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
f9fbcb3
·
verified ·
1 Parent(s): d8cc8bc

Add asset bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/affordance/affordance_annot.json +440 -0
  3. dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.urdf +1 -0
.gitattributes CHANGED
@@ -5721,3 +5721,4 @@ dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/afforda
5721
  dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5722
  dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5723
  dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5721
  dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5722
  dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5723
  dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5724
+ dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/affordance/affordance_annot.json ADDED
@@ -0,0 +1,440 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "standing base",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the round base to pick up and reposition the standing brush",
10
+ "confidence": 0.62
11
+ },
12
+ {
13
+ "scenario": "hold the base to stabilize the brush while changing its orientation",
14
+ "confidence": 0.58
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support upright placement",
19
+ "provide a stable resting surface",
20
+ "add stability to the object"
21
+ ],
22
+ "semantic_description": "Round, disk-like base at the bottom of the object, wider than the narrow neck, with a smooth light beige or tan plastic appearance and a flat footprint for standing support.",
23
+ "id": 0,
24
+ "grasp_group": {
25
+ "grasp_5": {
26
+ "confidence": 0.9057613015174866,
27
+ "position": [
28
+ 0.07002024305984378,
29
+ 0.0896508552832529,
30
+ -0.14914660155773163
31
+ ],
32
+ "orientation": {
33
+ "w": 0.3458874506440566,
34
+ "xyz": [
35
+ 0.5505349525963814,
36
+ 0.27797910488835553,
37
+ -0.7071073148413358
38
+ ]
39
+ }
40
+ },
41
+ "grasp_7": {
42
+ "confidence": 0.9020872116088867,
43
+ "position": [
44
+ 0.10825011087581515,
45
+ -0.03510915779042989,
46
+ -0.1403111219406128
47
+ ],
48
+ "orientation": {
49
+ "w": 0.7528055911133632,
50
+ "xyz": [
51
+ -0.09737203225147274,
52
+ -0.6427614544420714,
53
+ -0.10324796369513238
54
+ ]
55
+ }
56
+ },
57
+ "grasp_8": {
58
+ "confidence": 0.8968106508255005,
59
+ "position": [
60
+ 0.07738208724185824,
61
+ -0.08914633758831769,
62
+ -0.1317717283964157
63
+ ],
64
+ "orientation": {
65
+ "w": 0.3181351180636608,
66
+ "xyz": [
67
+ -0.6161004265356584,
68
+ 0.2682334787706624,
69
+ 0.6687758308609759
70
+ ]
71
+ }
72
+ },
73
+ "grasp_13": {
74
+ "confidence": 0.893945574760437,
75
+ "position": [
76
+ 0.09686008794233203,
77
+ -0.05627747916150838,
78
+ -0.14265265315771103
79
+ ],
80
+ "orientation": {
81
+ "w": 0.7444998443915787,
82
+ "xyz": [
83
+ -0.1280363393607809,
84
+ -0.6327405143840336,
85
+ -0.17019435643121494
86
+ ]
87
+ }
88
+ },
89
+ "grasp_14": {
90
+ "confidence": 0.8932702541351318,
91
+ "position": [
92
+ 0.05164119927212596,
93
+ 0.10010538331698626,
94
+ -0.15466350317001343
95
+ ],
96
+ "orientation": {
97
+ "w": 0.4071796044912706,
98
+ "xyz": [
99
+ 0.5110987951881919,
100
+ 0.30160426107238014,
101
+ -0.6942749174113195
102
+ ]
103
+ }
104
+ },
105
+ "grasp_15": {
106
+ "confidence": 0.8926493525505066,
107
+ "position": [
108
+ 0.0877709905616939,
109
+ -0.07849464484024793,
110
+ -0.13297468423843384
111
+ ],
112
+ "orientation": {
113
+ "w": 0.25363837634443276,
114
+ "xyz": [
115
+ -0.6417777147883148,
116
+ 0.2065689165048158,
117
+ 0.6936268604808167
118
+ ]
119
+ }
120
+ },
121
+ "grasp_18": {
122
+ "confidence": 0.8915858864784241,
123
+ "position": [
124
+ 0.08199077052995563,
125
+ -0.08036324300337583,
126
+ -0.13359250128269196
127
+ ],
128
+ "orientation": {
129
+ "w": 0.27914161332699117,
130
+ "xyz": [
131
+ -0.6215598146752025,
132
+ 0.2559325102408647,
133
+ 0.6857418659320298
134
+ ]
135
+ }
136
+ },
137
+ "grasp_19": {
138
+ "confidence": 0.888526976108551,
139
+ "position": [
140
+ 0.09584626508876681,
141
+ -0.05894350551534444,
142
+ -0.14273254573345184
143
+ ],
144
+ "orientation": {
145
+ "w": 0.7369026343964944,
146
+ "xyz": [
147
+ -0.19226133256271905,
148
+ -0.6097344585958221,
149
+ -0.21962235182597764
150
+ ]
151
+ }
152
+ }
153
+ }
154
+ },
155
+ {
156
+ "part_name": "brush head and neck",
157
+ "mask_color": "Green",
158
+ "graspable": true,
159
+ "grasp_scenarios": [
160
+ {
161
+ "scenario": "grasp the narrow neck to lift and manipulate the brush",
162
+ "confidence": 0.9
163
+ },
164
+ {
165
+ "scenario": "hold the smooth back of the brush head to reposition or orient the object",
166
+ "confidence": 0.72
167
+ }
168
+ ],
169
+ "functional_labels": [
170
+ "main grasp surface",
171
+ "support the bristle pad",
172
+ "connect the brush head to the base",
173
+ "provide structural support"
174
+ ],
175
+ "semantic_description": "Smooth white plastic section consisting of the oval brush back and a short narrow curved neck leading down to the base; it forms most of the rigid body behind the bristles.",
176
+ "id": 1,
177
+ "grasp_group": {
178
+ "grasp_21": {
179
+ "confidence": 0.955001175403595,
180
+ "position": [
181
+ 0.011649855878204107,
182
+ -0.10576643713284284,
183
+ -0.04449811577796936
184
+ ],
185
+ "orientation": {
186
+ "w": 0.7463561560049605,
187
+ "xyz": [
188
+ -0.6532561881820255,
189
+ -0.052644282297972356,
190
+ 0.11591988844335403
191
+ ]
192
+ }
193
+ },
194
+ "grasp_22": {
195
+ "confidence": 0.954507052898407,
196
+ "position": [
197
+ -0.056247875560075045,
198
+ -0.08976575650740415,
199
+ -0.05445327237248421
200
+ ],
201
+ "orientation": {
202
+ "w": 0.6158004614208524,
203
+ "xyz": [
204
+ -0.7541843016800743,
205
+ 0.15543104513379224,
206
+ -0.16684430173614162
207
+ ]
208
+ }
209
+ },
210
+ "grasp_23": {
211
+ "confidence": 0.9508596062660217,
212
+ "position": [
213
+ -0.0017043135594576597,
214
+ 0.09784184477757663,
215
+ -0.06895869970321655
216
+ ],
217
+ "orientation": {
218
+ "w": 0.7421573059716227,
219
+ "xyz": [
220
+ 0.6685201625187952,
221
+ -0.029091041462854683,
222
+ -0.03790826829853395
223
+ ]
224
+ }
225
+ },
226
+ "grasp_24": {
227
+ "confidence": 0.9501002430915833,
228
+ "position": [
229
+ -0.06319183157756925,
230
+ -0.08307922550011426,
231
+ -0.03874402120709419
232
+ ],
233
+ "orientation": {
234
+ "w": 0.21235444149457156,
235
+ "xyz": [
236
+ 0.22256274864676567,
237
+ 0.7554949332819717,
238
+ 0.5784451744786144
239
+ ]
240
+ }
241
+ },
242
+ "grasp_25": {
243
+ "confidence": 0.9458584785461426,
244
+ "position": [
245
+ 0.00011954130604863167,
246
+ 0.09431982121895999,
247
+ -0.032644325867295265
248
+ ],
249
+ "orientation": {
250
+ "w": 0.047014255654273994,
251
+ "xyz": [
252
+ -0.034272688688233834,
253
+ -0.793402375764692,
254
+ 0.6059106474607427
255
+ ]
256
+ }
257
+ },
258
+ "grasp_26": {
259
+ "confidence": 0.9451439380645752,
260
+ "position": [
261
+ -0.06426622392609715,
262
+ -0.08819199271965772,
263
+ -0.05061500892043114
264
+ ],
265
+ "orientation": {
266
+ "w": 0.6904693304293362,
267
+ "xyz": [
268
+ -0.6709638882065099,
269
+ 0.18259163336134887,
270
+ -0.19929841917511762
271
+ ]
272
+ }
273
+ },
274
+ "grasp_27": {
275
+ "confidence": 0.9446759223937988,
276
+ "position": [
277
+ 0.020049672108143568,
278
+ -0.0975551224546507,
279
+ -0.07081745564937592
280
+ ],
281
+ "orientation": {
282
+ "w": 0.6945988615261519,
283
+ "xyz": [
284
+ -0.701907936590765,
285
+ -0.1088136981349409,
286
+ 0.11409316024927343
287
+ ]
288
+ }
289
+ },
290
+ "grasp_28": {
291
+ "confidence": 0.9416324496269226,
292
+ "position": [
293
+ -0.011423178017139435,
294
+ -0.10268628515768796,
295
+ -0.06797929480671883
296
+ ],
297
+ "orientation": {
298
+ "w": 0.6871726782228839,
299
+ "xyz": [
300
+ -0.7257086086803592,
301
+ -0.03229950338926224,
302
+ -0.009872571702097857
303
+ ]
304
+ }
305
+ },
306
+ "grasp_29": {
307
+ "confidence": 0.9403588175773621,
308
+ "position": [
309
+ -0.10112234996631742,
310
+ -0.029695593868382275,
311
+ -0.04017378389835358
312
+ ],
313
+ "orientation": {
314
+ "w": 0.3569222957142297,
315
+ "xyz": [
316
+ 0.48143686429343796,
317
+ 0.6776473286739889,
318
+ 0.4261679463103635
319
+ ]
320
+ }
321
+ },
322
+ "grasp_31": {
323
+ "confidence": 0.9377841949462891,
324
+ "position": [
325
+ -0.042509347666054964,
326
+ 0.09371116093825549,
327
+ -0.06718717515468597
328
+ ],
329
+ "orientation": {
330
+ "w": 0.11527277169022751,
331
+ "xyz": [
332
+ -0.12165493707702907,
333
+ 0.6429566245333543,
334
+ -0.7473413165082684
335
+ ]
336
+ }
337
+ },
338
+ "grasp_32": {
339
+ "confidence": 0.9373853206634521,
340
+ "position": [
341
+ 0.004307480063289404,
342
+ 0.09553373686503619,
343
+ -0.066204484552145
344
+ ],
345
+ "orientation": {
346
+ "w": 0.09093824116337627,
347
+ "xyz": [
348
+ -0.043783122251569044,
349
+ -0.6821459585295014,
350
+ 0.7242169328052774
351
+ ]
352
+ }
353
+ },
354
+ "grasp_34": {
355
+ "confidence": 0.9364746809005737,
356
+ "position": [
357
+ -0.0011934400536119938,
358
+ 0.09893997840117663,
359
+ -0.07621048763394356
360
+ ],
361
+ "orientation": {
362
+ "w": 0.7371339292067517,
363
+ "xyz": [
364
+ 0.6747371777646851,
365
+ -0.014069237378162902,
366
+ -0.03413748546626225
367
+ ]
368
+ }
369
+ },
370
+ "grasp_35": {
371
+ "confidence": 0.9364190697669983,
372
+ "position": [
373
+ -0.06145894946530461,
374
+ -0.0883792556123808,
375
+ -0.04245614819228649
376
+ ],
377
+ "orientation": {
378
+ "w": 0.20018384142139167,
379
+ "xyz": [
380
+ 0.1991358904808091,
381
+ 0.6924141978396344,
382
+ 0.6639532403613124
383
+ ]
384
+ }
385
+ },
386
+ "grasp_37": {
387
+ "confidence": 0.9356853365898132,
388
+ "position": [
389
+ -0.10400225268676877,
390
+ -0.019319885526783764,
391
+ -0.04576248303055763
392
+ ],
393
+ "orientation": {
394
+ "w": 0.3611389777829809,
395
+ "xyz": [
396
+ 0.5420669186394929,
397
+ 0.6295572317573692,
398
+ 0.4235561195220153
399
+ ]
400
+ }
401
+ },
402
+ "grasp_39": {
403
+ "confidence": 0.9352678060531616,
404
+ "position": [
405
+ 0.015432660933583975,
406
+ -0.0880515567259863,
407
+ 0.10944567620754242
408
+ ],
409
+ "orientation": {
410
+ "w": 0.4091343713799259,
411
+ "xyz": [
412
+ -0.905075552489171,
413
+ -0.018506686745539125,
414
+ 0.11447625512601783
415
+ ]
416
+ }
417
+ }
418
+ }
419
+ },
420
+ {
421
+ "part_name": "bristle pad and bristles",
422
+ "mask_color": "Blue",
423
+ "graspable": false,
424
+ "grasp_scenarios": [],
425
+ "functional_labels": [
426
+ "brush hair",
427
+ "detangle strands",
428
+ "massage scalp",
429
+ "provide contact surface for grooming"
430
+ ],
431
+ "semantic_description": "Oval brushing face covered with many dense light-colored bristles projecting outward from the front of the head, forming the contact surface used for brushing.",
432
+ "id": 2,
433
+ "grasp_group": {}
434
+ }
435
+ ],
436
+ "quality_check": {
437
+ "success": true,
438
+ "message": "YES"
439
+ }
440
+ }
dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:934877012a94e9d74ebfc2829fe80577eedc98445d18ce6021b5d6eb91c4e3bf
3
+ size 3784132
dataset/bathroom_supplies/personal_care/048f46cce41a576b939f90f42d25ea56/comb_007.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  <quality>
57
  <PartSegChecker>YES</PartSegChecker>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  <quality>
58
  <PartSegChecker>YES</PartSegChecker>