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
0a4652b
·
verified ·
1 Parent(s): 4f406c0

Add asset livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/affordance/affordance_annot.json +438 -0
  3. dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7694,3 +7694,4 @@ dataset/livingroom_supplies/ornaments/500aab3d17565ee4b2e4e19639fabee3/affordanc
7694
  dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7695
  dataset/livingroom_supplies/ornaments/552388af035559c0a76e86678fc79e5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7696
  dataset/livingroom_supplies/ornaments/54929381a7df547eb2a1563af6c0657a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7694
  dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7695
  dataset/livingroom_supplies/ornaments/552388af035559c0a76e86678fc79e5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7696
  dataset/livingroom_supplies/ornaments/54929381a7df547eb2a1563af6c0657a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7697
+ dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/affordance/affordance_annot.json ADDED
@@ -0,0 +1,438 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "base tray",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the wide base from the sides to pick up the candle holder",
10
+ "confidence": 0.86
11
+ },
12
+ {
13
+ "scenario": "hold the base to stabilize the candle holder during placement",
14
+ "confidence": 0.82
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support the candle holder upright",
19
+ "provide a stable footprint",
20
+ "catch wax drips",
21
+ "main lifting area"
22
+ ],
23
+ "semantic_description": "Wide round copper-brown metal base with a reflective worn finish, hard smooth surface, shallow dish shape, and the largest part at the bottom with visible dark patina patches.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_8": {
27
+ "confidence": 0.9317559599876404,
28
+ "position": [
29
+ -0.09594733599806204,
30
+ -0.1077823359228205,
31
+ -0.04740112575564126
32
+ ],
33
+ "orientation": {
34
+ "w": 0.653015069707196,
35
+ "xyz": [
36
+ -0.2778583261163169,
37
+ 0.6355135589372792,
38
+ 0.30411936102461085
39
+ ]
40
+ }
41
+ },
42
+ "grasp_16": {
43
+ "confidence": 0.9267623424530029,
44
+ "position": [
45
+ 0.13564797904109582,
46
+ 0.02840915325214155,
47
+ -0.061649068471524515
48
+ ],
49
+ "orientation": {
50
+ "w": 0.7665607604169873,
51
+ "xyz": [
52
+ 0.03360158146820213,
53
+ -0.6384016926533915,
54
+ 0.060817868501379935
55
+ ]
56
+ }
57
+ }
58
+ }
59
+ },
60
+ {
61
+ "part_name": "stem and cup",
62
+ "mask_color": "Green",
63
+ "graspable": true,
64
+ "grasp_scenarios": [
65
+ {
66
+ "scenario": "grasp the narrow stem to lift or reposition the candle holder",
67
+ "confidence": 0.72
68
+ },
69
+ {
70
+ "scenario": "hold the upper stem to orient the candle holder precisely",
71
+ "confidence": 0.76
72
+ }
73
+ ],
74
+ "functional_labels": [
75
+ "elevate the candle",
76
+ "connect cup to base",
77
+ "support the candle socket",
78
+ "provide a secondary grasp area"
79
+ ],
80
+ "semantic_description": "Slender turned copper-toned metal stem merging into the top cup, with a reflective aged finish, hard smooth feel, and a vertically centered profile between the base and candle.",
81
+ "id": 1,
82
+ "grasp_group": {
83
+ "grasp_20": {
84
+ "confidence": 0.9791257381439209,
85
+ "position": [
86
+ -0.08924316201591864,
87
+ -0.03001986999879591,
88
+ 0.03606926721658965
89
+ ],
90
+ "orientation": {
91
+ "w": 0.6401351566403842,
92
+ "xyz": [
93
+ -0.4914348746818589,
94
+ 0.3440189782034536,
95
+ -0.47996842376896875
96
+ ]
97
+ }
98
+ },
99
+ "grasp_21": {
100
+ "confidence": 0.9788918495178223,
101
+ "position": [
102
+ 0.08886231895303354,
103
+ 0.02055533605744131,
104
+ 0.040225361261036596
105
+ ],
106
+ "orientation": {
107
+ "w": 0.661072304119714,
108
+ "xyz": [
109
+ 0.40300094447232737,
110
+ -0.30198886187385654,
111
+ -0.5562161223700705
112
+ ]
113
+ }
114
+ },
115
+ "grasp_22": {
116
+ "confidence": 0.978029191493988,
117
+ "position": [
118
+ -0.07589997682953253,
119
+ 0.056928420468466356,
120
+ 0.05283950713601371
121
+ ],
122
+ "orientation": {
123
+ "w": 0.7158108384283108,
124
+ "xyz": [
125
+ 0.5356609320421273,
126
+ 0.30953645655421935,
127
+ 0.32383543897506917
128
+ ]
129
+ }
130
+ },
131
+ "grasp_23": {
132
+ "confidence": 0.9779694080352783,
133
+ "position": [
134
+ 0.06080644245957956,
135
+ -0.07843365703593008,
136
+ 0.057696995112564764
137
+ ],
138
+ "orientation": {
139
+ "w": 0.3014822536854888,
140
+ "xyz": [
141
+ 0.14390712000649036,
142
+ -0.6961471865432985,
143
+ -0.6354355090738993
144
+ ]
145
+ }
146
+ },
147
+ "grasp_24": {
148
+ "confidence": 0.9762099385261536,
149
+ "position": [
150
+ 0.06618827994680032,
151
+ -0.07128203843603842,
152
+ 0.06467440051164886
153
+ ],
154
+ "orientation": {
155
+ "w": 0.2775149297580446,
156
+ "xyz": [
157
+ 0.23567367655359425,
158
+ -0.660233511565807,
159
+ -0.6569133064161379
160
+ ]
161
+ }
162
+ },
163
+ "grasp_25": {
164
+ "confidence": 0.9753050208091736,
165
+ "position": [
166
+ 0.09326665516709909,
167
+ 0.019385743915336207,
168
+ 0.0355416282745864
169
+ ],
170
+ "orientation": {
171
+ "w": 0.5894392061441858,
172
+ "xyz": [
173
+ 0.5144835527097414,
174
+ -0.42214272509905815,
175
+ -0.45789039725377045
176
+ ]
177
+ }
178
+ },
179
+ "grasp_26": {
180
+ "confidence": 0.9748698472976685,
181
+ "position": [
182
+ 0.09764207567786798,
183
+ 0.005871427274541929,
184
+ 0.051741485271122656
185
+ ],
186
+ "orientation": {
187
+ "w": 0.4813246610979373,
188
+ "xyz": [
189
+ -0.4935615519084354,
190
+ -0.47575573969337237,
191
+ 0.5462417424964003
192
+ ]
193
+ }
194
+ },
195
+ "grasp_27": {
196
+ "confidence": 0.9743232131004333,
197
+ "position": [
198
+ 0.09124755527591333,
199
+ -0.02597133253584616,
200
+ 0.05403886062231322
201
+ ],
202
+ "orientation": {
203
+ "w": 0.5050416346160805,
204
+ "xyz": [
205
+ 0.34129679196591706,
206
+ -0.4892243301199607,
207
+ -0.623786022540396
208
+ ]
209
+ }
210
+ },
211
+ "grasp_28": {
212
+ "confidence": 0.9731644988059998,
213
+ "position": [
214
+ 0.03788577805971727,
215
+ -0.08286478553782217,
216
+ 0.04293477607097884
217
+ ],
218
+ "orientation": {
219
+ "w": 0.835186901052972,
220
+ "xyz": [
221
+ -0.5052654285188752,
222
+ -0.09408270097361227,
223
+ 0.1957501786223462
224
+ ]
225
+ }
226
+ },
227
+ "grasp_29": {
228
+ "confidence": 0.9729050397872925,
229
+ "position": [
230
+ -0.08569851104402915,
231
+ 0.036668503686087206,
232
+ 0.04392923859086295
233
+ ],
234
+ "orientation": {
235
+ "w": 0.6995347875172551,
236
+ "xyz": [
237
+ 0.43928277062663357,
238
+ 0.2812199409288919,
239
+ 0.4884639938703038
240
+ ]
241
+ }
242
+ },
243
+ "grasp_30": {
244
+ "confidence": 0.9728530049324036,
245
+ "position": [
246
+ 0.06343237723922357,
247
+ 0.07479113902081735,
248
+ 0.05895284635153075
249
+ ],
250
+ "orientation": {
251
+ "w": 0.2643965820194336,
252
+ "xyz": [
253
+ -0.2251102397177985,
254
+ -0.6679957293905754,
255
+ 0.6581804713804482
256
+ ]
257
+ }
258
+ },
259
+ "grasp_31": {
260
+ "confidence": 0.9715299010276794,
261
+ "position": [
262
+ -0.07459565583849326,
263
+ 0.05287499169935472,
264
+ 0.043960598084595404
265
+ ],
266
+ "orientation": {
267
+ "w": 0.7834142645701231,
268
+ "xyz": [
269
+ 0.445722818455596,
270
+ 0.293359984027343,
271
+ 0.3186427136269246
272
+ ]
273
+ }
274
+ },
275
+ "grasp_32": {
276
+ "confidence": 0.9710890650749207,
277
+ "position": [
278
+ -0.009569238463882357,
279
+ -0.09025518779526465,
280
+ 0.05912270468797942
281
+ ],
282
+ "orientation": {
283
+ "w": 0.8242217932381821,
284
+ "xyz": [
285
+ -0.5639034713224789,
286
+ 0.01600565546941468,
287
+ -0.04914396783622531
288
+ ]
289
+ }
290
+ },
291
+ "grasp_33": {
292
+ "confidence": 0.9710685610771179,
293
+ "position": [
294
+ -0.09041851345682517,
295
+ 0.03607062067021616,
296
+ 0.06424955350485106
297
+ ],
298
+ "orientation": {
299
+ "w": 0.3928936151887099,
300
+ "xyz": [
301
+ -0.39208379335642285,
302
+ 0.574838307557701,
303
+ -0.6012202810080362
304
+ ]
305
+ }
306
+ },
307
+ "grasp_34": {
308
+ "confidence": 0.9709240198135376,
309
+ "position": [
310
+ 0.049388662388082594,
311
+ -0.0832890439487528,
312
+ 0.03347183463301917
313
+ ],
314
+ "orientation": {
315
+ "w": 0.7348020884946905,
316
+ "xyz": [
317
+ -0.6176527889524526,
318
+ -0.15268764534886425,
319
+ 0.2350689388262882
320
+ ]
321
+ }
322
+ },
323
+ "grasp_35": {
324
+ "confidence": 0.9705825448036194,
325
+ "position": [
326
+ 0.033358768036123365,
327
+ 0.08981502617825754,
328
+ 0.04549000484075805
329
+ ],
330
+ "orientation": {
331
+ "w": 0.7595276829656856,
332
+ "xyz": [
333
+ 0.6288105901973435,
334
+ -0.11365680072515982,
335
+ -0.12164321647082109
336
+ ]
337
+ }
338
+ },
339
+ "grasp_36": {
340
+ "confidence": 0.9704881906509399,
341
+ "position": [
342
+ -0.053460109571460634,
343
+ -0.08295742605696432,
344
+ 0.07872138989296218
345
+ ],
346
+ "orientation": {
347
+ "w": 0.1988442132648645,
348
+ "xyz": [
349
+ 0.1937805737275402,
350
+ 0.6777589034852802,
351
+ 0.6808472198983656
352
+ ]
353
+ }
354
+ },
355
+ "grasp_37": {
356
+ "confidence": 0.9704813361167908,
357
+ "position": [
358
+ 0.027669523318763822,
359
+ -0.08619068746338598,
360
+ 0.03844220635619422
361
+ ],
362
+ "orientation": {
363
+ "w": 0.8260117527112354,
364
+ "xyz": [
365
+ -0.541999584976856,
366
+ -0.09463935167160864,
367
+ 0.12241089568746112
368
+ ]
369
+ }
370
+ },
371
+ "grasp_38": {
372
+ "confidence": 0.9704498052597046,
373
+ "position": [
374
+ 0.02852349024033174,
375
+ -0.09048383121262304,
376
+ 0.053981092545654974
377
+ ],
378
+ "orientation": {
379
+ "w": 0.7732728646635667,
380
+ "xyz": [
381
+ -0.5925805727334287,
382
+ -0.02711946042272606,
383
+ 0.2239684720229683
384
+ ]
385
+ }
386
+ },
387
+ "grasp_39": {
388
+ "confidence": 0.9703805446624756,
389
+ "position": [
390
+ -0.046473953465465456,
391
+ -0.08564712290535681,
392
+ 0.060576618436243734
393
+ ],
394
+ "orientation": {
395
+ "w": 0.7034584243141674,
396
+ "xyz": [
397
+ -0.6679735176074021,
398
+ 0.16907459760699928,
399
+ -0.17427393804196356
400
+ ]
401
+ }
402
+ }
403
+ }
404
+ },
405
+ {
406
+ "part_name": "wick",
407
+ "mask_color": "Blue",
408
+ "graspable": false,
409
+ "grasp_scenarios": [],
410
+ "functional_labels": [
411
+ "provide the burn point",
412
+ "sustain the flame",
413
+ "draw melted wax upward"
414
+ ],
415
+ "semantic_description": "Tiny dark blue-black wick at the center top, appearing charred and slightly pointed, with a small soft fibrous form protruding from the candle wax.",
416
+ "id": 2,
417
+ "grasp_group": {}
418
+ },
419
+ {
420
+ "part_name": "candle wax",
421
+ "mask_color": "Yellow",
422
+ "graspable": false,
423
+ "grasp_scenarios": [],
424
+ "functional_labels": [
425
+ "hold fuel for burning",
426
+ "support the wick",
427
+ "produce candlelight when lit"
428
+ ],
429
+ "semantic_description": "Small yellow wax fill inside the top cup, with a smooth slightly glossy surface and shallow circular shape surrounding the central wick.",
430
+ "id": 3,
431
+ "grasp_group": {}
432
+ }
433
+ ],
434
+ "quality_check": {
435
+ "success": true,
436
+ "message": "YES"
437
+ }
438
+ }
dataset/livingroom_supplies/ornaments/54c2cd8971ae5a82bfb24ec7bbd752bf/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96fcc77a7889b52dd3ba3a1abcf2a5cfcfde72dc7f90be88f641976f4f34ecc9
3
+ size 37284844