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
b084828
·
verified ·
1 Parent(s): 99cda32

Add asset bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/affordance/affordance_annot.json +278 -0
  3. dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5633,3 +5633,4 @@ dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/afforda
5633
  dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5634
  dataset/bathroom_supplies/bath_products/822f7a3240135d90b768a37b7ba3217d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5635
  dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5633
  dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5634
  dataset/bathroom_supplies/bath_products/822f7a3240135d90b768a37b7ba3217d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5635
  dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5636
+ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/affordance/affordance_annot.json ADDED
@@ -0,0 +1,278 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "soap dish body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the side walls to pick up and relocate the soap dish",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "grasp opposite outer sides to stabilize the dish while placing it on a surface",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "grasp the rim and side to empty water or rinse the dish",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "hold a bar of soap",
23
+ "drain water through slotted base",
24
+ "support soap above pooled water",
25
+ "contain and position soap",
26
+ "provide outer surfaces for pickup"
27
+ ],
28
+ "semantic_description": "Rectangular light gray plastic soap dish with a matte hard smooth finish, shallow tray walls, and a dark slotted interior base, medium-sized and open at the top with clean unmarked surfaces.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9421213269233704,
33
+ "position": [
34
+ 0.015196774736978114,
35
+ 0.16292024042923003,
36
+ 0.007966168675920926
37
+ ],
38
+ "orientation": {
39
+ "w": 0.49798495581650354,
40
+ "xyz": [
41
+ 0.5031870592857656,
42
+ -0.5043594161805511,
43
+ 0.4944040315954058
44
+ ]
45
+ }
46
+ },
47
+ "grasp_3": {
48
+ "confidence": 0.9361754059791565,
49
+ "position": [
50
+ -0.13574714621063322,
51
+ -0.09911773714702576,
52
+ 0.006304156020632945
53
+ ],
54
+ "orientation": {
55
+ "w": 0.663829908873349,
56
+ "xyz": [
57
+ -0.15516812575579178,
58
+ 0.7058144373058043,
59
+ 0.19255826371601778
60
+ ]
61
+ }
62
+ },
63
+ "grasp_4": {
64
+ "confidence": 0.9357615113258362,
65
+ "position": [
66
+ 0.011578595847822726,
67
+ 0.16316241410095245,
68
+ -0.002995315022417344
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4857503200644115,
72
+ "xyz": [
73
+ 0.5039754661218441,
74
+ 0.5079955410440119,
75
+ -0.5019919186441085
76
+ ]
77
+ }
78
+ },
79
+ "grasp_5": {
80
+ "confidence": 0.9352595806121826,
81
+ "position": [
82
+ 0.031030125566758215,
83
+ 0.1582353749545291,
84
+ 0.015391843844554387
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4542535426077037,
88
+ "xyz": [
89
+ 0.5353642951879716,
90
+ 0.5268078700904457,
91
+ -0.4790743767694179
92
+ ]
93
+ }
94
+ },
95
+ "grasp_6": {
96
+ "confidence": 0.9344997406005859,
97
+ "position": [
98
+ -0.1435621198033914,
99
+ -0.05997626099269837,
100
+ 0.009495280202827416
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6748737637839013,
104
+ "xyz": [
105
+ -0.0021933358822680674,
106
+ 0.7369179637579298,
107
+ 0.03863297716621015
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9324628114700317,
113
+ "position": [
114
+ 0.031432864838279784,
115
+ 0.1596149840625003,
116
+ 0.008970970739028417
117
+ ],
118
+ "orientation": {
119
+ "w": 0.49024958919162703,
120
+ "xyz": [
121
+ 0.5020868679055774,
122
+ -0.5241489947085827,
123
+ 0.48252663006324353
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9324513077735901,
129
+ "position": [
130
+ 0.022719267406500876,
131
+ 0.16219258692581207,
132
+ -0.00036460366391111165
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5012790321988634,
136
+ "xyz": [
137
+ 0.5053447819920076,
138
+ -0.49822887088871237,
139
+ 0.49508986598816573
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.9316015243530273,
145
+ "position": [
146
+ 0.05753763357643038,
147
+ 0.16136499133426696,
148
+ -0.0007159933011280373
149
+ ],
150
+ "orientation": {
151
+ "w": 0.42303600220719,
152
+ "xyz": [
153
+ 0.562484501614334,
154
+ 0.4400920699423595,
155
+ -0.5576474659263518
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.9312034249305725,
161
+ "position": [
162
+ -0.0010865499498322606,
163
+ 0.1614726820262149,
164
+ -0.0035499148216331378
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5067996745982156,
168
+ "xyz": [
169
+ 0.5039012823125661,
170
+ -0.4854418704995034,
171
+ 0.5035710256526259
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9311047196388245,
177
+ "position": [
178
+ -0.01074820605572313,
179
+ 0.1624732204945758,
180
+ 0.004992890157154761
181
+ ],
182
+ "orientation": {
183
+ "w": 0.452038047806853,
184
+ "xyz": [
185
+ 0.5155246460354336,
186
+ 0.531507356333794,
187
+ -0.49738905579844805
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9307079911231995,
193
+ "position": [
194
+ 0.03149782458785921,
195
+ 0.16276827838737518,
196
+ 1.708399213384837e-05
197
+ ],
198
+ "orientation": {
199
+ "w": 0.480132480351215,
200
+ "xyz": [
201
+ 0.49668359775286386,
202
+ 0.5190085712125675,
203
+ -0.5033967699965416
204
+ ]
205
+ }
206
+ },
207
+ "grasp_14": {
208
+ "confidence": 0.9291252493858337,
209
+ "position": [
210
+ -0.14110172947403044,
211
+ -0.09044585737865418,
212
+ 0.016369727891287766
213
+ ],
214
+ "orientation": {
215
+ "w": 0.16576344652237437,
216
+ "xyz": [
217
+ -0.7271545637424561,
218
+ -0.17592177147335186,
219
+ -0.6425108952751071
220
+ ]
221
+ }
222
+ },
223
+ "grasp_15": {
224
+ "confidence": 0.9281535148620605,
225
+ "position": [
226
+ -0.017798196873627603,
227
+ 0.1599899270804599,
228
+ -0.002083141604089178
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5115879962120852,
232
+ "xyz": [
233
+ 0.5079235335000125,
234
+ -0.4816496707147875,
235
+ 0.4983021181461121
236
+ ]
237
+ }
238
+ },
239
+ "grasp_18": {
240
+ "confidence": 0.9244637489318848,
241
+ "position": [
242
+ -0.13941046257968992,
243
+ 0.0034787177573889494,
244
+ 0.022846558582386933
245
+ ],
246
+ "orientation": {
247
+ "w": 0.11181082938749833,
248
+ "xyz": [
249
+ 0.7661267148714548,
250
+ -0.07068649571235874,
251
+ 0.6289289423423436
252
+ ]
253
+ }
254
+ },
255
+ "grasp_19": {
256
+ "confidence": 0.9241394400596619,
257
+ "position": [
258
+ 0.013602730468846858,
259
+ 0.1627100893529132,
260
+ -0.006139522432931699
261
+ ],
262
+ "orientation": {
263
+ "w": 0.5129589844813935,
264
+ "xyz": [
265
+ 0.4948651652466271,
266
+ -0.5012626644538185,
267
+ 0.4906294831029875
268
+ ]
269
+ }
270
+ }
271
+ }
272
+ }
273
+ ],
274
+ "quality_check": {
275
+ "success": true,
276
+ "message": "YES"
277
+ }
278
+ }
dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5832d96c9027ed2003af829bdf453d7fc68afe825c30b6fc8b279f4694ba76ba
3
+ size 3938480