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
78673bf
·
verified ·
1 Parent(s): d12ce7e

Add asset bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/affordance/affordance_annot.json +474 -0
  3. dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5687,3 +5687,4 @@ dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/afforda
5687
  dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5688
  dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5689
  dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5687
  dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5688
  dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5689
  dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5690
+ dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/affordance/affordance_annot.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "soap-holding tray",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the upper rim and tray body to pick up the soap dish from a shelf",
10
+ "confidence": 0.77
11
+ },
12
+ {
13
+ "scenario": "hold the tray from the top edges to reposition or empty water",
14
+ "confidence": 0.69
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "hold soap bars",
19
+ "provide drainage surface",
20
+ "separate two soap compartments",
21
+ "support items above pooled water"
22
+ ],
23
+ "semantic_description": "Large rectangular top tray with two pink glossy plastic basins, smooth hard rounded edges, and pale slatted inserts in each compartment for drainage.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_23": {
27
+ "confidence": 0.715957760810852,
28
+ "position": [
29
+ -0.0021624078071909025,
30
+ 0.11826599342748523,
31
+ 0.06658212082402315
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4785711932901146,
35
+ "xyz": [
36
+ 0.8755241585347017,
37
+ -0.057454065872600935,
38
+ 0.0335572807254233
39
+ ]
40
+ }
41
+ },
42
+ "grasp_27": {
43
+ "confidence": 0.7504483461380005,
44
+ "position": [
45
+ -0.03241740407247562,
46
+ 0.0727134863846004,
47
+ 0.0978557242633542
48
+ ],
49
+ "orientation": {
50
+ "w": 0.22167969272024943,
51
+ "xyz": [
52
+ 0.9659829424433376,
53
+ 0.0172343421556424,
54
+ 0.13205319456351333
55
+ ]
56
+ }
57
+ },
58
+ "grasp_28": {
59
+ "confidence": 0.7495909333229065,
60
+ "position": [
61
+ 0.029717750308918767,
62
+ 0.05503237200900912,
63
+ 0.10278786705748644
64
+ ],
65
+ "orientation": {
66
+ "w": 0.14778152091041896,
67
+ "xyz": [
68
+ 0.981998483724631,
69
+ 0.05359198862382436,
70
+ -0.10472582678247434
71
+ ]
72
+ }
73
+ },
74
+ "grasp_29": {
75
+ "confidence": 0.7291312217712402,
76
+ "position": [
77
+ 0.02041927857499104,
78
+ 0.11108839465305209,
79
+ 0.08301100866810884
80
+ ],
81
+ "orientation": {
82
+ "w": 0.37198373274820695,
83
+ "xyz": [
84
+ 0.9184591541059668,
85
+ 0.07841871278957657,
86
+ -0.10913931598690059
87
+ ]
88
+ }
89
+ },
90
+ "grasp_37": {
91
+ "confidence": 0.7906015515327454,
92
+ "position": [
93
+ 0.012553023567306809,
94
+ -0.11822909163311124,
95
+ 0.07228845344798174
96
+ ],
97
+ "orientation": {
98
+ "w": 0.056539956878376874,
99
+ "xyz": [
100
+ 0.01045180475307706,
101
+ -0.8980690099322163,
102
+ -0.43608032110261924
103
+ ]
104
+ }
105
+ },
106
+ "grasp_39": {
107
+ "confidence": 0.7597629427909851,
108
+ "position": [
109
+ 0.02484742870728951,
110
+ -0.014396712649613619,
111
+ 0.1063510178209981
112
+ ],
113
+ "orientation": {
114
+ "w": 0.034890438274757685,
115
+ "xyz": [
116
+ -0.9967158812901702,
117
+ -0.00593501742726045,
118
+ 0.0728346405846345
119
+ ]
120
+ }
121
+ }
122
+ }
123
+ },
124
+ {
125
+ "part_name": "base with feet",
126
+ "mask_color": "Red",
127
+ "graspable": true,
128
+ "grasp_scenarios": [
129
+ {
130
+ "scenario": "grasp the sidewalls of the base to lift the soap dish",
131
+ "confidence": 0.84
132
+ },
133
+ {
134
+ "scenario": "pinch the underside base while placing or removing it from a sink edge",
135
+ "confidence": 0.72
136
+ }
137
+ ],
138
+ "functional_labels": [
139
+ "support the tray",
140
+ "stabilize on a countertop",
141
+ "elevate with feet",
142
+ "form the outer body"
143
+ ],
144
+ "semantic_description": "White matte-to-satin plastic lower body with smooth hard rounded sides and four small rounded feet underneath, forming the compact supporting base of the dish.",
145
+ "id": 0,
146
+ "grasp_group": {
147
+ "grasp_0": {
148
+ "confidence": 0.9411914944648743,
149
+ "position": [
150
+ 0.008878966254997067,
151
+ 0.012297473382204771,
152
+ -0.10189216597063933
153
+ ],
154
+ "orientation": {
155
+ "w": 0.999750627924061,
156
+ "xyz": [
157
+ 0.0010089441281199065,
158
+ -0.018442448578587456,
159
+ 0.01255149742533793
160
+ ]
161
+ }
162
+ },
163
+ "grasp_1": {
164
+ "confidence": 0.940972089767456,
165
+ "position": [
166
+ 0.0023294490965781733,
167
+ 0.021407003980129957,
168
+ -0.10062007619126234
169
+ ],
170
+ "orientation": {
171
+ "w": 0.9993677690183382,
172
+ "xyz": [
173
+ 0.03178708519534607,
174
+ 0.008056898094376819,
175
+ 0.013737898499766539
176
+ ]
177
+ }
178
+ },
179
+ "grasp_2": {
180
+ "confidence": 0.9405021667480469,
181
+ "position": [
182
+ 0.006333461889880709,
183
+ 0.024677551817148924,
184
+ -0.10168763263209257
185
+ ],
186
+ "orientation": {
187
+ "w": 0.9996409039598503,
188
+ "xyz": [
189
+ 0.01855890657908705,
190
+ -0.009565720748392348,
191
+ 0.016796639648608877
192
+ ]
193
+ }
194
+ },
195
+ "grasp_3": {
196
+ "confidence": 0.9399398565292358,
197
+ "position": [
198
+ 0.005691816491889767,
199
+ -0.03915944369509816,
200
+ 0.09658250199572649
201
+ ],
202
+ "orientation": {
203
+ "w": 0.03482086088572063,
204
+ "xyz": [
205
+ 0.0020118219356146444,
206
+ -0.9943672948105312,
207
+ -0.10008567944947301
208
+ ]
209
+ }
210
+ },
211
+ "grasp_4": {
212
+ "confidence": 0.938784122467041,
213
+ "position": [
214
+ -0.0034162209631176665,
215
+ -0.01900958316400647,
216
+ -0.1013017447112361
217
+ ],
218
+ "orientation": {
219
+ "w": 0.9995091464752678,
220
+ "xyz": [
221
+ 0.013344896802234852,
222
+ 0.02239778743021359,
223
+ 0.017370059293214023
224
+ ]
225
+ }
226
+ },
227
+ "grasp_5": {
228
+ "confidence": 0.9375237226486206,
229
+ "position": [
230
+ 0.00014256841677706689,
231
+ 0.017165976110845804,
232
+ -0.09883322579844389
233
+ ],
234
+ "orientation": {
235
+ "w": 0.9995279689548179,
236
+ "xyz": [
237
+ 0.01351645363385883,
238
+ 0.018748451723415216,
239
+ 0.020239573024031357
240
+ ]
241
+ }
242
+ },
243
+ "grasp_6": {
244
+ "confidence": 0.9344823360443115,
245
+ "position": [
246
+ 0.0006904103065608069,
247
+ 0.01535805081948638,
248
+ -0.09866863502247725
249
+ ],
250
+ "orientation": {
251
+ "w": 0.9995324759056998,
252
+ "xyz": [
253
+ 0.02661249943102487,
254
+ 0.006714442065800186,
255
+ 0.01347296372742336
256
+ ]
257
+ }
258
+ },
259
+ "grasp_7": {
260
+ "confidence": 0.9334868788719177,
261
+ "position": [
262
+ -0.004295380858820863,
263
+ 0.01148119056597352,
264
+ -0.09833391023857985
265
+ ],
266
+ "orientation": {
267
+ "w": 0.9991231681257416,
268
+ "xyz": [
269
+ 0.011027610331220416,
270
+ 0.036527822950499056,
271
+ 0.017233829384714117
272
+ ]
273
+ }
274
+ },
275
+ "grasp_8": {
276
+ "confidence": 0.9313957095146179,
277
+ "position": [
278
+ 0.0033440482075093314,
279
+ 0.004352186806499958,
280
+ -0.09512515379174147
281
+ ],
282
+ "orientation": {
283
+ "w": 0.026079036155804054,
284
+ "xyz": [
285
+ 0.0019184022531567146,
286
+ 0.031149507151012168,
287
+ -0.999172613621004
288
+ ]
289
+ }
290
+ },
291
+ "grasp_9": {
292
+ "confidence": 0.9307429790496826,
293
+ "position": [
294
+ -0.00272589510132093,
295
+ 0.020795711781829596,
296
+ -0.09872628761513624
297
+ ],
298
+ "orientation": {
299
+ "w": 0.02160054775522337,
300
+ "xyz": [
301
+ 0.027844038830754505,
302
+ -0.003409141921575709,
303
+ 0.9993730552649618
304
+ ]
305
+ }
306
+ },
307
+ "grasp_10": {
308
+ "confidence": 0.9301801323890686,
309
+ "position": [
310
+ 0.009536126090097241,
311
+ -0.012601327616721392,
312
+ -0.09912057234032545
313
+ ],
314
+ "orientation": {
315
+ "w": 0.019265369715081596,
316
+ "xyz": [
317
+ 0.03632654177559249,
318
+ 0.024513666341891227,
319
+ -0.9988534967926206
320
+ ]
321
+ }
322
+ },
323
+ "grasp_11": {
324
+ "confidence": 0.9286214709281921,
325
+ "position": [
326
+ 0.004134930597501807,
327
+ 0.012117885518819094,
328
+ -0.09998032463772688
329
+ ],
330
+ "orientation": {
331
+ "w": 0.9993983263838173,
332
+ "xyz": [
333
+ 0.03127541432557659,
334
+ 0.010391939977150377,
335
+ 0.010809313738643312
336
+ ]
337
+ }
338
+ },
339
+ "grasp_12": {
340
+ "confidence": 0.9286016225814819,
341
+ "position": [
342
+ 0.00271537403750699,
343
+ 0.020026552956551313,
344
+ -0.10099454237206373
345
+ ],
346
+ "orientation": {
347
+ "w": 0.9991744346886884,
348
+ "xyz": [
349
+ 0.030352640814253228,
350
+ 0.02459065246423775,
351
+ 0.011156436327227135
352
+ ]
353
+ }
354
+ },
355
+ "grasp_13": {
356
+ "confidence": 0.9279312491416931,
357
+ "position": [
358
+ 0.00149719619366806,
359
+ -0.024031656328588724,
360
+ -0.09767320020182524
361
+ ],
362
+ "orientation": {
363
+ "w": 0.9987627667660668,
364
+ "xyz": [
365
+ -0.04702855302984858,
366
+ -0.0037271602117503466,
367
+ 0.01572765711940507
368
+ ]
369
+ }
370
+ },
371
+ "grasp_14": {
372
+ "confidence": 0.9276667237281799,
373
+ "position": [
374
+ 0.01391171796421986,
375
+ 0.04874731553718448,
376
+ -0.10013411952240858
377
+ ],
378
+ "orientation": {
379
+ "w": 0.9924777301441948,
380
+ "xyz": [
381
+ 0.11832624026687057,
382
+ -0.028516826701166953,
383
+ -0.013177504582800112
384
+ ]
385
+ }
386
+ },
387
+ "grasp_15": {
388
+ "confidence": 0.9276443123817444,
389
+ "position": [
390
+ 0.0012871555954916403,
391
+ 0.021067227702587843,
392
+ -0.09662465764267836
393
+ ],
394
+ "orientation": {
395
+ "w": 0.9992543422186766,
396
+ "xyz": [
397
+ 0.024215673539421494,
398
+ 0.023719478655275572,
399
+ 0.01848640160966928
400
+ ]
401
+ }
402
+ },
403
+ "grasp_16": {
404
+ "confidence": 0.9276347756385803,
405
+ "position": [
406
+ 0.002496492743375711,
407
+ -0.011851514223963022,
408
+ -0.09795419884903822
409
+ ],
410
+ "orientation": {
411
+ "w": 0.999926458465721,
412
+ "xyz": [
413
+ 0.002951974537782767,
414
+ 0.005034790956339297,
415
+ 0.010630822477809748
416
+ ]
417
+ }
418
+ },
419
+ "grasp_17": {
420
+ "confidence": 0.9273639917373657,
421
+ "position": [
422
+ 0.002044456239673309,
423
+ 0.02453333092853427,
424
+ -0.09984534246905241
425
+ ],
426
+ "orientation": {
427
+ "w": 0.999282645419199,
428
+ "xyz": [
429
+ 0.019301797738585112,
430
+ 0.0256810909788191,
431
+ 0.020052848530927057
432
+ ]
433
+ }
434
+ },
435
+ "grasp_18": {
436
+ "confidence": 0.9270695447921753,
437
+ "position": [
438
+ -0.0013565151748480275,
439
+ 0.029160040896385908,
440
+ -0.10153821868880186
441
+ ],
442
+ "orientation": {
443
+ "w": 0.9992430456595718,
444
+ "xyz": [
445
+ 0.030657048173237424,
446
+ 0.01802358305333751,
447
+ 0.01576805480097602
448
+ ]
449
+ }
450
+ },
451
+ "grasp_19": {
452
+ "confidence": 0.9266285300254822,
453
+ "position": [
454
+ 0.0001757698628352955,
455
+ -0.025831630919128656,
456
+ -0.10134270055277739
457
+ ],
458
+ "orientation": {
459
+ "w": 0.9999047092556349,
460
+ "xyz": [
461
+ 0.009521598962976215,
462
+ 0.008296145672471833,
463
+ 0.005575439765011753
464
+ ]
465
+ }
466
+ }
467
+ }
468
+ }
469
+ ],
470
+ "quality_check": {
471
+ "success": true,
472
+ "message": "YES"
473
+ }
474
+ }
dataset/bathroom_supplies/bath_products/c89a4af6ff4d56c19225cbda8ce66171/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60655191c6aa5a3058793c364d67c7c616bf000432779ebe778b2e3ab6559218
3
+ size 111307008