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
2ab1391
·
verified ·
1 Parent(s): 2ab38ab

Add asset kitchen_supplies/tableware/4f569508436a5ef48dc7f64e9979bf0e

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/tableware/4f569508436a5ef48dc7f64e9979bf0e/affordance/affordance_annot.json +253 -0
  3. dataset/kitchen_supplies/tableware/4f569508436a5ef48dc7f64e9979bf0e/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7243,4 +7243,4 @@ dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/affordance/m
7243
  dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7244
  dataset/kitchen_supplies/tableware/4a8f4dd5e24b519994d84fa14edd01b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7245
  dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7246
- dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7243
  dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7244
  dataset/kitchen_supplies/tableware/4a8f4dd5e24b519994d84fa14edd01b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7245
  dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7246
+ dataset/kitchen_supplies/tableware/4f569508436a5ef48dc7f64e9979bf0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/4f569508436a5ef48dc7f64e9979bf0e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,253 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "outer rim",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer rim from opposite sides to pick up the coaster",
10
+ "confidence": 0.83
11
+ },
12
+ {
13
+ "scenario": "hold the rim to reposition or stack the coaster",
14
+ "confidence": 0.79
15
+ },
16
+ {
17
+ "scenario": "pinch the rim to stabilize the coaster during placement",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide perimeter grip",
23
+ "contain slight spills at the edge",
24
+ "protect and frame the center",
25
+ "support stacking and handling"
26
+ ],
27
+ "semantic_description": "Raised circular beige rim made of hard speckled stone-like or ceramic material, with a matte smooth finish, slightly rounded edges, and a medium-width band around the coaster perimeter.",
28
+ "id": 0,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "center platform",
33
+ "mask_color": "Green",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "grasp the coaster across the flat center and opposite edge for pickup",
38
+ "confidence": 0.41
39
+ },
40
+ {
41
+ "scenario": "use a broad gentle pinch on the center area to stabilize the coaster",
42
+ "confidence": 0.33
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "support a cup or glass base",
47
+ "provide the main contact surface",
48
+ "drain or vent through the perforations",
49
+ "help keep the vessel centered"
50
+ ],
51
+ "semantic_description": "Flat recessed beige center surface of hard speckled stone-like or ceramic material with a matte smooth texture, circular perforation pattern near the middle, and printed dark markings visible on some views.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_22": {
55
+ "confidence": 0.9668328166007996,
56
+ "position": [
57
+ 0.12847388756927103,
58
+ -0.00922117056325078,
59
+ 0.004454207664821297
60
+ ],
61
+ "orientation": {
62
+ "w": 0.6907966600884492,
63
+ "xyz": [
64
+ -0.002518826340951554,
65
+ -0.7230218701644519,
66
+ 0.005745014221595455
67
+ ]
68
+ }
69
+ },
70
+ "grasp_23": {
71
+ "confidence": 0.9663149118423462,
72
+ "position": [
73
+ 0.12851516378577799,
74
+ 0.005679619498550892,
75
+ 0.001383905648253858
76
+ ],
77
+ "orientation": {
78
+ "w": 0.6969252751975541,
79
+ "xyz": [
80
+ 0.038102483888130936,
81
+ -0.7141292736224256,
82
+ 0.053504598567558785
83
+ ]
84
+ }
85
+ },
86
+ "grasp_24": {
87
+ "confidence": 0.9659472107887268,
88
+ "position": [
89
+ 0.12218482268508524,
90
+ -0.04954681871458888,
91
+ 0.006479457544628531
92
+ ],
93
+ "orientation": {
94
+ "w": 0.667127119547003,
95
+ "xyz": [
96
+ -0.12079160392277821,
97
+ -0.722172931490953,
98
+ -0.13717525946191939
99
+ ]
100
+ }
101
+ },
102
+ "grasp_25": {
103
+ "confidence": 0.9654967188835144,
104
+ "position": [
105
+ 0.1305874235695228,
106
+ -0.009765770751982927,
107
+ -0.0005496135563589633
108
+ ],
109
+ "orientation": {
110
+ "w": 0.7093244482094422,
111
+ "xyz": [
112
+ -0.041018105095985836,
113
+ -0.6991256625753766,
114
+ -0.0799978134404119
115
+ ]
116
+ }
117
+ },
118
+ "grasp_26": {
119
+ "confidence": 0.9652935862541199,
120
+ "position": [
121
+ 0.12766782415565103,
122
+ -0.011878325138241053,
123
+ 0.004849846533033997
124
+ ],
125
+ "orientation": {
126
+ "w": 0.6974566218518069,
127
+ "xyz": [
128
+ 0.018586307756487837,
129
+ -0.7163558243764756,
130
+ -0.006568308834621083
131
+ ]
132
+ }
133
+ },
134
+ "grasp_27": {
135
+ "confidence": 0.9651206731796265,
136
+ "position": [
137
+ 0.12631816638167948,
138
+ -0.020094947423785925,
139
+ 0.014259473013225943
140
+ ],
141
+ "orientation": {
142
+ "w": 0.6450801507972302,
143
+ "xyz": [
144
+ -0.04533512190723903,
145
+ -0.7586684038891568,
146
+ -0.07898467388903642
147
+ ]
148
+ }
149
+ },
150
+ "grasp_29": {
151
+ "confidence": 0.9646637439727783,
152
+ "position": [
153
+ 0.1296336151426658,
154
+ 0.020615121815353632,
155
+ 0.007234153861645609
156
+ ],
157
+ "orientation": {
158
+ "w": 0.6796593494824668,
159
+ "xyz": [
160
+ 0.07005608647745382,
161
+ -0.7263260288974374,
162
+ 0.07487197843394316
163
+ ]
164
+ }
165
+ },
166
+ "grasp_30": {
167
+ "confidence": 0.9643175601959229,
168
+ "position": [
169
+ 0.12675740791019052,
170
+ -0.03310969425365329,
171
+ -0.012716780824121088
172
+ ],
173
+ "orientation": {
174
+ "w": 0.735486456980124,
175
+ "xyz": [
176
+ -0.09982062692886118,
177
+ -0.6667537294462746,
178
+ -0.06734224757043338
179
+ ]
180
+ }
181
+ },
182
+ "grasp_33": {
183
+ "confidence": 0.9635837078094482,
184
+ "position": [
185
+ 0.12723129463847727,
186
+ 0.01836399780586362,
187
+ -0.004718372074421495
188
+ ],
189
+ "orientation": {
190
+ "w": 0.7263540852596319,
191
+ "xyz": [
192
+ 0.02269556837518833,
193
+ -0.6869058074375336,
194
+ 0.007420627423689564
195
+ ]
196
+ }
197
+ },
198
+ "grasp_35": {
199
+ "confidence": 0.9633806347846985,
200
+ "position": [
201
+ 0.1250221080845222,
202
+ -0.0389431300573051,
203
+ 0.008985382097307593
204
+ ],
205
+ "orientation": {
206
+ "w": 0.6642421787598162,
207
+ "xyz": [
208
+ -0.07886723203403441,
209
+ -0.7378330831536868,
210
+ -0.09035833703442843
211
+ ]
212
+ }
213
+ },
214
+ "grasp_37": {
215
+ "confidence": 0.9629806280136108,
216
+ "position": [
217
+ 0.12633254600223154,
218
+ 0.016920406837016344,
219
+ 0.012583064439240843
220
+ ],
221
+ "orientation": {
222
+ "w": 0.662831318491059,
223
+ "xyz": [
224
+ 0.03967419655659855,
225
+ -0.7475168101139453,
226
+ 0.01729797537473636
227
+ ]
228
+ }
229
+ },
230
+ "grasp_38": {
231
+ "confidence": 0.9629288911819458,
232
+ "position": [
233
+ 0.12660206330474466,
234
+ -0.029263402801007032,
235
+ 0.0002928624744527042
236
+ ],
237
+ "orientation": {
238
+ "w": 0.11624101945871174,
239
+ "xyz": [
240
+ -0.7051736878201004,
241
+ 0.055476961604752906,
242
+ 0.6972376941420363
243
+ ]
244
+ }
245
+ }
246
+ }
247
+ }
248
+ ],
249
+ "quality_check": {
250
+ "success": true,
251
+ "message": "YES"
252
+ }
253
+ }
dataset/kitchen_supplies/tableware/4f569508436a5ef48dc7f64e9979bf0e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8d400a9b1754f76e36eacd5a040bb10c08fd4078093ee3acd7a9df271f7ecd1
3
+ size 3780440