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
2ea405e
·
verified ·
1 Parent(s): b5da38a

Add asset kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/affordance_annot.json +192 -0
  3. dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7621,3 +7621,4 @@ dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_p
7621
  dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7622
  dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7623
  dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7621
  dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7622
  dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7623
  dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7624
+ dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,192 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wine glass body and base exterior",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bowl/body from the sides to pick up and move the glass",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold the lower body near the base to stabilize the glass during placement",
14
+ "confidence": 0.74
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain liquid",
19
+ "provide the main vessel structure",
20
+ "support the top opening",
21
+ "provide an exterior surface for handling"
22
+ ],
23
+ "semantic_description": "The main exterior of a stemless-looking snifter-style wine glass, including the rounded clear glass body and the clear circular foot/base. The surface is transparent, glossy, and smooth, with dark red wine visible in the lower portion and small gold emblem markings on the outside.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9471097588539124,
28
+ "position": [
29
+ 0.0027055480604758486,
30
+ -0.015165437071118504,
31
+ -0.14124636678025126
32
+ ],
33
+ "orientation": {
34
+ "w": 0.568012896805279,
35
+ "xyz": [
36
+ -0.037825697595995585,
37
+ 0.03941324681699876,
38
+ 0.8212047014232166
39
+ ]
40
+ }
41
+ },
42
+ "grasp_3": {
43
+ "confidence": 0.9332700967788696,
44
+ "position": [
45
+ 0.002019635619944893,
46
+ 0.002566833223681897,
47
+ -0.14395201532170177
48
+ ],
49
+ "orientation": {
50
+ "w": 0.3410523148226773,
51
+ "xyz": [
52
+ -0.00545880074488044,
53
+ -0.009385918469765775,
54
+ 0.9399816086408286
55
+ ]
56
+ }
57
+ },
58
+ "grasp_4": {
59
+ "confidence": 0.9316006302833557,
60
+ "position": [
61
+ 0.004725913153379224,
62
+ 0.00037529546534642577,
63
+ -0.1417200597934425
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6790310561878664,
67
+ "xyz": [
68
+ -0.009313763890758529,
69
+ -0.02005009368611055,
70
+ 0.7337765819905647
71
+ ]
72
+ }
73
+ },
74
+ "grasp_6": {
75
+ "confidence": 0.930855393409729,
76
+ "position": [
77
+ 0.011546192326932214,
78
+ -0.013228840252850205,
79
+ -0.14147182134911418
80
+ ],
81
+ "orientation": {
82
+ "w": 0.2917003535424045,
83
+ "xyz": [
84
+ -0.05433364610357494,
85
+ 0.03678937437881391,
86
+ 0.9542564123846082
87
+ ]
88
+ }
89
+ },
90
+ "grasp_7": {
91
+ "confidence": 0.9305827617645264,
92
+ "position": [
93
+ -0.002418572679744102,
94
+ -0.0014994257362559438,
95
+ -0.14269067673012614
96
+ ],
97
+ "orientation": {
98
+ "w": 0.7549091229465249,
99
+ "xyz": [
100
+ 0.002702069227109488,
101
+ 0.007178450484764842,
102
+ -0.6557845566667747
103
+ ]
104
+ }
105
+ },
106
+ "grasp_10": {
107
+ "confidence": 0.9283733367919922,
108
+ "position": [
109
+ -0.08090195841214154,
110
+ -0.01715524314204231,
111
+ -0.09745657769963145
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6755079479250936,
115
+ "xyz": [
116
+ -0.36336056036674047,
117
+ 0.28205334481930244,
118
+ -0.57628467456305
119
+ ]
120
+ }
121
+ },
122
+ "grasp_13": {
123
+ "confidence": 0.926722526550293,
124
+ "position": [
125
+ 0.0003168186085531488,
126
+ -0.0005338323389878497,
127
+ -0.13855770556256175
128
+ ],
129
+ "orientation": {
130
+ "w": 0.748495838360691,
131
+ "xyz": [
132
+ 0.009387439733597125,
133
+ 0.011992620574426405,
134
+ -0.6629645789812093
135
+ ]
136
+ }
137
+ },
138
+ "grasp_17": {
139
+ "confidence": 0.9224752187728882,
140
+ "position": [
141
+ -0.056792818373651244,
142
+ -0.05796898534754291,
143
+ -0.11022089747712016
144
+ ],
145
+ "orientation": {
146
+ "w": 0.8091531225654083,
147
+ "xyz": [
148
+ -0.4038271113438182,
149
+ 0.13255282912100574,
150
+ -0.40573961586018975
151
+ ]
152
+ }
153
+ },
154
+ "grasp_19": {
155
+ "confidence": 0.9223436713218689,
156
+ "position": [
157
+ 0.00698837089294102,
158
+ -0.00624277867609635,
159
+ -0.14181584445759654
160
+ ],
161
+ "orientation": {
162
+ "w": 0.9509797947547005,
163
+ "xyz": [
164
+ -0.010973859896295244,
165
+ -0.035612967313605415,
166
+ -0.3069995454824059
167
+ ]
168
+ }
169
+ }
170
+ }
171
+ },
172
+ {
173
+ "part_name": "wine glass opening",
174
+ "mask_color": "Green",
175
+ "graspable": false,
176
+ "grasp_scenarios": [],
177
+ "functional_labels": [
178
+ "allow pouring into the glass",
179
+ "provide drinking access",
180
+ "define the mouth of the vessel",
181
+ "expose the interior for filling and cleaning"
182
+ ],
183
+ "semantic_description": "A wide oval opening at the top of the clear glossy glass body, formed by a smooth transparent rim.",
184
+ "id": 1,
185
+ "grasp_group": {}
186
+ }
187
+ ],
188
+ "quality_check": {
189
+ "success": false,
190
+ "message": "Red part name/description incorrectly includes the base; mask shows base and bowl together but object is stemmed, not stemless."
191
+ }
192
+ }
dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8b211fd989dc0de211268bd2eed4cadbe4dbd2bbeb96344cf7bfe3effebe08cb
3
+ size 3779028