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
29cf0ec
·
verified ·
1 Parent(s): d3f352e

Add asset kitchen_supplies/ware/6cc22390c242593591f111b7584847c1

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/affordance/affordance_annot.json +338 -0
  3. dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7577,4 +7577,4 @@ dataset/kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd/affordance/mesh_p
7577
  dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7578
  dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7579
  dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7580
- dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7577
  dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7578
  dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7579
  dataset/kitchen_supplies/ware/6b70f71d283159378ad1871d0bb8ca6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7580
+ dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mug handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to lift and carry the mug",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize the mug while pouring",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "hook or pinch the handle to reorient the mug on a surface",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide a side grip",
23
+ "lift the mug without touching the body",
24
+ "stabilize the mug while pouring",
25
+ "help reorient the mug"
26
+ ],
27
+ "semantic_description": "Curved medium-brown wooden handle with a matte finish, hard slightly textured surface, and rounded rectangular loop shape attached to the mug side at mid height.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_2": {
31
+ "confidence": 0.9132830500602722,
32
+ "position": [
33
+ -0.014711244672071189,
34
+ 0.13873235578648746,
35
+ 0.025261763366870582
36
+ ],
37
+ "orientation": {
38
+ "w": 0.053265697466414186,
39
+ "xyz": [
40
+ -0.042323722670976505,
41
+ 0.6894804457042464,
42
+ -0.7211020614061231
43
+ ]
44
+ }
45
+ },
46
+ "grasp_5": {
47
+ "confidence": 0.8952497243881226,
48
+ "position": [
49
+ 0.0053011400741524994,
50
+ 0.14182285661809146,
51
+ 0.031295372056774795
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6915863892427306,
55
+ "xyz": [
56
+ 0.7213215125516083,
57
+ -0.03537957030727468,
58
+ -0.012321840338804398
59
+ ]
60
+ }
61
+ },
62
+ "grasp_9": {
63
+ "confidence": 0.8642528057098389,
64
+ "position": [
65
+ 0.0071305560995824635,
66
+ 0.13795271213166416,
67
+ 0.02060381870251149
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7233836815956763,
71
+ "xyz": [
72
+ 0.6891972416630151,
73
+ -0.03362648196416562,
74
+ -0.024340727102745114
75
+ ]
76
+ }
77
+ },
78
+ "grasp_10": {
79
+ "confidence": 0.8558273315429688,
80
+ "position": [
81
+ 0.017472505860496312,
82
+ 0.13682511146180332,
83
+ 0.016510162386111915
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7383107461569319,
87
+ "xyz": [
88
+ 0.6694170398390438,
89
+ -0.0720060964897129,
90
+ -0.03991479613677177
91
+ ]
92
+ }
93
+ },
94
+ "grasp_12": {
95
+ "confidence": 0.8358233571052551,
96
+ "position": [
97
+ 0.026257392310071737,
98
+ 0.1354702680837363,
99
+ 0.0399889963446185
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6534992019567601,
103
+ "xyz": [
104
+ 0.7478824374152757,
105
+ -0.07645429685877392,
106
+ -0.08812146923136353
107
+ ]
108
+ }
109
+ },
110
+ "grasp_14": {
111
+ "confidence": 0.8316813111305237,
112
+ "position": [
113
+ -0.019713272980879992,
114
+ 0.13691374356858432,
115
+ 0.03642198245506734
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6845627089990969,
119
+ "xyz": [
120
+ 0.7206509524230763,
121
+ 0.10344638771974601,
122
+ 0.03653692772068965
123
+ ]
124
+ }
125
+ },
126
+ "grasp_15": {
127
+ "confidence": 0.8252764940261841,
128
+ "position": [
129
+ -0.017786293930839747,
130
+ 0.13392880256287754,
131
+ -0.012603304465301335
132
+ ],
133
+ "orientation": {
134
+ "w": 0.8244507084518548,
135
+ "xyz": [
136
+ 0.5593251243799114,
137
+ 0.08536195682727565,
138
+ 0.012238092059221259
139
+ ]
140
+ }
141
+ },
142
+ "grasp_16": {
143
+ "confidence": 0.8215591907501221,
144
+ "position": [
145
+ 0.003316777350846678,
146
+ 0.12166052754037082,
147
+ 0.07169975514989346
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5100557550346867,
151
+ "xyz": [
152
+ 0.8553969987307851,
153
+ 0.07694491143659365,
154
+ -0.04710182504294068
155
+ ]
156
+ }
157
+ }
158
+ }
159
+ },
160
+ {
161
+ "part_name": "mug body",
162
+ "mask_color": "Green",
163
+ "graspable": true,
164
+ "grasp_scenarios": [
165
+ {
166
+ "scenario": "grasp the mug body from the sides to pick up the mug",
167
+ "confidence": 0.72
168
+ },
169
+ {
170
+ "scenario": "hold the body to stabilize the mug during placement or inspection",
171
+ "confidence": 0.78
172
+ },
173
+ {
174
+ "scenario": "grasp near the rim and sidewall to rotate the mug",
175
+ "confidence": 0.63
176
+ }
177
+ ],
178
+ "functional_labels": [
179
+ "contain liquid",
180
+ "provide the main structure",
181
+ "support the handle attachment",
182
+ "provide a resting base"
183
+ ],
184
+ "semantic_description": "Large light tan wooden mug body with a matte finish, hard smooth-to-fine-grained texture, gently tapered cylindrical shape, rounded bottom, open top, and small printed markings near the lower side.",
185
+ "id": 1,
186
+ "grasp_group": {
187
+ "grasp_20": {
188
+ "confidence": 0.8844708204269409,
189
+ "position": [
190
+ -0.0005194016266614199,
191
+ -0.009320208104327321,
192
+ -0.11620057944674045
193
+ ],
194
+ "orientation": {
195
+ "w": 0.9980419137276402,
196
+ "xyz": [
197
+ -0.005208660998707328,
198
+ 0.018445728107052584,
199
+ 0.05953959529649683
200
+ ]
201
+ }
202
+ },
203
+ "grasp_22": {
204
+ "confidence": 0.8797730803489685,
205
+ "position": [
206
+ 0.0007311928202398121,
207
+ -0.00988119118846953,
208
+ -0.12166501407045871
209
+ ],
210
+ "orientation": {
211
+ "w": 0.9985422832494719,
212
+ "xyz": [
213
+ 0.0005435784015123046,
214
+ 0.019972297820312623,
215
+ 0.0501410052275548
216
+ ]
217
+ }
218
+ },
219
+ "grasp_23": {
220
+ "confidence": 0.8792014718055725,
221
+ "position": [
222
+ 0.00026763092319015414,
223
+ -0.013250417308881879,
224
+ -0.11703837488312274
225
+ ],
226
+ "orientation": {
227
+ "w": 0.9986155166485012,
228
+ "xyz": [
229
+ -0.009910535634253056,
230
+ 0.013504771253400882,
231
+ 0.04986433941888586
232
+ ]
233
+ }
234
+ },
235
+ "grasp_24": {
236
+ "confidence": 0.8790262341499329,
237
+ "position": [
238
+ 0.001056479464750737,
239
+ -0.011133868480101228,
240
+ -0.12178167526144534
241
+ ],
242
+ "orientation": {
243
+ "w": 0.9888492873492274,
244
+ "xyz": [
245
+ -0.0022473885447731635,
246
+ 0.01723074878954922,
247
+ 0.14790245924191478
248
+ ]
249
+ }
250
+ },
251
+ "grasp_25": {
252
+ "confidence": 0.8758319616317749,
253
+ "position": [
254
+ 0.0024882085272111,
255
+ -0.006063354900106788,
256
+ -0.11879011814016849
257
+ ],
258
+ "orientation": {
259
+ "w": 0.9963192601106359,
260
+ "xyz": [
261
+ -0.0012405918684424656,
262
+ 0.02284721283564206,
263
+ 0.08260991302534088
264
+ ]
265
+ }
266
+ },
267
+ "grasp_27": {
268
+ "confidence": 0.869592010974884,
269
+ "position": [
270
+ 0.0034403945901431143,
271
+ -0.011017964454367757,
272
+ -0.12182083551306278
273
+ ],
274
+ "orientation": {
275
+ "w": 0.9956801975384377,
276
+ "xyz": [
277
+ -0.0002903050877851356,
278
+ 0.015697637154474253,
279
+ 0.0915119890535647
280
+ ]
281
+ }
282
+ },
283
+ "grasp_28": {
284
+ "confidence": 0.867158055305481,
285
+ "position": [
286
+ 0.002528099634218961,
287
+ -0.009365164441987872,
288
+ -0.12225766305346042
289
+ ],
290
+ "orientation": {
291
+ "w": 0.08737727494430032,
292
+ "xyz": [
293
+ 0.001368062443002083,
294
+ -0.005065173654254296,
295
+ -0.9961614749850108
296
+ ]
297
+ }
298
+ },
299
+ "grasp_31": {
300
+ "confidence": 0.8641732335090637,
301
+ "position": [
302
+ -0.001334052940364927,
303
+ -0.004738794174045324,
304
+ -0.11816299532074481
305
+ ],
306
+ "orientation": {
307
+ "w": 0.07871956835343491,
308
+ "xyz": [
309
+ -0.012484865958587808,
310
+ -0.00734728933729234,
311
+ -0.9967915404033281
312
+ ]
313
+ }
314
+ },
315
+ "grasp_39": {
316
+ "confidence": 0.8584722280502319,
317
+ "position": [
318
+ 0.00175577582558617,
319
+ -0.01161128212697804,
320
+ -0.11535652552265674
321
+ ],
322
+ "orientation": {
323
+ "w": 0.9987016070585893,
324
+ "xyz": [
325
+ 0.0005970948860428756,
326
+ 0.007346672697963852,
327
+ -0.050406050594708235
328
+ ]
329
+ }
330
+ }
331
+ }
332
+ }
333
+ ],
334
+ "quality_check": {
335
+ "success": true,
336
+ "message": "YES"
337
+ }
338
+ }
dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ac75cb44dbf6adb9dc1451e36a84684d8e22cd26866f76c98f7bba37ae7069e9
3
+ size 3778708