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
92131d2
·
verified ·
1 Parent(s): 2661524

Add asset bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/affordance/affordance_annot.json +228 -0
  3. dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7983,3 +7983,4 @@ dataset/bathroom_supplies/personal_care/732f9e8ac9a2534baf6f7ffe1ca3c864/afforda
7983
  dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7984
  dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7985
  dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7983
  dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7984
  dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7985
  dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7986
+ dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,228 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cup interior",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "contain liquid",
10
+ "hold rinse water or mouthwash",
11
+ "provide drinking access",
12
+ "form the inner vessel surface"
13
+ ],
14
+ "semantic_description": "Smooth glossy white ceramic inner bowl surface with a hard nonporous feel, wide circular opening, and shallow concave interior forming the cup's liquid-holding cavity.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "cup exterior body",
20
+ "mask_color": "Green",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the cup's outer sidewalls from the sides to pick up the cup",
25
+ "confidence": 0.93
26
+ },
27
+ {
28
+ "scenario": "hold the outer wall to stabilize the cup while filling or pouring",
29
+ "confidence": 0.87
30
+ },
31
+ {
32
+ "scenario": "grasp the lower exterior body to reposition the cup on a surface",
33
+ "confidence": 0.82
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "main grasp surface",
38
+ "outer structural shell",
39
+ "support vessel shape",
40
+ "provide external surface for handling"
41
+ ],
42
+ "semantic_description": "Small rounded white ceramic cup exterior with a glossy smooth hard surface, slightly flared sidewalls, subtle pale blue leaf-like decoration on the outside, and a visible brown foot ring around the base in bottom views.",
43
+ "id": 1,
44
+ "grasp_group": {
45
+ "grasp_2": {
46
+ "confidence": 0.8121060729026794,
47
+ "position": [
48
+ -0.005258243123535067,
49
+ -0.10679572180379182,
50
+ -0.01250319101382047
51
+ ],
52
+ "orientation": {
53
+ "w": 0.17669057074529484,
54
+ "xyz": [
55
+ -0.21257786689816072,
56
+ -0.6439774504599415,
57
+ -0.7133611539843216
58
+ ]
59
+ }
60
+ },
61
+ "grasp_3": {
62
+ "confidence": 0.8115110397338867,
63
+ "position": [
64
+ 0.04613849887391552,
65
+ -0.08016228780616075,
66
+ -0.04246030293870717
67
+ ],
68
+ "orientation": {
69
+ "w": 0.3961646965518892,
70
+ "xyz": [
71
+ -0.006683784388720285,
72
+ -0.5401367713057772,
73
+ -0.742469614540262
74
+ ]
75
+ }
76
+ },
77
+ "grasp_4": {
78
+ "confidence": 0.8094281554222107,
79
+ "position": [
80
+ -0.0051205019117332995,
81
+ -0.08763535425532609,
82
+ -0.05380746640730649
83
+ ],
84
+ "orientation": {
85
+ "w": 0.8642881750460247,
86
+ "xyz": [
87
+ -0.46564483193399786,
88
+ 0.11834829754277154,
89
+ 0.1489111192540645
90
+ ]
91
+ }
92
+ },
93
+ "grasp_6": {
94
+ "confidence": 0.8054090142250061,
95
+ "position": [
96
+ -0.08507411932805553,
97
+ 0.0640922625316307,
98
+ 0.024644684861414135
99
+ ],
100
+ "orientation": {
101
+ "w": 0.5973536542916684,
102
+ "xyz": [
103
+ 0.61497896338028,
104
+ 0.4911739453863433,
105
+ 0.15400533003022762
106
+ ]
107
+ }
108
+ },
109
+ "grasp_8": {
110
+ "confidence": 0.7876434922218323,
111
+ "position": [
112
+ 0.02466166572412476,
113
+ -0.06378093466628343,
114
+ -0.07365989603567868
115
+ ],
116
+ "orientation": {
117
+ "w": 0.7972150075205677,
118
+ "xyz": [
119
+ -0.3538901268450656,
120
+ 0.05337145042705782,
121
+ 0.4861702358072495
122
+ ]
123
+ }
124
+ },
125
+ "grasp_9": {
126
+ "confidence": 0.7870635390281677,
127
+ "position": [
128
+ -0.018845830170903355,
129
+ -0.08448965207207948,
130
+ -0.05968001775909215
131
+ ],
132
+ "orientation": {
133
+ "w": 0.8870178453248727,
134
+ "xyz": [
135
+ -0.4399957647287631,
136
+ 0.12836156791866282,
137
+ 0.05591401414165382
138
+ ]
139
+ }
140
+ },
141
+ "grasp_10": {
142
+ "confidence": 0.7870474457740784,
143
+ "position": [
144
+ 0.04616754123708233,
145
+ -0.07623587653506547,
146
+ -0.051110460539348423
147
+ ],
148
+ "orientation": {
149
+ "w": 0.788349408944597,
150
+ "xyz": [
151
+ -0.49837855340769455,
152
+ -0.04940916010936902,
153
+ 0.3573272475158377
154
+ ]
155
+ }
156
+ },
157
+ "grasp_13": {
158
+ "confidence": 0.7480644583702087,
159
+ "position": [
160
+ -0.0759821385727264,
161
+ 0.060170317883603275,
162
+ -0.03525689907837659
163
+ ],
164
+ "orientation": {
165
+ "w": 0.7856742985020503,
166
+ "xyz": [
167
+ 0.45730888634268896,
168
+ 0.3792354813390576,
169
+ 0.17252515422063408
170
+ ]
171
+ }
172
+ },
173
+ "grasp_16": {
174
+ "confidence": 0.7309899926185608,
175
+ "position": [
176
+ -0.05166808521607891,
177
+ 0.07271316542755812,
178
+ -0.05635657825041562
179
+ ],
180
+ "orientation": {
181
+ "w": 0.8653353734620157,
182
+ "xyz": [
183
+ 0.43484122014489573,
184
+ 0.2400078174258231,
185
+ 0.0671122363861099
186
+ ]
187
+ }
188
+ },
189
+ "grasp_17": {
190
+ "confidence": 0.7309803366661072,
191
+ "position": [
192
+ -0.08416614687303081,
193
+ 0.015436057816259563,
194
+ -0.05489777319598943
195
+ ],
196
+ "orientation": {
197
+ "w": 0.818465465557234,
198
+ "xyz": [
199
+ 0.259281411281358,
200
+ 0.4091521434462466,
201
+ 0.3090015452509415
202
+ ]
203
+ }
204
+ },
205
+ "grasp_18": {
206
+ "confidence": 0.7264821529388428,
207
+ "position": [
208
+ -0.0788987354026176,
209
+ 0.022320666234008968,
210
+ -0.06104799278546125
211
+ ],
212
+ "orientation": {
213
+ "w": 0.25732706519047066,
214
+ "xyz": [
215
+ -0.39249171390365184,
216
+ 0.2537474634142204,
217
+ -0.8457808586438229
218
+ ]
219
+ }
220
+ }
221
+ }
222
+ }
223
+ ],
224
+ "quality_check": {
225
+ "success": true,
226
+ "message": "YES"
227
+ }
228
+ }
dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8d23a8103157c92cabffb46df3afeff548779f224c2c171322e7f775419fed3
3
+ size 3779612