,
343
+ -0.10954926902195439,
344
+ -0.00022541115868079942
345
+ ],
346
+ "orientation": {
347
+ "w": 0.5380516111824426,
348
+ "xyz": [
349
+ -0.4859423463080223,
350
+ 0.5195868055608046,
351
+ 0.45209517942104865
352
+ ]
353
+ }
354
+ },
355
+ "grasp_28": {
356
+ "confidence": 0.9569113254547119,
357
+ "position": [
358
+ 0.10343665420077741,
359
+ 0.012704442313406616,
360
+ -0.005677789622495766
361
+ ],
362
+ "orientation": {
363
+ "w": 0.062219778160584216,
364
+ "xyz": [
365
+ 0.6938973539476613,
366
+ 0.061038405546493424,
367
+ -0.7147793186980321
368
+ ]
369
+ }
370
+ },
371
+ "grasp_29": {
372
+ "confidence": 0.9556736350059509,
373
+ "position": [
374
+ -0.0030875938246026635,
375
+ -0.10946039104601368,
376
+ 0.0014452516934397863
377
+ ],
378
+ "orientation": {
379
+ "w": 0.4989452907737739,
380
+ "xyz": [
381
+ -0.49439147614171397,
382
+ 0.5098159405269111,
383
+ 0.49670753156938496
384
+ ]
385
+ }
386
+ },
387
+ "grasp_30": {
388
+ "confidence": 0.9542140364646912,
389
+ "position": [
390
+ 0.1065334880258888,
391
+ 0.005196204467210919,
392
+ -0.029136559167454834
393
+ ],
394
+ "orientation": {
395
+ "w": 0.7734712514380465,
396
+ "xyz": [
397
+ -0.037706749829404224,
398
+ -0.617798348465404,
399
+ 0.13654898333412607
400
+ ]
401
+ }
402
+ },
403
+ "grasp_31": {
404
+ "confidence": 0.9533332586288452,
405
+ "position": [
406
+ 0.10403948067687452,
407
+ 0.0003543166967574507,
408
+ 0.0023405368574458407
409
+ ],
410
+ "orientation": {
411
+ "w": 0.04544666711569666,
412
+ "xyz": [
413
+ 0.7221649080219299,
414
+ 0.007467869874846933,
415
+ -0.6901859727561006
416
+ ]
417
+ }
418
+ },
419
+ "grasp_32": {
420
+ "confidence": 0.9521486759185791,
421
+ "position": [
422
+ 0.10225190012715757,
423
+ 0.013804213202092797,
424
+ -0.005507658874194021
425
+ ],
426
+ "orientation": {
427
+ "w": 0.05769071231723629,
428
+ "xyz": [
429
+ 0.6953816028959637,
430
+ 0.07676239714090127,
431
+ -0.7121964212570521
432
+ ]
433
+ }
434
+ },
435
+ "grasp_34": {
436
+ "confidence": 0.9511659145355225,
437
+ "position": [
438
+ -0.003922280855476856,
439
+ -0.11196896428009495,
440
+ -0.004398770803163643
441
+ ],
442
+ "orientation": {
443
+ "w": 0.5271107031645738,
444
+ "xyz": [
445
+ -0.5035134965556427,
446
+ 0.4826798864465921,
447
+ 0.4854364969958112
448
+ ]
449
+ }
450
+ },
451
+ "grasp_35": {
452
+ "confidence": 0.9492212533950806,
453
+ "position": [
454
+ 0.11351260333321989,
455
+ -0.023083945678081363,
456
+ 0.0011460866680863546
457
+ ],
458
+ "orientation": {
459
+ "w": 0.6969836810780725,
460
+ "xyz": [
461
+ -0.10147896428128876,
462
+ -0.7096479229690064,
463
+ -0.01776495271685561
464
+ ]
465
+ }
466
+ },
467
+ "grasp_39": {
468
+ "confidence": 0.9421480298042297,
469
+ "position": [
470
+ 0.0147846897598356,
471
+ -0.11001629376551136,
472
+ -0.0002282565528730629
473
+ ],
474
+ "orientation": {
475
+ "w": 0.54341791083354,
476
+ "xyz": [
477
+ -0.46938878473791235,
478
+ -0.5343468542992439,
479
+ -0.44591992806789793
480
+ ]
481
+ }
482
+ }
483
+ }
484
+ },
485
+ {
486
+ "part_name": "upper scissor blade",
487
+ "mask_color": "Yellow",
488
+ "graspable": false,
489
+ "grasp_scenarios": [],
490
+ "functional_labels": [
491
+ "cut soft materials or nails",
492
+ "form one cutting edge",
493
+ "meet the opposing blade to shear",
494
+ "guide tip placement"
495
+ ],
496
+ "semantic_description": "Small silver metal blade with a reflective smooth finish and short rounded child-safe profile at the front cutting end of the scissors.",
497
+ "id": 3,
498
+ "grasp_group": {}
499
+ },
500
+ {
501
+ "part_name": "lower scissor blade",
502
+ "mask_color": "Blue",
503
+ "graspable": false,
504
+ "grasp_scenarios": [],
505
+ "functional_labels": [
506
+ "cut soft materials or nails",
507
+ "form opposing cutting edge",
508
+ "support shearing action",
509
+ "align with the other blade"
510
+ ],
511
+ "semantic_description": "Small silver metal blade with a reflective smooth finish and short rounded child-safe profile, paired with the other front blade to create the cutter.",
512
+ "id": 2,
513
+ "grasp_group": {}
514
+ },
515
+ {
516
+ "part_name": "pivot rivet",
517
+ "mask_color": "Purple",
518
+ "graspable": false,
519
+ "grasp_scenarios": [],
520
+ "functional_labels": [
521
+ "connect moving halves",
522
+ "provide rotation axis",
523
+ "hold blades and handles together"
524
+ ],
525
+ "semantic_description": "Tiny circular silver metal rivet with a reflective smooth finish located near the blade base, acting as the central hinge fastener.",
526
+ "id": 5,
527
+ "grasp_group": {}
528
+ },
529
+ {
530
+ "part_name": "return spring",
531
+ "mask_color": "Cyan",
532
+ "graspable": false,
533
+ "grasp_scenarios": [],
534
+ "functional_labels": [
535
+ "reopen the handles",
536
+ "provide spring force",
537
+ "support repeated cutting cycles",
538
+ "separate the grips after squeezing"
539
+ ],
540
+ "semantic_description": "Small light-colored insert or spring element visible between the pink handles near the center, appearing pale white to light gray with a smooth surface.",
541
+ "id": 6,
542
+ "grasp_group": {}
543
+ }
544
+ ],
545
+ "quality_check": {
546
+ "success": false,
547
+ "message": "Handle sides and blade identities are swapped relative to mask/views; grasp wording is anthropomorphic for robot use."
548
+ }
549
+ }
dataset/bathroom_supplies/personal_care/da55a5709af85f19a5619773e3394e57/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d3243f4d21ffb7462c0ae9fa7e670266d8f8dfac9a322d11058a4879e46990f
3
+ size 3784864