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
c0098ed
·
verified ·
1 Parent(s): d941246

Add asset bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/affordance_annot.json +581 -0
  3. dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5570,4 +5570,4 @@ dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/afforda
5570
  dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/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/266a05c73e2e5652bf5858bc101215f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5570
  dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/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
dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/affordance_annot.json ADDED
@@ -0,0 +1,581 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pump head",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "press the pump head downward to dispense sanitizer",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "lightly pinch the pump head to orient the nozzle direction",
14
+ "confidence": 0.48
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "dispense sanitizer when pressed",
19
+ "provide finger press surface",
20
+ "actuate pump mechanism",
21
+ "direct outlet orientation"
22
+ ],
23
+ "semantic_description": "A light lavender plastic pump head with a smooth semi-gloss finish and a rounded horizontal spout, mounted at the very top of the bottle as the pressable dispenser.",
24
+ "id": 3,
25
+ "grasp_group": {
26
+ "grasp_22": {
27
+ "confidence": 0.9161240458488464,
28
+ "position": [
29
+ 0.04464418374118395,
30
+ 0.048259229108225554,
31
+ 0.1258478043600917
32
+ ],
33
+ "orientation": {
34
+ "w": 0.28578026519683386,
35
+ "xyz": [
36
+ 0.928510189906408,
37
+ -0.17218648595577357,
38
+ -0.1629425706136851
39
+ ]
40
+ }
41
+ },
42
+ "grasp_24": {
43
+ "confidence": 0.8782492876052856,
44
+ "position": [
45
+ 0.002017416089074686,
46
+ 0.08529868413461372,
47
+ 0.10312987398356199
48
+ ],
49
+ "orientation": {
50
+ "w": 0.04746007740346005,
51
+ "xyz": [
52
+ 0.10124777869962051,
53
+ 0.8749189494493607,
54
+ -0.47118283102812347
55
+ ]
56
+ }
57
+ },
58
+ "grasp_27": {
59
+ "confidence": 0.49504098296165466,
60
+ "position": [
61
+ -0.00928796429070644,
62
+ -0.04833785380469635,
63
+ 0.14009866397827864
64
+ ],
65
+ "orientation": {
66
+ "w": 0.14412076940733057,
67
+ "xyz": [
68
+ -0.6694166704698674,
69
+ -0.6972659589931859,
70
+ -0.2119686475679571
71
+ ]
72
+ }
73
+ },
74
+ "grasp_29": {
75
+ "confidence": 0.9584282636642456,
76
+ "position": [
77
+ 0.0038285844784695655,
78
+ 0.05198297341121361,
79
+ 0.13505859952419996
80
+ ],
81
+ "orientation": {
82
+ "w": 0.01625569481000815,
83
+ "xyz": [
84
+ 0.011265660451001245,
85
+ -0.9684288327683777,
86
+ 0.24850439260448462
87
+ ]
88
+ }
89
+ },
90
+ "grasp_30": {
91
+ "confidence": 0.9406651258468628,
92
+ "position": [
93
+ -0.01622559010866098,
94
+ 0.08402832288993523,
95
+ 0.09859657566994429
96
+ ],
97
+ "orientation": {
98
+ "w": 0.051835381232411486,
99
+ "xyz": [
100
+ -0.04271836567490801,
101
+ 0.8620720356369305,
102
+ -0.502314682106102
103
+ ]
104
+ }
105
+ },
106
+ "grasp_31": {
107
+ "confidence": 0.9274559617042542,
108
+ "position": [
109
+ -0.021912072523264214,
110
+ -0.06048675562487915,
111
+ 0.12989695649594069
112
+ ],
113
+ "orientation": {
114
+ "w": 0.31259697378294354,
115
+ "xyz": [
116
+ -0.942102240434576,
117
+ 0.10248192186423571,
118
+ -0.06499197058799192
119
+ ]
120
+ }
121
+ },
122
+ "grasp_32": {
123
+ "confidence": 0.9223421812057495,
124
+ "position": [
125
+ -0.0009680195071268827,
126
+ -0.016909488767851144,
127
+ 0.14671317022293806
128
+ ],
129
+ "orientation": {
130
+ "w": 0.05364257884237763,
131
+ "xyz": [
132
+ -0.7370837929808516,
133
+ 0.6727478618563065,
134
+ 0.035217470492189186
135
+ ]
136
+ }
137
+ },
138
+ "grasp_33": {
139
+ "confidence": 0.8990536332130432,
140
+ "position": [
141
+ 0.004363572021247819,
142
+ 0.09153035719646141,
143
+ 0.09775338601320982
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5133074502137551,
147
+ "xyz": [
148
+ 0.858204621142637,
149
+ -6.776127347618566e-05,
150
+ 0.0005340532616056136
151
+ ]
152
+ }
153
+ },
154
+ "grasp_34": {
155
+ "confidence": 0.8943731188774109,
156
+ "position": [
157
+ -0.005229043046711013,
158
+ -0.047314903989899904,
159
+ 0.13605392258614302
160
+ ],
161
+ "orientation": {
162
+ "w": 0.0577258235621415,
163
+ "xyz": [
164
+ -0.0529791741556027,
165
+ 0.9663894560863091,
166
+ 0.24485170116842284
167
+ ]
168
+ }
169
+ },
170
+ "grasp_35": {
171
+ "confidence": 0.8842503428459167,
172
+ "position": [
173
+ -0.025301563291577622,
174
+ -0.03571446175919846,
175
+ 0.14159593265503645
176
+ ],
177
+ "orientation": {
178
+ "w": 0.18746904541859533,
179
+ "xyz": [
180
+ -0.9741047624652657,
181
+ 0.05511028992737155,
182
+ -0.11374587771189856
183
+ ]
184
+ }
185
+ },
186
+ "grasp_36": {
187
+ "confidence": 0.8705581426620483,
188
+ "position": [
189
+ 0.05313557691988535,
190
+ -0.002203522773925215,
191
+ 0.13542746286839247
192
+ ],
193
+ "orientation": {
194
+ "w": 0.19788837466633147,
195
+ "xyz": [
196
+ 0.7051906251428188,
197
+ -0.6535999817053906,
198
+ -0.1906657737962204
199
+ ]
200
+ }
201
+ },
202
+ "grasp_37": {
203
+ "confidence": 0.8569055795669556,
204
+ "position": [
205
+ 0.054476506338687614,
206
+ 0.039588191255461425,
207
+ 0.12742923479527235
208
+ ],
209
+ "orientation": {
210
+ "w": 0.18046444659142602,
211
+ "xyz": [
212
+ -0.3781180044441584,
213
+ -0.8623391638712968,
214
+ 0.2843070957351758
215
+ ]
216
+ }
217
+ }
218
+ }
219
+ },
220
+ {
221
+ "part_name": "pump collar",
222
+ "mask_color": "Red",
223
+ "graspable": false,
224
+ "grasp_scenarios": [],
225
+ "functional_labels": [
226
+ "connect pump to bottle",
227
+ "support pump head",
228
+ "seal bottle opening",
229
+ "house pump stem"
230
+ ],
231
+ "semantic_description": "A short cylindrical light lavender plastic collar with a smooth semi-gloss finish, positioned at the bottle neck directly beneath the pump head.",
232
+ "id": 0,
233
+ "grasp_group": {}
234
+ },
235
+ {
236
+ "part_name": "neck ring",
237
+ "mask_color": "Purple",
238
+ "graspable": false,
239
+ "grasp_scenarios": [],
240
+ "functional_labels": [
241
+ "retain pump stem at the top",
242
+ "separate the pump head from the collar visually",
243
+ "form part of the pump assembly"
244
+ ],
245
+ "semantic_description": "A thin narrow lavender ring visible between the pump head and the larger collar, with a smooth plastic finish around the pump stem.",
246
+ "id": 5,
247
+ "grasp_group": {}
248
+ },
249
+ {
250
+ "part_name": "bottle body",
251
+ "mask_color": "Green",
252
+ "graspable": true,
253
+ "grasp_scenarios": [
254
+ {
255
+ "scenario": "grasp the bottle body to pick up and carry the container",
256
+ "confidence": 0.96
257
+ },
258
+ {
259
+ "scenario": "hold the bottle body steady while pressing the pump head",
260
+ "confidence": 0.95
261
+ },
262
+ {
263
+ "scenario": "grasp the body to reposition or place the bottle on a surface",
264
+ "confidence": 0.88
265
+ }
266
+ ],
267
+ "functional_labels": [
268
+ "contain liquid sanitizer",
269
+ "main grasp surface",
270
+ "support pump assembly",
271
+ "provide stable standing base"
272
+ ],
273
+ "semantic_description": "A light lavender plastic bottle body with smooth semi-gloss faces, a tapered rectangular form, rounded vertical edges, and a flat bottom, forming most of the object's volume.",
274
+ "id": 1,
275
+ "grasp_group": {
276
+ "grasp_1": {
277
+ "confidence": 0.9864112734794617,
278
+ "position": [
279
+ 0.0018523431208450347,
280
+ -0.0953849435900338,
281
+ -0.09139629174023867
282
+ ],
283
+ "orientation": {
284
+ "w": 0.8565510328936345,
285
+ "xyz": [
286
+ -0.5159467366213677,
287
+ 0.0024384902018285137,
288
+ -0.01064644467156741
289
+ ]
290
+ }
291
+ },
292
+ "grasp_2": {
293
+ "confidence": 0.9854978322982788,
294
+ "position": [
295
+ -0.002302564651472494,
296
+ -0.09302367578493431,
297
+ -0.09256228525191545
298
+ ],
299
+ "orientation": {
300
+ "w": 0.8555981833455047,
301
+ "xyz": [
302
+ -0.5170726779592459,
303
+ 0.0205401931365633,
304
+ -0.012872250379717596
305
+ ]
306
+ }
307
+ },
308
+ "grasp_3": {
309
+ "confidence": 0.9854534268379211,
310
+ "position": [
311
+ 0.003045441146241501,
312
+ -0.0897004411672242,
313
+ -0.0889756204560399
314
+ ],
315
+ "orientation": {
316
+ "w": 0.8531486149776161,
317
+ "xyz": [
318
+ -0.5215990859342035,
319
+ 0.002937480392547598,
320
+ -0.007950190143747884
321
+ ]
322
+ }
323
+ },
324
+ "grasp_4": {
325
+ "confidence": 0.9838293194770813,
326
+ "position": [
327
+ -0.00018898262351285666,
328
+ 0.07813596416963264,
329
+ -0.10715476889163256
330
+ ],
331
+ "orientation": {
332
+ "w": 0.9025597098002224,
333
+ "xyz": [
334
+ 0.4301660598995004,
335
+ 0.004691722226604855,
336
+ 0.017919790691450388
337
+ ]
338
+ }
339
+ },
340
+ "grasp_5": {
341
+ "confidence": 0.9829291105270386,
342
+ "position": [
343
+ 0.004276524094166234,
344
+ 0.10607754875672981,
345
+ -0.038443141616880894
346
+ ],
347
+ "orientation": {
348
+ "w": 0.027788472891609933,
349
+ "xyz": [
350
+ -0.0008902601298887158,
351
+ -0.7127557777349736,
352
+ 0.7008610486513474
353
+ ]
354
+ }
355
+ },
356
+ "grasp_6": {
357
+ "confidence": 0.9824261665344238,
358
+ "position": [
359
+ 0.0029346759256441146,
360
+ -0.10314018587814644,
361
+ 0.009959794580936432
362
+ ],
363
+ "orientation": {
364
+ "w": 0.7180543075626148,
365
+ "xyz": [
366
+ -0.6920920139821892,
367
+ -0.05474573487245893,
368
+ -0.04908727010260099
369
+ ]
370
+ }
371
+ },
372
+ "grasp_7": {
373
+ "confidence": 0.9821194410324097,
374
+ "position": [
375
+ 0.003891749103786424,
376
+ -0.09725506912218407,
377
+ -0.09038702119141817
378
+ ],
379
+ "orientation": {
380
+ "w": 0.8564449492533569,
381
+ "xyz": [
382
+ -0.5158959480856441,
383
+ 0.01828485115055667,
384
+ 0.004368508398923232
385
+ ]
386
+ }
387
+ },
388
+ "grasp_8": {
389
+ "confidence": 0.9809423685073853,
390
+ "position": [
391
+ 0.003696950414450839,
392
+ -0.09820606868015602,
393
+ -0.09045157302170992
394
+ ],
395
+ "orientation": {
396
+ "w": 0.8556945545375042,
397
+ "xyz": [
398
+ -0.5172054139994829,
399
+ 0.016856291714561267,
400
+ 0.0011200420168637445
401
+ ]
402
+ }
403
+ },
404
+ "grasp_10": {
405
+ "confidence": 0.9805755615234375,
406
+ "position": [
407
+ 0.0013841464242432266,
408
+ 0.11069804121507332,
409
+ -0.04267785791307688
410
+ ],
411
+ "orientation": {
412
+ "w": 0.7080925192171525,
413
+ "xyz": [
414
+ 0.7059207214389779,
415
+ -0.016743612540273123,
416
+ -0.0007554540890606283
417
+ ]
418
+ }
419
+ },
420
+ "grasp_11": {
421
+ "confidence": 0.980385422706604,
422
+ "position": [
423
+ -0.0033216671727132052,
424
+ 0.10994437773479149,
425
+ -0.03923282120376825
426
+ ],
427
+ "orientation": {
428
+ "w": 0.6980246220472003,
429
+ "xyz": [
430
+ 0.7157497156242513,
431
+ -0.016791819340919556,
432
+ 0.0134909748679876
433
+ ]
434
+ }
435
+ },
436
+ "grasp_13": {
437
+ "confidence": 0.979754626750946,
438
+ "position": [
439
+ -0.10209696434321813,
440
+ 0.001922678027767688,
441
+ -0.0171591779217124
442
+ ],
443
+ "orientation": {
444
+ "w": 0.48794179952638883,
445
+ "xyz": [
446
+ -0.5013540976323665,
447
+ 0.5050046257743014,
448
+ -0.5054969802172347
449
+ ]
450
+ }
451
+ },
452
+ "grasp_15": {
453
+ "confidence": 0.9790818691253662,
454
+ "position": [
455
+ -0.10158281467738561,
456
+ 0.0030431998311541975,
457
+ -0.017246016301214695
458
+ ],
459
+ "orientation": {
460
+ "w": 0.4855991455811686,
461
+ "xyz": [
462
+ -0.49875073069164266,
463
+ 0.5037804393316991,
464
+ -0.5115138780054276
465
+ ]
466
+ }
467
+ },
468
+ "grasp_16": {
469
+ "confidence": 0.9790312647819519,
470
+ "position": [
471
+ -0.10303862087312154,
472
+ -0.0003073008847422898,
473
+ -0.019146435894072056
474
+ ],
475
+ "orientation": {
476
+ "w": 0.49326332775629594,
477
+ "xyz": [
478
+ -0.5067709786807986,
479
+ 0.501975926604089,
480
+ -0.4978901824375094
481
+ ]
482
+ }
483
+ },
484
+ "grasp_17": {
485
+ "confidence": 0.9788718819618225,
486
+ "position": [
487
+ -0.0025270934856962413,
488
+ 0.10669774253619835,
489
+ 0.01746858935803175
490
+ ],
491
+ "orientation": {
492
+ "w": 0.6953263497466508,
493
+ "xyz": [
494
+ 0.7185471342048364,
495
+ -0.0012402020010385817,
496
+ 0.014482581710861597
497
+ ]
498
+ }
499
+ },
500
+ "grasp_18": {
501
+ "confidence": 0.9787850975990295,
502
+ "position": [
503
+ -0.0019155330664943904,
504
+ -0.10417314182268456,
505
+ 0.021813864819705486
506
+ ],
507
+ "orientation": {
508
+ "w": 0.6866091659020609,
509
+ "xyz": [
510
+ -0.726760139081627,
511
+ 0.00954880482230469,
512
+ -0.017215512417469846
513
+ ]
514
+ }
515
+ },
516
+ "grasp_19": {
517
+ "confidence": 0.9782529473304749,
518
+ "position": [
519
+ 0.0031323023431468755,
520
+ -0.10784761171089485,
521
+ -0.03962379042059183
522
+ ],
523
+ "orientation": {
524
+ "w": 0.6999110630550813,
525
+ "xyz": [
526
+ -0.7141543131704686,
527
+ -0.005774478471493594,
528
+ -0.008647322794064268
529
+ ]
530
+ }
531
+ }
532
+ }
533
+ },
534
+ {
535
+ "part_name": "front label",
536
+ "mask_color": "Orange",
537
+ "graspable": false,
538
+ "grasp_scenarios": [],
539
+ "functional_labels": [
540
+ "display branding",
541
+ "show product information",
542
+ "identify the branded side"
543
+ ],
544
+ "semantic_description": "A rectangular dark purple glossy label applied to one large side face of the bottle, printed with white text and bright graphic elements.",
545
+ "id": 4,
546
+ "grasp_group": {}
547
+ },
548
+ {
549
+ "part_name": "logo graphic",
550
+ "mask_color": "Magenta",
551
+ "graspable": false,
552
+ "grasp_scenarios": [],
553
+ "functional_labels": [
554
+ "brand marking",
555
+ "visual identification",
556
+ "decorative graphic"
557
+ ],
558
+ "semantic_description": "A small bright magenta stylized logo printed near the upper portion of the dark label, contrasting with the darker background.",
559
+ "id": 7,
560
+ "grasp_group": {}
561
+ },
562
+ {
563
+ "part_name": "base pad",
564
+ "mask_color": "Blue",
565
+ "graspable": false,
566
+ "grasp_scenarios": [],
567
+ "functional_labels": [
568
+ "bottom marking or insert",
569
+ "visual feature on underside",
570
+ "underside identification cue"
571
+ ],
572
+ "semantic_description": "A small dark oval feature centered on the underside of the bottle base, appearing as an inset or pad-like detail against the bottom surface.",
573
+ "id": 2,
574
+ "grasp_group": {}
575
+ }
576
+ ],
577
+ "quality_check": {
578
+ "success": true,
579
+ "message": "YES"
580
+ }
581
+ }
dataset/bathroom_supplies/bath_products/22cf9acefa395bd69987a4992cebfd18/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c8f702cf5f5b0f387e96e2d25eeb75c7d92cfdc6198dd9c1721e932aa56ceba0
3
+ size 111329768