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
ac16f19
·
verified ·
1 Parent(s): c18f310

Add asset livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/affordance/affordance_annot.json +402 -0
  3. dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7737,3 +7737,4 @@ dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/affordanc
7737
  dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7738
  dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7739
  dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7737
  dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7738
  dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7739
  dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7740
+ dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,402 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "body of candle holder",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the rounded body to pick up and move the candle holder",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "hold the neck and upper body to place or reorient the candle holder",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "stabilize the holder by gripping the main body during insertion or removal of a candle",
18
+ "confidence": 0.68
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "support the overall structure",
23
+ "hold and connect the candle cup to the base",
24
+ "provide the main grasp surface",
25
+ "add weighted stability"
26
+ ],
27
+ "semantic_description": "Large bulbous black candle holder body with a glossy reflective hard surface, likely ceramic or glass, smooth texture, and a narrow neck above a rounded lower chamber.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9811967015266418,
32
+ "position": [
33
+ 0.03627209964906797,
34
+ -0.09320898333680816,
35
+ 0.06342873722314835
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6779761407189657,
39
+ "xyz": [
40
+ -0.707753479245754,
41
+ -0.13347946660917098,
42
+ 0.14702583863076038
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.980414867401123,
48
+ "position": [
49
+ 0.016429944371338934,
50
+ -0.09703189114225097,
51
+ 0.0622006356716156
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6957148990131131,
55
+ "xyz": [
56
+ -0.7118521032047939,
57
+ -0.016165049755382688,
58
+ 0.09479479743367217
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9802197813987732,
64
+ "position": [
65
+ 0.09153649065410718,
66
+ 0.03218730186927132,
67
+ 0.044653747230768204
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6104364644477746,
71
+ "xyz": [
72
+ 0.5481955899501088,
73
+ -0.4291904609813091,
74
+ -0.3776830234924576
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.97954261302948,
80
+ "position": [
81
+ 0.02630084234988317,
82
+ -0.09720104912412353,
83
+ 0.055562496185302734
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7042717620405909,
87
+ "xyz": [
88
+ -0.6965253970007272,
89
+ -0.12230481481776567,
90
+ 0.06241144764874875
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9794005751609802,
96
+ "position": [
97
+ 0.023358259757515043,
98
+ -0.09888728687656112,
99
+ 0.06101018562912941
100
+ ],
101
+ "orientation": {
102
+ "w": 0.10924386568686319,
103
+ "xyz": [
104
+ 0.05531713300215829,
105
+ -0.6935193154328125,
106
+ -0.7099554575660469
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9786525964736938,
112
+ "position": [
113
+ 0.03009722236311063,
114
+ 0.09351952394354157,
115
+ 0.04069302789866924
116
+ ],
117
+ "orientation": {
118
+ "w": 0.1181026689083395,
119
+ "xyz": [
120
+ -0.1157209442073931,
121
+ -0.6417741724119258,
122
+ 0.7488566847491342
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9779157042503357,
128
+ "position": [
129
+ 0.08650956902420148,
130
+ 0.053355984593508765,
131
+ 0.04313226044178009
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6646811816366472,
135
+ "xyz": [
136
+ 0.5732451006181976,
137
+ -0.3633789262729016,
138
+ -0.3123215287745875
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9776743054389954,
144
+ "position": [
145
+ 0.08404981199419126,
146
+ 0.04679750671493821,
147
+ 0.03593592718243599
148
+ ],
149
+ "orientation": {
150
+ "w": 0.3868151548943754,
151
+ "xyz": [
152
+ -0.3263080799087,
153
+ -0.5569533649791699,
154
+ 0.6585590498723086
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9773367047309875,
160
+ "position": [
161
+ 0.09523093554889783,
162
+ 0.023963701183674857,
163
+ 0.03797049820423126
164
+ ],
165
+ "orientation": {
166
+ "w": 0.42595844811872857,
167
+ "xyz": [
168
+ -0.4282983637942942,
169
+ -0.5235462365792503,
170
+ 0.6008487748270094
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9771425127983093,
176
+ "position": [
177
+ 0.08669936511432752,
178
+ 0.04076638838159852,
179
+ 0.04150606505572796
180
+ ],
181
+ "orientation": {
182
+ "w": 0.33199362327708154,
183
+ "xyz": [
184
+ -0.41470624230687225,
185
+ -0.5291657461046795,
186
+ 0.661651403568788
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9770855903625488,
192
+ "position": [
193
+ 0.01650404039537534,
194
+ -0.10065974274766631,
195
+ 0.048755958676338196
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6972592178557709,
199
+ "xyz": [
200
+ -0.7113541469700565,
201
+ -0.07616729088974272,
202
+ 0.04475940685687303
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9770224094390869,
208
+ "position": [
209
+ 0.036370901798363775,
210
+ -0.09205544719588943,
211
+ 0.05286807753145695
212
+ ],
213
+ "orientation": {
214
+ "w": 0.1915570830479868,
215
+ "xyz": [
216
+ 0.07698849440112311,
217
+ -0.6918048788138383,
218
+ -0.6919426748751417
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9769366383552551,
224
+ "position": [
225
+ 0.09155513945734128,
226
+ 0.03960387801635079,
227
+ 0.045266058295965195
228
+ ],
229
+ "orientation": {
230
+ "w": 0.36814994249150784,
231
+ "xyz": [
232
+ -0.4063931543655338,
233
+ -0.5804337397911982,
234
+ 0.6020024066732077
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9763862490653992,
240
+ "position": [
241
+ 0.010718333011027426,
242
+ -0.10227881351602264,
243
+ 0.049001600593328476
244
+ ],
245
+ "orientation": {
246
+ "w": 0.7097353359168238,
247
+ "xyz": [
248
+ -0.7015142431062744,
249
+ -0.0626647986389457,
250
+ 0.015054656475813947
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9762968420982361,
256
+ "position": [
257
+ 0.03650906909024343,
258
+ -0.09158387014758773,
259
+ 0.06317848339676857
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6471094108998647,
263
+ "xyz": [
264
+ -0.7385386649968619,
265
+ -0.09721455729080775,
266
+ 0.16235572204340645
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9761769771575928,
272
+ "position": [
273
+ 0.041582262550946325,
274
+ -0.08911604413879104,
275
+ 0.06633644178509712
276
+ ],
277
+ "orientation": {
278
+ "w": 0.6677313607418888,
279
+ "xyz": [
280
+ -0.7084814664997463,
281
+ -0.1208320425522863,
282
+ 0.1938774329332752
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9761566519737244,
288
+ "position": [
289
+ -0.005014877358917147,
290
+ -0.10137996802222915,
291
+ 0.04697946086525917
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7377662808554984,
295
+ "xyz": [
296
+ -0.6745846211450925,
297
+ 0.0247236306136831,
298
+ -0.005024523505408075
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9758573174476624,
304
+ "position": [
305
+ 0.004644072090741247,
306
+ -0.09725547561538406,
307
+ 0.05757769197225571
308
+ ],
309
+ "orientation": {
310
+ "w": 0.7143655354792815,
311
+ "xyz": [
312
+ -0.6991276093918196,
313
+ -0.02302986030116083,
314
+ 0.019289713320524426
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9757323265075684,
320
+ "position": [
321
+ 0.08575469109928235,
322
+ 0.04905075972783379,
323
+ 0.04608211666345596
324
+ ],
325
+ "orientation": {
326
+ "w": 0.3022789892284696,
327
+ "xyz": [
328
+ -0.39802684671175026,
329
+ -0.5377195958410734,
330
+ 0.6790137540699956
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9756726622581482,
336
+ "position": [
337
+ 0.10074309859191999,
338
+ -0.0010480865894351155,
339
+ 0.04821724630892277
340
+ ],
341
+ "orientation": {
342
+ "w": 0.5136284808863666,
343
+ "xyz": [
344
+ 0.47782107503372173,
345
+ -0.5044552031193877,
346
+ -0.5033862849956874
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "candle cup",
354
+ "mask_color": "Blue",
355
+ "graspable": false,
356
+ "grasp_scenarios": [],
357
+ "functional_labels": [
358
+ "hold a candle",
359
+ "locate the candle upright",
360
+ "provide the top opening",
361
+ "contain candle wax drips"
362
+ ],
363
+ "semantic_description": "Small circular top cup with a dark glossy hard surface and smooth finish, recessed into the mouth of the holder and sized to seat a candle.",
364
+ "id": 2,
365
+ "grasp_group": {}
366
+ },
367
+ {
368
+ "part_name": "base pad",
369
+ "mask_color": "Red",
370
+ "graspable": false,
371
+ "grasp_scenarios": [],
372
+ "functional_labels": [
373
+ "contact the table",
374
+ "stabilize the holder on flat surfaces",
375
+ "protect surfaces from scratching",
376
+ "provide a resting foot"
377
+ ],
378
+ "semantic_description": "Flat circular bottom pad in a lighter gray tone with a duller smooth hard finish, centered under the rounded body and forming the main table-contact surface.",
379
+ "id": 0,
380
+ "grasp_group": {}
381
+ },
382
+ {
383
+ "part_name": "base rim",
384
+ "mask_color": "Yellow",
385
+ "graspable": false,
386
+ "grasp_scenarios": [],
387
+ "functional_labels": [
388
+ "support the bottom edge",
389
+ "transition between body and foot",
390
+ "help stabilize contact area",
391
+ "protect the lower body perimeter"
392
+ ],
393
+ "semantic_description": "Thin ring around the bottom foot, appearing as a narrow smooth hard band encircling the underside perimeter between the rounded body and flat base pad.",
394
+ "id": 3,
395
+ "grasp_group": {}
396
+ }
397
+ ],
398
+ "quality_check": {
399
+ "success": true,
400
+ "message": "YES"
401
+ }
402
+ }
dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d2ad46324ef933846c3b547f64ff0ee57b2aaa0ac9359e0b6d93f8ab76e35091
3
+ size 37288352