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
3e4a969
·
verified ·
1 Parent(s): 8a4503c

Add asset bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/affordance/affordance_annot.json +221 -0
  3. dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5673,4 +5673,4 @@ dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/afforda
5673
  dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5674
  dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5675
  dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5676
- dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5673
  dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5674
  dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5675
  dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5676
+ dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,221 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top scrubbing surface",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the upper lobes from above to pick up the sponge",
10
+ "confidence": 0.72
11
+ },
12
+ {
13
+ "scenario": "hold the textured top area to press the sponge against a surface while cleaning",
14
+ "confidence": 0.68
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "scrub surfaces",
19
+ "apply cleaning pressure",
20
+ "contact dirt and residue",
21
+ "provide textured wiping area"
22
+ ],
23
+ "semantic_description": "Flower-shaped light pink top face with a matte soft porous texture and many small raised bumps, covering the upper surface around the center pad.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_2": {
27
+ "confidence": 0.22574591636657715,
28
+ "position": [
29
+ 0.013769793848041445,
30
+ 0.12065296166110784,
31
+ 0.06121029990026727
32
+ ],
33
+ "orientation": {
34
+ "w": 0.009333073569968812,
35
+ "xyz": [
36
+ -0.08135740239333021,
37
+ -0.8695535566282808,
38
+ 0.4870015184459439
39
+ ]
40
+ }
41
+ },
42
+ "grasp_8": {
43
+ "confidence": 0.19839470088481903,
44
+ "position": [
45
+ -0.0157504691160284,
46
+ 0.0794632836477831,
47
+ 0.09543797286460176
48
+ ],
49
+ "orientation": {
50
+ "w": 0.2783708429348526,
51
+ "xyz": [
52
+ 0.958028862878626,
53
+ 0.05807970077633445,
54
+ 0.036292148640692766
55
+ ]
56
+ }
57
+ },
58
+ "grasp_10": {
59
+ "confidence": 0.1830689013004303,
60
+ "position": [
61
+ 0.00440637773135677,
62
+ 0.09372051351238042,
63
+ 0.09529253753134981
64
+ ],
65
+ "orientation": {
66
+ "w": 0.28390193409222064,
67
+ "xyz": [
68
+ 0.9571806780532074,
69
+ -0.0457215597270621,
70
+ 0.03338233599410689
71
+ ]
72
+ }
73
+ },
74
+ "grasp_18": {
75
+ "confidence": 0.14746171236038208,
76
+ "position": [
77
+ -0.04926942236488685,
78
+ -0.07359888858627528,
79
+ 0.09870336862513795
80
+ ],
81
+ "orientation": {
82
+ "w": 0.25432345402095574,
83
+ "xyz": [
84
+ -0.8846206169872948,
85
+ 0.3831058532097861,
86
+ -0.07743287397656395
87
+ ]
88
+ }
89
+ },
90
+ "grasp_19": {
91
+ "confidence": 0.13912276923656464,
92
+ "position": [
93
+ -0.11812847800320014,
94
+ 0.040718129952438176,
95
+ 0.05543246405432001
96
+ ],
97
+ "orientation": {
98
+ "w": 0.3070710076695405,
99
+ "xyz": [
100
+ -0.5490066815430764,
101
+ 0.6590877550393353,
102
+ -0.41219217729971686
103
+ ]
104
+ }
105
+ }
106
+ }
107
+ },
108
+ {
109
+ "part_name": "center pad",
110
+ "mask_color": "Red",
111
+ "graspable": true,
112
+ "grasp_scenarios": [
113
+ {
114
+ "scenario": "press on the central pad from above to apply downward force during scrubbing",
115
+ "confidence": 0.58
116
+ }
117
+ ],
118
+ "functional_labels": [
119
+ "focus pressure at the center",
120
+ "provide extra scrubbing contact",
121
+ "indicate the middle of the sponge"
122
+ ],
123
+ "semantic_description": "Small circular light pink central pad on the top face, smoother than the surrounding textured area and slightly raised.",
124
+ "id": 0,
125
+ "grasp_group": {}
126
+ },
127
+ {
128
+ "part_name": "base of sponge",
129
+ "mask_color": "Blue",
130
+ "graspable": true,
131
+ "grasp_scenarios": [
132
+ {
133
+ "scenario": "grasp the lower body from the sides to lift the sponge",
134
+ "confidence": 0.86
135
+ },
136
+ {
137
+ "scenario": "hold the thicker base to stabilize the sponge during wiping",
138
+ "confidence": 0.79
139
+ }
140
+ ],
141
+ "functional_labels": [
142
+ "support the sponge structure",
143
+ "provide main grasp volume",
144
+ "compress during cleaning",
145
+ "contact surfaces for wiping"
146
+ ],
147
+ "semantic_description": "Thick flower-shaped light pink foam base forming the lower half of the sponge, with matte soft compressible sides and rounded petal-like contours.",
148
+ "id": 2,
149
+ "grasp_group": {
150
+ "grasp_29": {
151
+ "confidence": 0.17725533246994019,
152
+ "position": [
153
+ 0.011417318659368902,
154
+ 0.03432800166774541,
155
+ -0.10462681291392073
156
+ ],
157
+ "orientation": {
158
+ "w": 0.99915869173816,
159
+ "xyz": [
160
+ 0.038125504735300825,
161
+ 0.006698173301528665,
162
+ -0.013545814378986741
163
+ ]
164
+ }
165
+ },
166
+ "grasp_31": {
167
+ "confidence": 0.17021235823631287,
168
+ "position": [
169
+ -0.03854104451602325,
170
+ 0.12033354036975652,
171
+ -0.032190398254897445
172
+ ],
173
+ "orientation": {
174
+ "w": 0.0814813244755355,
175
+ "xyz": [
176
+ -0.0663509366146079,
177
+ 0.5859589754269984,
178
+ -0.8034988650201187
179
+ ]
180
+ }
181
+ },
182
+ "grasp_36": {
183
+ "confidence": 0.1499902456998825,
184
+ "position": [
185
+ 0.007927486265543848,
186
+ 0.05325762473512441,
187
+ -0.10027979401638731
188
+ ],
189
+ "orientation": {
190
+ "w": 0.9813380368742263,
191
+ "xyz": [
192
+ 0.18931662741977406,
193
+ 0.024766214479556736,
194
+ 0.022836518705678256
195
+ ]
196
+ }
197
+ },
198
+ "grasp_38": {
199
+ "confidence": 0.14573809504508972,
200
+ "position": [
201
+ 0.020180464314762503,
202
+ 0.07713266753125936,
203
+ -0.09633178351214156
204
+ ],
205
+ "orientation": {
206
+ "w": 0.9583051900699698,
207
+ "xyz": [
208
+ 0.258519863936568,
209
+ -0.01608950798497155,
210
+ -0.12066387349981236
211
+ ]
212
+ }
213
+ }
214
+ }
215
+ }
216
+ ],
217
+ "quality_check": {
218
+ "success": true,
219
+ "message": "YES"
220
+ }
221
+ }
dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ef4d3f250d9899205766e621a0bb97f6accac3e2b1173102178e41dc0f5e48a
3
+ size 3781508