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
7165fa0
·
verified ·
1 Parent(s): 5738cea

Add asset bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/affordance/affordance_annot.json +429 -0
  3. dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5609,3 +5609,4 @@ dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/afforda
5609
  dataset/bathroom_supplies/bath_products/5c616635e2b75bb8806e333fcb4941b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5610
  dataset/bathroom_supplies/bath_products/60463db9e47c510f8be3d2ada4de2413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5611
  dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5609
  dataset/bathroom_supplies/bath_products/5c616635e2b75bb8806e333fcb4941b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5610
  dataset/bathroom_supplies/bath_products/60463db9e47c510f8be3d2ada4de2413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5611
  dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5612
+ dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/affordance/affordance_annot.json ADDED
@@ -0,0 +1,429 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tube body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the tube body at the middle to pick up the lotion tube",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "squeeze and hold the tube body to dispense lotion through the opening",
14
+ "confidence": 0.79
15
+ },
16
+ {
17
+ "scenario": "stabilize the tube by gripping the body while opening or closing the cap",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain lotion",
23
+ "main grasp surface",
24
+ "enable squeezing for dispensing",
25
+ "support printed label",
26
+ "connect cap to container"
27
+ ],
28
+ "semantic_description": "Large tapered white plastic tube body with a mostly matte smooth hard surface, slightly flexible walls, blue printed label graphics, and the main central container form above the cap.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9718115329742432,
33
+ "position": [
34
+ -0.004455889902601484,
35
+ 0.12939437667955644,
36
+ 0.12247154908254743
37
+ ],
38
+ "orientation": {
39
+ "w": 0.06801078569206566,
40
+ "xyz": [
41
+ 0.014727330941879894,
42
+ 0.7171747649333498,
43
+ -0.6934104089899943
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9706764221191406,
49
+ "position": [
50
+ -0.005732513825932983,
51
+ 0.12624179761041887,
52
+ 0.09969735192134976
53
+ ],
54
+ "orientation": {
55
+ "w": 0.059455670381080204,
56
+ "xyz": [
57
+ 0.004713412663358429,
58
+ 0.663925643558735,
59
+ -0.7454163580347036
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9698479771614075,
65
+ "position": [
66
+ -0.010056263163278345,
67
+ 0.1293407324992586,
68
+ 0.12027811305597425
69
+ ],
70
+ "orientation": {
71
+ "w": 0.0683039630511777,
72
+ "xyz": [
73
+ -0.009249244278938166,
74
+ 0.7108542902392799,
75
+ -0.6999537114411074
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9687755107879639,
81
+ "position": [
82
+ -0.015688717692682985,
83
+ 0.12271943877567537,
84
+ 0.12623139517381787
85
+ ],
86
+ "orientation": {
87
+ "w": 0.06744192379232367,
88
+ "xyz": [
89
+ -0.04092574154965708,
90
+ 0.7248839987032983,
91
+ -0.6843389942256085
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9628654718399048,
97
+ "position": [
98
+ -0.01358489445556188,
99
+ 0.12575497667421587,
100
+ 0.09605255769565701
101
+ ],
102
+ "orientation": {
103
+ "w": 0.06614592126193064,
104
+ "xyz": [
105
+ -0.03225839559931122,
106
+ 0.6704852439629738,
107
+ -0.7382639437502557
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9626818895339966,
113
+ "position": [
114
+ -0.01294918484200025,
115
+ 0.12736768464674242,
116
+ 0.1332767535932362
117
+ ],
118
+ "orientation": {
119
+ "w": 0.05997663826742415,
120
+ "xyz": [
121
+ -0.03944111305003726,
122
+ 0.7616556588530393,
123
+ -0.6439936791620363
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9620165228843689,
129
+ "position": [
130
+ -0.00013945459068054333,
131
+ 0.12640866081346758,
132
+ 0.10067293839529157
133
+ ],
134
+ "orientation": {
135
+ "w": 0.07834689043959035,
136
+ "xyz": [
137
+ 0.03467608888331648,
138
+ 0.6829526468656938,
139
+ -0.7254205785317543
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.9619208574295044,
145
+ "position": [
146
+ 0.00029477502539521083,
147
+ 0.13124715726007707,
148
+ 0.11552850948646665
149
+ ],
150
+ "orientation": {
151
+ "w": 0.018066093600891328,
152
+ "xyz": [
153
+ 0.005057457846827662,
154
+ -0.7016012544557257,
155
+ 0.712322762607151
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.9615283608436584,
161
+ "position": [
162
+ 0.012794088244845625,
163
+ 0.12465078572859056,
164
+ 0.11761822598055005
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7100258744540088,
168
+ "xyz": [
169
+ 0.7021884412965617,
170
+ -0.01693896958336294,
171
+ -0.05007715871312003
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9607232809066772,
177
+ "position": [
178
+ 6.990102701820433e-05,
179
+ 0.12394220571150072,
180
+ 0.11024844693019986
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7258625789331721,
184
+ "xyz": [
185
+ 0.6863712049333808,
186
+ 0.037392513361741764,
187
+ -0.024897499618957496
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9596168994903564,
193
+ "position": [
194
+ -0.006611016440729145,
195
+ 0.12642998437513597,
196
+ 0.09041252778843045
197
+ ],
198
+ "orientation": {
199
+ "w": 0.05353543206602986,
200
+ "xyz": [
201
+ -0.0197069798273124,
202
+ 0.6665766680654921,
203
+ -0.7432503871847602
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.9594637751579285,
209
+ "position": [
210
+ 0.0049444270771346055,
211
+ 0.1251534913026262,
212
+ 0.11120256083086133
213
+ ],
214
+ "orientation": {
215
+ "w": 0.7283813201279331,
216
+ "xyz": [
217
+ 0.6823730104186391,
218
+ 0.04346783771820695,
219
+ -0.044025835880718525
220
+ ]
221
+ }
222
+ },
223
+ "grasp_14": {
224
+ "confidence": 0.9581850171089172,
225
+ "position": [
226
+ 0.0009400884955539368,
227
+ 0.12550842206110246,
228
+ 0.13472833530977368
229
+ ],
230
+ "orientation": {
231
+ "w": 0.6539263070146638,
232
+ "xyz": [
233
+ 0.7557215027220456,
234
+ 0.025781319683922277,
235
+ -0.024509566969907717
236
+ ]
237
+ }
238
+ },
239
+ "grasp_17": {
240
+ "confidence": 0.9577634930610657,
241
+ "position": [
242
+ -0.0070002147476770915,
243
+ 0.1343671474896837,
244
+ 0.12132869707420468
245
+ ],
246
+ "orientation": {
247
+ "w": 0.05585047410380653,
248
+ "xyz": [
249
+ -0.012138354248252266,
250
+ 0.7100150505882504,
251
+ -0.7018632436854686
252
+ ]
253
+ }
254
+ },
255
+ "grasp_18": {
256
+ "confidence": 0.9573727250099182,
257
+ "position": [
258
+ -0.0021804474308737554,
259
+ 0.12349425445427187,
260
+ 0.1065181945450604
261
+ ],
262
+ "orientation": {
263
+ "w": 0.7310219989096094,
264
+ "xyz": [
265
+ 0.6787920623685277,
266
+ 0.06399724241766414,
267
+ -0.027432209874787835
268
+ ]
269
+ }
270
+ },
271
+ "grasp_19": {
272
+ "confidence": 0.9566309452056885,
273
+ "position": [
274
+ -0.011416774570534471,
275
+ 0.12552317421068437,
276
+ 0.1438016821630299
277
+ ],
278
+ "orientation": {
279
+ "w": 0.05164334742047341,
280
+ "xyz": [
281
+ -0.0263938158708819,
282
+ 0.7948446962569733,
283
+ -0.6040349658613666
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "flip-top cap",
291
+ "mask_color": "Green",
292
+ "graspable": true,
293
+ "grasp_scenarios": [
294
+ {
295
+ "scenario": "grasp the cap area to pick up or reorient the tube from the bottom end",
296
+ "confidence": 0.71
297
+ },
298
+ {
299
+ "scenario": "pinch the cap to open, close, or stabilize it during dispensing",
300
+ "confidence": 0.83
301
+ }
302
+ ],
303
+ "functional_labels": [
304
+ "cover dispensing opening",
305
+ "open and close container",
306
+ "allow lotion dispensing",
307
+ "provide bottom support for standing"
308
+ ],
309
+ "semantic_description": "Short rounded white plastic cap at the bottom of the tube with a smooth slightly glossy hard surface and a broad oval profile that forms the tube base.",
310
+ "id": 1,
311
+ "grasp_group": {
312
+ "grasp_20": {
313
+ "confidence": 0.8393828868865967,
314
+ "position": [
315
+ 0.00410197409655666,
316
+ -0.018898174137575552,
317
+ -0.17303387029096484
318
+ ],
319
+ "orientation": {
320
+ "w": 0.17526972875864208,
321
+ "xyz": [
322
+ -0.0018445969752645046,
323
+ -0.04539804993127139,
324
+ -0.983471472237659
325
+ ]
326
+ }
327
+ },
328
+ "grasp_24": {
329
+ "confidence": 0.8227987289428711,
330
+ "position": [
331
+ -0.0004562093599815853,
332
+ -0.01599445191095583,
333
+ -0.17416327400133014
334
+ ],
335
+ "orientation": {
336
+ "w": 0.07489119232143097,
337
+ "xyz": [
338
+ -0.011737320441387882,
339
+ -0.03355402015925246,
340
+ -0.9965579121921025
341
+ ]
342
+ }
343
+ },
344
+ "grasp_25": {
345
+ "confidence": 0.8223898410797119,
346
+ "position": [
347
+ -0.0015762862531119026,
348
+ -0.018044035852653906,
349
+ -0.16975008649751544
350
+ ],
351
+ "orientation": {
352
+ "w": 0.24028125253805557,
353
+ "xyz": [
354
+ -0.024332436122346847,
355
+ -0.05114855344210212,
356
+ -0.9690493680467864
357
+ ]
358
+ }
359
+ },
360
+ "grasp_28": {
361
+ "confidence": 0.8189488053321838,
362
+ "position": [
363
+ 0.00830808807950234,
364
+ -0.014086367533309385,
365
+ -0.1726779113523662
366
+ ],
367
+ "orientation": {
368
+ "w": 0.20262516924245194,
369
+ "xyz": [
370
+ 0.004054870406589723,
371
+ -0.04129563637720013,
372
+ -0.9783768544030748
373
+ ]
374
+ }
375
+ },
376
+ "grasp_32": {
377
+ "confidence": 0.8106343746185303,
378
+ "position": [
379
+ 0.004808930818398949,
380
+ -0.00757511515985243,
381
+ -0.17537104291841388
382
+ ],
383
+ "orientation": {
384
+ "w": 0.9952170971370347,
385
+ "xyz": [
386
+ -0.012186749188262952,
387
+ 0.0031614304576836894,
388
+ 0.096873206139873
389
+ ]
390
+ }
391
+ },
392
+ "grasp_33": {
393
+ "confidence": 0.8098672032356262,
394
+ "position": [
395
+ 0.0025637113940319978,
396
+ -0.009304866165621206,
397
+ -0.1764446566812694
398
+ ],
399
+ "orientation": {
400
+ "w": 0.22436941222803963,
401
+ "xyz": [
402
+ -0.010568664376234752,
403
+ -0.03425513836857852,
404
+ -0.9738445747064034
405
+ ]
406
+ }
407
+ }
408
+ }
409
+ },
410
+ {
411
+ "part_name": "sealed top edge",
412
+ "mask_color": "Blue",
413
+ "graspable": false,
414
+ "grasp_scenarios": [],
415
+ "functional_labels": [
416
+ "seal the filled tube",
417
+ "close the container top",
418
+ "indicate top boundary"
419
+ ],
420
+ "semantic_description": "Thin white crimped plastic seam along the narrow top edge of the tube, with a matte slightly ridged texture and a small linear strip shape.",
421
+ "id": 2,
422
+ "grasp_group": {}
423
+ }
424
+ ],
425
+ "quality_check": {
426
+ "success": true,
427
+ "message": "YES"
428
+ }
429
+ }
dataset/bathroom_supplies/bath_products/6610ee8d56215276b34a538cd58a3684/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94f7a4b5604b17407f2ad4a57c27577e6748dd82c08284ea222e899035088bd0
3
+ size 3781696