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
be6aed9
·
verified ·
1 Parent(s): c0098ed

Add asset bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/affordance/affordance_annot.json +342 -0
  3. dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5571,3 +5571,4 @@ dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/afforda
5571
  dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5572
  dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5573
  dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5571
  dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5572
  dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5573
  dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5574
+ dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/affordance/affordance_annot.json ADDED
@@ -0,0 +1,342 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 move the soap dish",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "grasp opposite outer edges to place or reorient the soap dish on a surface",
14
+ "confidence": 0.85
15
+ },
16
+ {
17
+ "scenario": "hold the body to stabilize the dish while cleaning or unloading soap",
18
+ "confidence": 0.76
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "hold a bar of soap",
23
+ "support soap above a surface",
24
+ "contain drips and residue",
25
+ "provide the main grasp surface",
26
+ "stabilize on a countertop"
27
+ ],
28
+ "semantic_description": "A single-piece square dish with rounded corners, made of glossy amber-orange translucent plastic or glass-like material, with a hard smooth reflective surface, shallow recessed top, and thick slightly flared sides forming the main body.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9857504367828369,
33
+ "position": [
34
+ -0.022761761443689466,
35
+ 0.1276784889632836,
36
+ 0.004919003928080201
37
+ ],
38
+ "orientation": {
39
+ "w": 0.48883747453842213,
40
+ "xyz": [
41
+ 0.5386401955116872,
42
+ 0.5013967655381377,
43
+ -0.468514617460248
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9855607151985168,
49
+ "position": [
50
+ -0.014561052666977048,
51
+ 0.13284351455513388,
52
+ 0.0043937761802226305
53
+ ],
54
+ "orientation": {
55
+ "w": 0.49234480356885524,
56
+ "xyz": [
57
+ 0.5053478446160461,
58
+ -0.5171389418826248,
59
+ 0.48454872317361486
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9851913452148438,
65
+ "position": [
66
+ -0.013149892212823033,
67
+ 0.13016379403416067,
68
+ 0.001632200786843896
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4975783921751028,
72
+ "xyz": [
73
+ 0.5079426335501591,
74
+ -0.5103091003473865,
75
+ 0.48372993164079614
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9851863980293274,
81
+ "position": [
82
+ -0.01874527079053223,
83
+ 0.13015084492508322,
84
+ 0.011094357119873166
85
+ ],
86
+ "orientation": {
87
+ "w": 0.47816993766652405,
88
+ "xyz": [
89
+ 0.5243298993129647,
90
+ 0.5207273289265029,
91
+ -0.4746311371028228
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9851723909378052,
97
+ "position": [
98
+ -0.045219238149002194,
99
+ 0.12559422629419714,
100
+ 0.0010698598343878984
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5763413506800353,
104
+ "xyz": [
105
+ 0.43768008455588187,
106
+ 0.5604300368867988,
107
+ -0.4027219448137012
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9849011301994324,
113
+ "position": [
114
+ -0.046092569129541516,
115
+ 0.12679608690086752,
116
+ 0.01138804410584271
117
+ ],
118
+ "orientation": {
119
+ "w": 0.526137829238031,
120
+ "xyz": [
121
+ 0.4411489415796618,
122
+ 0.600298754739843,
123
+ -0.41013168744396034
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9844755530357361,
129
+ "position": [
130
+ -0.01656420179642737,
131
+ 0.12996009516064078,
132
+ 0.008097963640466332
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5068767936905814,
136
+ "xyz": [
137
+ 0.5345711103003116,
138
+ 0.48960579482782696,
139
+ -0.4664716601480304
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9842048287391663,
145
+ "position": [
146
+ 0.00019986426923424006,
147
+ -0.1296687371795997,
148
+ -0.0004896067548543215
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5069091798097161,
152
+ "xyz": [
153
+ -0.4869190141667751,
154
+ -0.49917331145041766,
155
+ -0.506733620557311
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9840546250343323,
161
+ "position": [
162
+ -0.018657944398000836,
163
+ 0.12618803011719137,
164
+ 0.0013556929770857096
165
+ ],
166
+ "orientation": {
167
+ "w": 0.4980801359545886,
168
+ "xyz": [
169
+ 0.5024386857910684,
170
+ -0.5058052234147207,
171
+ 0.4935915529609344
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9839978218078613,
177
+ "position": [
178
+ -0.01719507877714932,
179
+ 0.13282329367939383,
180
+ 0.0005676061846315861
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5009262975390205,
184
+ "xyz": [
185
+ 0.5114143517470934,
186
+ -0.5022320751533974,
187
+ 0.4850681889673463
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9838320016860962,
193
+ "position": [
194
+ -0.019939293386414647,
195
+ 0.13351978885475546,
196
+ 0.005234844284132123
197
+ ],
198
+ "orientation": {
199
+ "w": 0.49255121682601344,
200
+ "xyz": [
201
+ 0.5044449486710514,
202
+ -0.5159103353776822,
203
+ 0.4865851604950164
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.983683168888092,
209
+ "position": [
210
+ -0.013118348317220807,
211
+ -0.12700004351790994,
212
+ 0.0012830535415560007
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4992055072495057,
216
+ "xyz": [
217
+ -0.49785612502252935,
218
+ -0.49078008995248945,
219
+ -0.511925818469377
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9835931062698364,
225
+ "position": [
226
+ -0.0013870795373804867,
227
+ -0.1284175462787971,
228
+ -0.0009568091481924057
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5026059968581374,
232
+ "xyz": [
233
+ -0.4947783577762919,
234
+ -0.49979207728361996,
235
+ -0.5027817300608263
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9835197329521179,
241
+ "position": [
242
+ -0.01497226138599217,
243
+ 0.13358076440636069,
244
+ 0.0007220257539302111
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5001801304989185,
248
+ "xyz": [
249
+ 0.5056347134783498,
250
+ -0.5088548653172883,
251
+ 0.48499494803830334
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9835032224655151,
257
+ "position": [
258
+ -0.01676472765393555,
259
+ 0.13359751331154257,
260
+ -0.0018205406377092004
261
+ ],
262
+ "orientation": {
263
+ "w": 0.5011986458915627,
264
+ "xyz": [
265
+ 0.5022375649634344,
266
+ -0.5015142504585645,
267
+ 0.49501596164472134
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9833800196647644,
273
+ "position": [
274
+ -0.010031374404206872,
275
+ 0.13074899243656546,
276
+ -0.0016971430741250515
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4956141238271141,
280
+ "xyz": [
281
+ 0.5001608007475928,
282
+ -0.5083509690644499,
283
+ 0.49576718922276775
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9833759665489197,
289
+ "position": [
290
+ -0.021132943453267217,
291
+ 0.13467899488750845,
292
+ 0.0026362224016338587
293
+ ],
294
+ "orientation": {
295
+ "w": 0.4875640612482849,
296
+ "xyz": [
297
+ 0.5330590077580257,
298
+ 0.49924124342514553,
299
+ -0.47842194900570995
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.9831652641296387,
305
+ "position": [
306
+ 0.1258259906899184,
307
+ 0.0072489670710638165,
308
+ 0.009763239184394479
309
+ ],
310
+ "orientation": {
311
+ "w": 0.6847582970606769,
312
+ "xyz": [
313
+ 0.007417987817682522,
314
+ -0.7285260419586008,
315
+ -0.017345150660450268
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9830518960952759,
321
+ "position": [
322
+ -0.022657352732494473,
323
+ 0.12556458788458258,
324
+ -0.00025477493181824684
325
+ ],
326
+ "orientation": {
327
+ "w": 0.4901054696255278,
328
+ "xyz": [
329
+ 0.5244111235271164,
330
+ 0.49304418079359436,
331
+ -0.49162692964253063
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ }
337
+ ],
338
+ "quality_check": {
339
+ "success": true,
340
+ "message": "YES"
341
+ }
342
+ }
dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:35d178afcfe08f3b742292037ace8dbbcd5cc62cea06c4836471014a2e5c7ebf
3
+ size 3776716