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
11df4df
·
verified ·
1 Parent(s): 219e449

Add asset kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/affordance/affordance_annot.json +544 -0
  3. dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7254,3 +7254,4 @@ dataset/kitchen_supplies/tableware/584919261f1d5bab920e378e1d5636f6/affordance/m
7254
  dataset/kitchen_supplies/tableware/594c00e8d89b5b5ba8770e608ff3bc72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7255
  dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7256
  dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7254
  dataset/kitchen_supplies/tableware/594c00e8d89b5b5ba8770e608ff3bc72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7255
  dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7256
  dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7257
+ dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,544 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "fork handle and neck",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle/neck to pick up and manipulate the fork",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the central body to stabilize the fork during placement or orientation adjustment",
14
+ "confidence": 0.83
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "support utensil structure",
20
+ "connect the decorative base to the fork head",
21
+ "transmit force during use",
22
+ "provide reach and leverage"
23
+ ],
24
+ "semantic_description": "Elongated silver-toned metal handle and neck with a smooth reflective finish, slender slightly curved shape, forming most of the utensil body between the fork head and the decorative base.",
25
+ "id": 6,
26
+ "grasp_group": {
27
+ "grasp_20": {
28
+ "confidence": 0.9427860975265503,
29
+ "position": [
30
+ 0.10835744440555573,
31
+ 0.1279512892360799,
32
+ -0.0083317895187065
33
+ ],
34
+ "orientation": {
35
+ "w": 0.5559070069038452,
36
+ "xyz": [
37
+ 0.4940028486228702,
38
+ 0.4790970371929918,
39
+ -0.4662559535068638
40
+ ]
41
+ }
42
+ },
43
+ "grasp_22": {
44
+ "confidence": 0.9373784065246582,
45
+ "position": [
46
+ -0.0941920205950737,
47
+ 0.1099888036842458,
48
+ -0.007479563704691827
49
+ ],
50
+ "orientation": {
51
+ "w": 0.49460348379814584,
52
+ "xyz": [
53
+ 0.4773177715828505,
54
+ 0.5198311467987475,
55
+ -0.5072580384417956
56
+ ]
57
+ }
58
+ },
59
+ "grasp_23": {
60
+ "confidence": 0.9359320402145386,
61
+ "position": [
62
+ 0.10488978773355484,
63
+ 0.12786663573933765,
64
+ -0.011169540113769472
65
+ ],
66
+ "orientation": {
67
+ "w": 0.5682990421227729,
68
+ "xyz": [
69
+ 0.4878827532425188,
70
+ 0.4460023094824256,
71
+ -0.48998832409270815
72
+ ]
73
+ }
74
+ },
75
+ "grasp_24": {
76
+ "confidence": 0.9350307583808899,
77
+ "position": [
78
+ -0.0633334219455719,
79
+ 0.10586632293416187,
80
+ -0.0011981307179667056
81
+ ],
82
+ "orientation": {
83
+ "w": 0.4908014138615228,
84
+ "xyz": [
85
+ 0.4906622537226499,
86
+ 0.5206652162143971,
87
+ -0.4972647760979605
88
+ ]
89
+ }
90
+ },
91
+ "grasp_25": {
92
+ "confidence": 0.9343274831771851,
93
+ "position": [
94
+ 0.09990298002958298,
95
+ -0.12592438358115032,
96
+ -0.006362253683619201
97
+ ],
98
+ "orientation": {
99
+ "w": 0.5369807836491132,
100
+ "xyz": [
101
+ -0.49335422954982,
102
+ 0.47878194784592265,
103
+ 0.48889783042446744
104
+ ]
105
+ }
106
+ },
107
+ "grasp_26": {
108
+ "confidence": 0.9312437176704407,
109
+ "position": [
110
+ -0.08484585583209991,
111
+ 0.11190397542668507,
112
+ -0.021103323786519468
113
+ ],
114
+ "orientation": {
115
+ "w": 0.5260466859702961,
116
+ "xyz": [
117
+ 0.4344631918412119,
118
+ 0.47964661813171094,
119
+ -0.5517750817404022
120
+ ]
121
+ }
122
+ },
123
+ "grasp_27": {
124
+ "confidence": 0.9303673505783081,
125
+ "position": [
126
+ -0.07224369794130325,
127
+ 0.11228541535092518,
128
+ -0.0017303936183452606
129
+ ],
130
+ "orientation": {
131
+ "w": 0.48220284631302684,
132
+ "xyz": [
133
+ 0.49163488698452684,
134
+ 0.5203141692870572,
135
+ -0.5050234827673332
136
+ ]
137
+ }
138
+ },
139
+ "grasp_28": {
140
+ "confidence": 0.927912175655365,
141
+ "position": [
142
+ -0.07108068466186523,
143
+ -0.10666912543820217,
144
+ -0.009161193273030221
145
+ ],
146
+ "orientation": {
147
+ "w": 0.39611323507842394,
148
+ "xyz": [
149
+ -0.5376378981444566,
150
+ 0.4301917292409112,
151
+ 0.607433018173387
152
+ ]
153
+ }
154
+ },
155
+ "grasp_30": {
156
+ "confidence": 0.9241390824317932,
157
+ "position": [
158
+ -0.0710182785987854,
159
+ 0.10610930871916935,
160
+ -0.014378864667378366
161
+ ],
162
+ "orientation": {
163
+ "w": 0.5039718476259447,
164
+ "xyz": [
165
+ 0.49613055065091766,
166
+ 0.46816203582873805,
167
+ -0.529802946122424
168
+ ]
169
+ }
170
+ },
171
+ "grasp_32": {
172
+ "confidence": 0.9233459234237671,
173
+ "position": [
174
+ -0.08209873735904694,
175
+ 0.10731233906699345,
176
+ -0.007134215789847076
177
+ ],
178
+ "orientation": {
179
+ "w": 0.4832819134088473,
180
+ "xyz": [
181
+ 0.4775580282534712,
182
+ 0.5107713600985606,
183
+ -0.5267727589061597
184
+ ]
185
+ }
186
+ },
187
+ "grasp_33": {
188
+ "confidence": 0.9230710864067078,
189
+ "position": [
190
+ 0.11216193437576294,
191
+ -0.1208694105152972,
192
+ -0.009591683163307607
193
+ ],
194
+ "orientation": {
195
+ "w": 0.557590090116533,
196
+ "xyz": [
197
+ -0.48726439987671866,
198
+ 0.46795317299649664,
199
+ 0.48237591554629683
200
+ ]
201
+ }
202
+ },
203
+ "grasp_35": {
204
+ "confidence": 0.9206928014755249,
205
+ "position": [
206
+ -0.0983743965625763,
207
+ 0.10773610573960468,
208
+ -0.008004334173165262
209
+ ],
210
+ "orientation": {
211
+ "w": 0.4933974824416723,
212
+ "xyz": [
213
+ 0.47520414369611086,
214
+ 0.521393498394665,
215
+ -0.5088111299549549
216
+ ]
217
+ }
218
+ },
219
+ "grasp_36": {
220
+ "confidence": 0.919202983379364,
221
+ "position": [
222
+ -0.09477932006120682,
223
+ 0.10783378285123035,
224
+ -0.003555174800567329
225
+ ],
226
+ "orientation": {
227
+ "w": 0.48630200602560314,
228
+ "xyz": [
229
+ 0.4840994963953468,
230
+ 0.5263973835081898,
231
+ -0.5020595892530869
232
+ ]
233
+ }
234
+ },
235
+ "grasp_38": {
236
+ "confidence": 0.9173569083213806,
237
+ "position": [
238
+ -0.07303779572248459,
239
+ 0.10940455895615742,
240
+ 0.006432521273382008
241
+ ],
242
+ "orientation": {
243
+ "w": 0.5038799843027069,
244
+ "xyz": [
245
+ 0.5103434989063778,
246
+ -0.5257764393187544,
247
+ 0.45739874333057756
248
+ ]
249
+ }
250
+ },
251
+ "grasp_39": {
252
+ "confidence": 0.9165902137756348,
253
+ "position": [
254
+ 0.09235316514968872,
255
+ -0.1217333723907359,
256
+ -0.006466026767157018
257
+ ],
258
+ "orientation": {
259
+ "w": 0.5358205922201926,
260
+ "xyz": [
261
+ -0.4883517249464447,
262
+ 0.4874821934750917,
263
+ 0.48659017328687204
264
+ ]
265
+ }
266
+ }
267
+ }
268
+ },
269
+ {
270
+ "part_name": "fork tines, decorative end prongs, and central medallion",
271
+ "mask_color": "Purple",
272
+ "graspable": true,
273
+ "grasp_scenarios": [
274
+ {
275
+ "scenario": "delicately pinch the fork tines to reorient the utensil when the handle is obstructed",
276
+ "confidence": 0.31
277
+ },
278
+ {
279
+ "scenario": "pinch the decorative end prongs to slide or reposition the fork a short distance",
280
+ "confidence": 0.28
281
+ },
282
+ {
283
+ "scenario": "lightly contact or pinch near the raised central medallion for fine reorientation, though it is not a primary grasp point",
284
+ "confidence": 0.18
285
+ }
286
+ ],
287
+ "functional_labels": [
288
+ "pierce food",
289
+ "hold food pieces",
290
+ "form the utensil working end",
291
+ "provide decorative styling at the opposite end",
292
+ "serve as ornamental central detail"
293
+ ],
294
+ "semantic_description": "Silver-toned metal features selected by the purple mask: the functional fork tines at one end, the ornate decorative prongs at the opposite end, and a small raised oval/circular medallion near the decorative base, all with a reflective metallic finish.",
295
+ "id": 5,
296
+ "grasp_group": {
297
+ "grasp_2": {
298
+ "confidence": 0.9746226072311401,
299
+ "position": [
300
+ 0.16115302592515945,
301
+ 0.12726421159459278,
302
+ 0.005257925135083497
303
+ ],
304
+ "orientation": {
305
+ "w": 0.5256510230050112,
306
+ "xyz": [
307
+ 0.533024533720026,
308
+ 0.4642015437582221,
309
+ -0.4733843842363388
310
+ ]
311
+ }
312
+ },
313
+ "grasp_3": {
314
+ "confidence": 0.9745025038719177,
315
+ "position": [
316
+ 0.15276909619569778,
317
+ 0.12718064588261768,
318
+ 0.0034463783958926797
319
+ ],
320
+ "orientation": {
321
+ "w": 0.4523326438233749,
322
+ "xyz": [
323
+ 0.45506260952799654,
324
+ -0.5430726960882907,
325
+ 0.5416504846344377
326
+ ]
327
+ }
328
+ },
329
+ "grasp_4": {
330
+ "confidence": 0.9742797613143921,
331
+ "position": [
332
+ 0.16171853989362717,
333
+ 0.12413099658442661,
334
+ 0.011342876241542399
335
+ ],
336
+ "orientation": {
337
+ "w": 0.4468473964750639,
338
+ "xyz": [
339
+ 0.47361706573968054,
340
+ -0.5512270726948362,
341
+ 0.5216924320247264
342
+ ]
343
+ }
344
+ },
345
+ "grasp_5": {
346
+ "confidence": 0.9738295674324036,
347
+ "position": [
348
+ 0.15701503306627274,
349
+ 0.12327640008879825,
350
+ 0.0014058580854907632
351
+ ],
352
+ "orientation": {
353
+ "w": 0.4634912347109165,
354
+ "xyz": [
355
+ 0.45414933994734885,
356
+ -0.5359086586811319,
357
+ 0.5401168039620012
358
+ ]
359
+ }
360
+ },
361
+ "grasp_6": {
362
+ "confidence": 0.9737828969955444,
363
+ "position": [
364
+ 0.17173104733228683,
365
+ 0.1243293906445615,
366
+ 0.002813238766975701
367
+ ],
368
+ "orientation": {
369
+ "w": 0.521011069613965,
370
+ "xyz": [
371
+ 0.5304974301624951,
372
+ 0.46064113075840973,
373
+ -0.4846954616914777
374
+ ]
375
+ }
376
+ },
377
+ "grasp_8": {
378
+ "confidence": 0.9734660387039185,
379
+ "position": [
380
+ 0.1593184545636177,
381
+ 0.12803540629101917,
382
+ 0.002803815877996385
383
+ ],
384
+ "orientation": {
385
+ "w": 0.515160138265976,
386
+ "xyz": [
387
+ 0.5267411053573201,
388
+ 0.473929592938518,
389
+ -0.48222876397604114
390
+ ]
391
+ }
392
+ },
393
+ "grasp_9": {
394
+ "confidence": 0.9732273817062378,
395
+ "position": [
396
+ 0.15371491760015488,
397
+ 0.12862611812306568,
398
+ 0.00048317492473870516
399
+ ],
400
+ "orientation": {
401
+ "w": 0.5262169822407163,
402
+ "xyz": [
403
+ 0.5304289562123233,
404
+ 0.4678379343997091,
405
+ -0.4720894800242767
406
+ ]
407
+ }
408
+ },
409
+ "grasp_10": {
410
+ "confidence": 0.9725977778434753,
411
+ "position": [
412
+ 0.15307321399450302,
413
+ 0.12381008517695591,
414
+ 0.0003393036313354969
415
+ ],
416
+ "orientation": {
417
+ "w": 0.4615655804804494,
418
+ "xyz": [
419
+ 0.4688838963953198,
420
+ -0.5213417223205608,
421
+ 0.5434224095349038
422
+ ]
423
+ }
424
+ },
425
+ "grasp_11": {
426
+ "confidence": 0.9724628925323486,
427
+ "position": [
428
+ 0.16566070169210434,
429
+ 0.1274642000789754,
430
+ -0.006150478380732238
431
+ ],
432
+ "orientation": {
433
+ "w": 0.4812681508745868,
434
+ "xyz": [
435
+ 0.4290813262764111,
436
+ -0.5313337816102239,
437
+ 0.549503953502075
438
+ ]
439
+ }
440
+ },
441
+ "grasp_13": {
442
+ "confidence": 0.9719433784484863,
443
+ "position": [
444
+ 0.15127433091402054,
445
+ 0.12795061868382618,
446
+ -0.004062282503582537
447
+ ],
448
+ "orientation": {
449
+ "w": 0.47971198439696505,
450
+ "xyz": [
451
+ 0.45938006801698766,
452
+ -0.5144305831775338,
453
+ 0.5424090156203676
454
+ ]
455
+ }
456
+ },
457
+ "grasp_14": {
458
+ "confidence": 0.9709593057632446,
459
+ "position": [
460
+ 0.14848310500383377,
461
+ 0.12545798224164173,
462
+ -0.00011857808567583561
463
+ ],
464
+ "orientation": {
465
+ "w": 0.46836772362033263,
466
+ "xyz": [
467
+ 0.4709347041916753,
468
+ -0.522872472450697,
469
+ 0.5342813466815982
470
+ ]
471
+ }
472
+ },
473
+ "grasp_15": {
474
+ "confidence": 0.9703093767166138,
475
+ "position": [
476
+ 0.15370430797338486,
477
+ 0.12369023513747379,
478
+ -0.0031290758633986115
479
+ ],
480
+ "orientation": {
481
+ "w": 0.5235421883442467,
482
+ "xyz": [
483
+ 0.5222621253688656,
484
+ 0.46588748992202744,
485
+ -0.4858957667680024
486
+ ]
487
+ }
488
+ },
489
+ "grasp_16": {
490
+ "confidence": 0.9696328639984131,
491
+ "position": [
492
+ 0.17329949885606766,
493
+ 0.12143872928572819,
494
+ 0.006924898945726454
495
+ ],
496
+ "orientation": {
497
+ "w": 0.4902078267031427,
498
+ "xyz": [
499
+ 0.6118748932933974,
500
+ 0.37654471103124043,
501
+ -0.49347693177146074
502
+ ]
503
+ }
504
+ },
505
+ "grasp_18": {
506
+ "confidence": 0.9689169526100159,
507
+ "position": [
508
+ 0.17499660700559616,
509
+ 0.12159624946070835,
510
+ 0.0070240028435364366
511
+ ],
512
+ "orientation": {
513
+ "w": 0.5117769338072181,
514
+ "xyz": [
515
+ 0.5366612882749471,
516
+ 0.470648628381682,
517
+ -0.47808879958894385
518
+ ]
519
+ }
520
+ },
521
+ "grasp_19": {
522
+ "confidence": 0.9686523675918579,
523
+ "position": [
524
+ 0.15447615832090378,
525
+ 0.12181131046963856,
526
+ 0.0016074924496933818
527
+ ],
528
+ "orientation": {
529
+ "w": 0.46082219688705134,
530
+ "xyz": [
531
+ 0.45573365644667724,
532
+ -0.5348848627839937,
533
+ 0.5420774121861944
534
+ ]
535
+ }
536
+ }
537
+ }
538
+ }
539
+ ],
540
+ "quality_check": {
541
+ "success": false,
542
+ "message": "Purple mask groups unrelated regions; part name/functions mix fork tines, decorative tail, and medallion into one incorrect part."
543
+ }
544
+ }
dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89002bb7713b3741991efbb1d59a42047ff834bf6977e922389cdf37242fb1df
3
+ size 494444