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
b975152
·
verified ·
1 Parent(s): fb66c09

Add asset bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/affordance/affordance_annot.json +261 -0
  3. dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7985,3 +7985,4 @@ dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/afforda
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
7987
  dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/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
7987
  dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7988
+ dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cup interior",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "contain mouthwash",
10
+ "hold liquid during rinsing",
11
+ "provide drinking cavity",
12
+ "define opening volume"
13
+ ],
14
+ "semantic_description": "Shallow rounded inner cavity of the cup with a pale beige to off-white hard plastic surface, smooth slightly glossy finish, and bowl-like shape recessed inside the top opening.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "cup body",
20
+ "mask_color": "Green",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the cup body from the sides to pick up and move the mouthwash cup",
25
+ "confidence": 0.95
26
+ },
27
+ {
28
+ "scenario": "hold the outer wall to stabilize the cup while filling or pouring",
29
+ "confidence": 0.88
30
+ },
31
+ {
32
+ "scenario": "grasp the lower body to reposition the cup on a surface",
33
+ "confidence": 0.83
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "main grasp surface",
38
+ "contain liquid",
39
+ "support the cup structure",
40
+ "provide outer wall for handling",
41
+ "support standing on a surface"
42
+ ],
43
+ "semantic_description": "Main white cup body made of hard plastic with a smooth matte-to-satin finish, rounded tapered cylindrical shape, medium size, slightly wider at the rim, and a small circular base ring underneath with faint printed markings on the bottom.",
44
+ "id": 1,
45
+ "grasp_group": {
46
+ "grasp_0": {
47
+ "confidence": 0.9422854781150818,
48
+ "position": [
49
+ 0.02464592144360722,
50
+ -0.04804417578270659,
51
+ -0.0956604475795757
52
+ ],
53
+ "orientation": {
54
+ "w": 0.9352086512309338,
55
+ "xyz": [
56
+ -0.26179884060676173,
57
+ -0.06851595522941023,
58
+ 0.22836748805110976
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9307562112808228,
64
+ "position": [
65
+ 0.03477912083735646,
66
+ -0.02656532166292891,
67
+ -0.10446821103687398
68
+ ],
69
+ "orientation": {
70
+ "w": 0.9521854896389922,
71
+ "xyz": [
72
+ -0.1752654582594376,
73
+ -0.1293089426414208,
74
+ 0.21425221075876863
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9288221597671509,
80
+ "position": [
81
+ 0.043557193730975996,
82
+ -0.0879596890299581,
83
+ -0.03788138131494634
84
+ ],
85
+ "orientation": {
86
+ "w": 0.8105310966254521,
87
+ "xyz": [
88
+ -0.544352906983867,
89
+ -0.154499751116685,
90
+ 0.15115912465424503
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.9282899498939514,
96
+ "position": [
97
+ 0.026768854488636862,
98
+ -0.10082224471261725,
99
+ 0.0013767001510132104
100
+ ],
101
+ "orientation": {
102
+ "w": 0.12867836910255337,
103
+ "xyz": [
104
+ 0.05384557715933444,
105
+ -0.6992815158660002,
106
+ -0.7011047658614467
107
+ ]
108
+ }
109
+ },
110
+ "grasp_8": {
111
+ "confidence": 0.9264405369758606,
112
+ "position": [
113
+ 0.023873933260347258,
114
+ -0.10240766120841727,
115
+ -0.001702494773780927
116
+ ],
117
+ "orientation": {
118
+ "w": 0.1070144547111697,
119
+ "xyz": [
120
+ 0.05694959138906594,
121
+ -0.6984312947906364,
122
+ -0.7053356484543823
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.9262183904647827,
128
+ "position": [
129
+ 0.016790420417692076,
130
+ -0.09076702309539542,
131
+ -0.057204368960810825
132
+ ],
133
+ "orientation": {
134
+ "w": 0.09290683718191359,
135
+ "xyz": [
136
+ 0.03824636229323842,
137
+ -0.5012646670965548,
138
+ -0.8594412538950917
139
+ ]
140
+ }
141
+ },
142
+ "grasp_11": {
143
+ "confidence": 0.924609363079071,
144
+ "position": [
145
+ 0.02674999334385575,
146
+ -0.10873654944589362,
147
+ -0.005110060767037794
148
+ ],
149
+ "orientation": {
150
+ "w": 0.12377322166156814,
151
+ "xyz": [
152
+ 0.056224749811927134,
153
+ -0.681871309858112,
154
+ -0.718728379779514
155
+ ]
156
+ }
157
+ },
158
+ "grasp_13": {
159
+ "confidence": 0.9227357506752014,
160
+ "position": [
161
+ -0.08170614704022228,
162
+ 0.07065475272247568,
163
+ -0.0014299779140856117
164
+ ],
165
+ "orientation": {
166
+ "w": 0.30385706935407225,
167
+ "xyz": [
168
+ -0.294452836415843,
169
+ 0.6445584213486472,
170
+ -0.6367989086036182
171
+ ]
172
+ }
173
+ },
174
+ "grasp_14": {
175
+ "confidence": 0.9227187633514404,
176
+ "position": [
177
+ 0.03210241407623471,
178
+ -0.0981096745817922,
179
+ 0.010945386748062447
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6696716694275504,
183
+ "xyz": [
184
+ -0.725742648041476,
185
+ -0.11911988174884824,
186
+ 0.1031887481850834
187
+ ]
188
+ }
189
+ },
190
+ "grasp_15": {
191
+ "confidence": 0.9222818613052368,
192
+ "position": [
193
+ 0.048542205845024,
194
+ -0.09412225050618872,
195
+ -0.029166567575884983
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7841439308170914,
199
+ "xyz": [
200
+ -0.5767251183446994,
201
+ -0.12662520859137294,
202
+ 0.19097772169078947
203
+ ]
204
+ }
205
+ },
206
+ "grasp_16": {
207
+ "confidence": 0.9221019744873047,
208
+ "position": [
209
+ -0.06696647718081294,
210
+ 0.0025107935653068125,
211
+ -0.08908261309261434
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6826263816821413,
215
+ "xyz": [
216
+ 0.24672926106377593,
217
+ 0.22530057932743097,
218
+ 0.6499119507450176
219
+ ]
220
+ }
221
+ },
222
+ "grasp_17": {
223
+ "confidence": 0.9217841029167175,
224
+ "position": [
225
+ 0.01690182149877728,
226
+ -0.10172620130470023,
227
+ -0.01691071825916879
228
+ ],
229
+ "orientation": {
230
+ "w": 0.7637721089903425,
231
+ "xyz": [
232
+ -0.6400608062150809,
233
+ -0.04304493296682843,
234
+ 0.07156440191622296
235
+ ]
236
+ }
237
+ },
238
+ "grasp_19": {
239
+ "confidence": 0.9213115572929382,
240
+ "position": [
241
+ -0.05081617399582683,
242
+ 0.09194188105175272,
243
+ -0.01211578815127723
244
+ ],
245
+ "orientation": {
246
+ "w": 0.17694872829199515,
247
+ "xyz": [
248
+ -0.19574341782905094,
249
+ 0.6502555596157696,
250
+ -0.7124193772780393
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ }
256
+ ],
257
+ "quality_check": {
258
+ "success": true,
259
+ "message": "YES"
260
+ }
261
+ }
dataset/bathroom_supplies/personal_care/788c6784576053d2a06c54ed3402318c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e414054d5d78f1c50615e2805fda3ea35bf5fee13f0cf0bc6eed556e67e4e024
3
+ size 3779380