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
247a229
·
verified ·
1 Parent(s): f1a5931

Add asset bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/affordance/affordance_annot.json +289 -0
  3. dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5575,3 +5575,4 @@ dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/afforda
5575
  dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5576
  dataset/bathroom_supplies/bath_products/2790261681a958adbaadcc6ebf59814a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5577
  dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5575
  dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5576
  dataset/bathroom_supplies/bath_products/2790261681a958adbaadcc6ebf59814a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5577
  dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5578
+ dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,289 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "drain tray",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the upper tray rim to pick up and reposition the soap dish",
10
+ "confidence": 0.86
11
+ },
12
+ {
13
+ "scenario": "hold the tray from opposite side walls to stabilize it during placement",
14
+ "confidence": 0.8
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support bar soap",
19
+ "elevate soap above drained water",
20
+ "provide top opening",
21
+ "guide water toward slots"
22
+ ],
23
+ "semantic_description": "Shallow white plastic upper tray with a smooth matte-to-satin surface, rounded rectangular shape, and slightly raised rim forming the main top section of the soap dish.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_9": {
27
+ "confidence": 0.5991922616958618,
28
+ "position": [
29
+ 0.04292151995468885,
30
+ 0.09077185552450828,
31
+ 0.08602820290252566
32
+ ],
33
+ "orientation": {
34
+ "w": 0.29335578354589814,
35
+ "xyz": [
36
+ 0.5022100945558367,
37
+ -0.8020734098515413,
38
+ 0.13566742569795773
39
+ ]
40
+ }
41
+ },
42
+ "grasp_10": {
43
+ "confidence": 0.548270583152771,
44
+ "position": [
45
+ -0.07122409052681178,
46
+ 0.06500919323298149,
47
+ 0.08660638285800815
48
+ ],
49
+ "orientation": {
50
+ "w": 0.33335871431082953,
51
+ "xyz": [
52
+ 0.38057505761407945,
53
+ 0.8621142577962124,
54
+ -0.028170900226237024
55
+ ]
56
+ }
57
+ },
58
+ "grasp_11": {
59
+ "confidence": 0.5462512373924255,
60
+ "position": [
61
+ 0.062310504843480885,
62
+ 0.08021061282488517,
63
+ 0.08597540808841586
64
+ ],
65
+ "orientation": {
66
+ "w": 0.33107096833489713,
67
+ "xyz": [
68
+ 0.5364969457237051,
69
+ -0.7745647428943018,
70
+ 0.05111262290289888
71
+ ]
72
+ }
73
+ },
74
+ "grasp_13": {
75
+ "confidence": 0.5105673670768738,
76
+ "position": [
77
+ -0.014980499516241252,
78
+ -0.11208801556495018,
79
+ 0.07454543514177203
80
+ ],
81
+ "orientation": {
82
+ "w": 0.2376153864744027,
83
+ "xyz": [
84
+ -0.6701505690831695,
85
+ -0.6418941140996532,
86
+ -0.28706983323286556
87
+ ]
88
+ }
89
+ },
90
+ "grasp_14": {
91
+ "confidence": 0.48265811800956726,
92
+ "position": [
93
+ 0.058617438306100667,
94
+ 0.07417473357054405,
95
+ 0.09087233198806643
96
+ ],
97
+ "orientation": {
98
+ "w": 0.29794188254507004,
99
+ "xyz": [
100
+ 0.461716028664326,
101
+ -0.832088349363304,
102
+ 0.0753519897135797
103
+ ]
104
+ }
105
+ },
106
+ "grasp_16": {
107
+ "confidence": 0.46818745136260986,
108
+ "position": [
109
+ -0.06890388287138194,
110
+ 0.05725258376332931,
111
+ 0.08470697654411197
112
+ ],
113
+ "orientation": {
114
+ "w": 0.2391984515336188,
115
+ "xyz": [
116
+ -0.01705953069350881,
117
+ 0.9437483802544633,
118
+ -0.22766657190618442
119
+ ]
120
+ }
121
+ }
122
+ }
123
+ },
124
+ {
125
+ "part_name": "drain slots",
126
+ "mask_color": "Red",
127
+ "graspable": false,
128
+ "grasp_scenarios": [],
129
+ "functional_labels": [
130
+ "drain water",
131
+ "ventilate soap underside",
132
+ "reduce water pooling",
133
+ "help keep soap dry"
134
+ ],
135
+ "semantic_description": "Four narrow elongated openings in the tray floor, appearing as dark recessed slits within the white plastic top, evenly spaced near the center and much smaller than the overall dish.",
136
+ "id": 0,
137
+ "grasp_group": {}
138
+ },
139
+ {
140
+ "part_name": "outer sidewall rim band",
141
+ "mask_color": "Blue",
142
+ "graspable": true,
143
+ "grasp_scenarios": [
144
+ {
145
+ "scenario": "grasp the sidewall band from opposite sides to lift or reposition the soap dish",
146
+ "confidence": 0.74
147
+ },
148
+ {
149
+ "scenario": "pinch the outer rim band to steady the dish during placement",
150
+ "confidence": 0.65
151
+ }
152
+ ],
153
+ "functional_labels": [
154
+ "form the outer sidewall perimeter",
155
+ "provide side contact for handling",
156
+ "connect the upper tray to the lower body",
157
+ "help stabilize the dish shape"
158
+ ],
159
+ "semantic_description": "White plastic sidewall rim band visible around the perimeter beneath the top tray, with a smooth hard surface and rounded rectangular outline wrapping around the dish.",
160
+ "id": 2,
161
+ "grasp_group": {
162
+ "grasp_20": {
163
+ "confidence": 0.42792168259620667,
164
+ "position": [
165
+ -0.004276873893104494,
166
+ -0.12986051131156273,
167
+ 0.023354749660938978
168
+ ],
169
+ "orientation": {
170
+ "w": 0.6417354727192122,
171
+ "xyz": [
172
+ -0.765595297026908,
173
+ 0.04513422716199844,
174
+ 0.0015250451203871343
175
+ ]
176
+ }
177
+ },
178
+ "grasp_24": {
179
+ "confidence": 0.5593719482421875,
180
+ "position": [
181
+ 0.007390726474113762,
182
+ -0.005597000737907365,
183
+ 0.10695377690717578
184
+ ],
185
+ "orientation": {
186
+ "w": 0.019028425385202094,
187
+ "xyz": [
188
+ -0.9996168993580247,
189
+ 0.0026374054669160638,
190
+ 0.019925301443439104
191
+ ]
192
+ }
193
+ },
194
+ "grasp_25": {
195
+ "confidence": 0.5028440952301025,
196
+ "position": [
197
+ 0.0004028303665108979,
198
+ 0.004249035118846223,
199
+ 0.10701704723760486
200
+ ],
201
+ "orientation": {
202
+ "w": 0.018084331909836424,
203
+ "xyz": [
204
+ 0.04248809111722615,
205
+ -0.9987503609397149,
206
+ -0.019116369304297234
207
+ ]
208
+ }
209
+ },
210
+ "grasp_27": {
211
+ "confidence": 0.4264090955257416,
212
+ "position": [
213
+ -0.006719021941535175,
214
+ -0.0295244867738802,
215
+ 0.10704111261293292
216
+ ],
217
+ "orientation": {
218
+ "w": 0.025078840658415782,
219
+ "xyz": [
220
+ -0.006838680847565178,
221
+ 0.999184760177939,
222
+ 0.03088849662332523
223
+ ]
224
+ }
225
+ },
226
+ "grasp_28": {
227
+ "confidence": 0.39895257353782654,
228
+ "position": [
229
+ 0.007355220266617835,
230
+ -0.00649764554691501,
231
+ 0.10912149352952838
232
+ ],
233
+ "orientation": {
234
+ "w": 0.00010625918825376457,
235
+ "xyz": [
236
+ -0.010622037966684567,
237
+ -0.999932355682318,
238
+ 0.0047376236689473305
239
+ ]
240
+ }
241
+ },
242
+ "grasp_31": {
243
+ "confidence": 0.7331228852272034,
244
+ "position": [
245
+ 0.11888470791745931,
246
+ 0.007431342004565522,
247
+ -0.010477081406861544
248
+ ],
249
+ "orientation": {
250
+ "w": 0.15391394692144267,
251
+ "xyz": [
252
+ 0.6700210720574084,
253
+ 0.18472753668081354,
254
+ -0.7023232853422581
255
+ ]
256
+ }
257
+ }
258
+ }
259
+ },
260
+ {
261
+ "part_name": "bottom base panel",
262
+ "mask_color": "Pink",
263
+ "graspable": true,
264
+ "grasp_scenarios": [
265
+ {
266
+ "scenario": "support the object from underneath by contacting the base while lifting",
267
+ "confidence": 0.58
268
+ },
269
+ {
270
+ "scenario": "grasp the dish by combining contact on the bottom base and opposite sidewall for secure pickup",
271
+ "confidence": 0.55
272
+ }
273
+ ],
274
+ "functional_labels": [
275
+ "form the bottom support surface",
276
+ "rest on the countertop",
277
+ "provide underside enclosure",
278
+ "stabilize the soap dish on flat surfaces"
279
+ ],
280
+ "semantic_description": "White plastic bottom base panel on the underside of the soap dish, smooth and slightly rounded rectangular in shape, forming the main contact surface with the counter.",
281
+ "id": 8,
282
+ "grasp_group": {}
283
+ }
284
+ ],
285
+ "quality_check": {
286
+ "success": false,
287
+ "message": "Bottom base mask color and graspability are incorrect; base is red, pink absent, and underside panel is not a practical direct grasp part."
288
+ }
289
+ }
dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1116f1f2cf8692482cc680f5a4708199ff8c09d127e3963d7249398b43c7f4a0
3
+ size 3782660