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
4891a59
·
verified ·
1 Parent(s): 7602777

Add asset kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/affordance/affordance_annot.json +300 -0
  3. dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7410,4 +7410,4 @@ dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/affordance/m
7410
  dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7411
  dataset/kitchen_supplies/tableware/db884ce85579547f84d75ba11aecde37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7412
  dataset/kitchen_supplies/tableware/dc5a4c097c5957cda3390ec7ffc8a272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7413
- dataset/kitchen_supplies/tableware/db2c501be2c55a71a0fd83a0e24bb175/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7410
  dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7411
  dataset/kitchen_supplies/tableware/db884ce85579547f84d75ba11aecde37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7412
  dataset/kitchen_supplies/tableware/dc5a4c097c5957cda3390ec7ffc8a272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7413
+ dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle end",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle end to pick up and carry the fork",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the handle end to orient the fork for placement or use",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "pinch the handle end to pull the fork from a surface or drawer",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip area",
23
+ "support manipulation",
24
+ "provide leverage",
25
+ "rear end of handle"
26
+ ],
27
+ "semantic_description": "Short terminal section of the fork handle, gold-toned metal with a reflective glossy finish, smooth hard surface, slightly thicker and flatter than the neck, located at the rear end of the fork.",
28
+ "id": 3,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "tines",
33
+ "mask_color": "Cyan",
34
+ "graspable": false,
35
+ "grasp_scenarios": [],
36
+ "functional_labels": [
37
+ "pierce food",
38
+ "separate small bites",
39
+ "hold food temporarily",
40
+ "eating end"
41
+ ],
42
+ "semantic_description": "Four narrow gold-toned metal prongs with a shiny reflective finish, hard smooth texture, and slim parallel shape projecting from the fork head.",
43
+ "id": 6,
44
+ "grasp_group": {}
45
+ },
46
+ {
47
+ "part_name": "fork head and neck",
48
+ "mask_color": "Pink",
49
+ "graspable": true,
50
+ "grasp_scenarios": [
51
+ {
52
+ "scenario": "grasp the neck or upper body to stabilize and reorient the fork briefly",
53
+ "confidence": 0.72
54
+ },
55
+ {
56
+ "scenario": "grasp the broad head area carefully for temporary pickup when the handle end is obstructed",
57
+ "confidence": 0.41
58
+ }
59
+ ],
60
+ "functional_labels": [
61
+ "support food behind tines",
62
+ "connect tines to handle",
63
+ "transmit force during use",
64
+ "structural body"
65
+ ],
66
+ "semantic_description": "Central gold-colored metal section including the fork head and narrow neck, with a glossy reflective surface, smooth hard texture, a broad rounded head below the tines, and a slender tapering neck leading toward the handle end.",
67
+ "id": 8,
68
+ "grasp_group": {
69
+ "grasp_21": {
70
+ "confidence": 0.970442533493042,
71
+ "position": [
72
+ 0.021430600434541702,
73
+ 0.0950425452356285,
74
+ 0.00021662982180714607
75
+ ],
76
+ "orientation": {
77
+ "w": 0.541025801274679,
78
+ "xyz": [
79
+ 0.5670552940586739,
80
+ 0.4403769818108274,
81
+ -0.43795831962220794
82
+ ]
83
+ }
84
+ },
85
+ "grasp_22": {
86
+ "confidence": 0.9702880382537842,
87
+ "position": [
88
+ 0.01128766592592001,
89
+ 0.09742758039283217,
90
+ -0.006943019339814782
91
+ ],
92
+ "orientation": {
93
+ "w": 0.5511043853294174,
94
+ "xyz": [
95
+ 0.5039897630115303,
96
+ 0.4811683247466296,
97
+ -0.4590809498452189
98
+ ]
99
+ }
100
+ },
101
+ "grasp_23": {
102
+ "confidence": 0.970075786113739,
103
+ "position": [
104
+ -0.0254999827593565,
105
+ 0.08880791429328383,
106
+ -0.010010287864133716
107
+ ],
108
+ "orientation": {
109
+ "w": 0.6321142712464669,
110
+ "xyz": [
111
+ 0.4029105880842988,
112
+ 0.5522289519923026,
113
+ -0.3648805156179141
114
+ ]
115
+ }
116
+ },
117
+ "grasp_24": {
118
+ "confidence": 0.9700688123703003,
119
+ "position": [
120
+ 0.007386636920273304,
121
+ -0.09471080090952455,
122
+ -0.004466477548703551
123
+ ],
124
+ "orientation": {
125
+ "w": 0.5810570521708983,
126
+ "xyz": [
127
+ -0.5256073769750619,
128
+ 0.4718176048048205,
129
+ 0.4043485318238509
130
+ ]
131
+ }
132
+ },
133
+ "grasp_25": {
134
+ "confidence": 0.9696272611618042,
135
+ "position": [
136
+ 0.011563718784600496,
137
+ 0.09832926455783308,
138
+ -0.006487873150035739
139
+ ],
140
+ "orientation": {
141
+ "w": 0.5662707466589418,
142
+ "xyz": [
143
+ 0.512475478012405,
144
+ 0.47232547726176166,
145
+ -0.44001701040270136
146
+ ]
147
+ }
148
+ },
149
+ "grasp_27": {
150
+ "confidence": 0.9693387150764465,
151
+ "position": [
152
+ 0.0051876697689294815,
153
+ -0.09551103051853715,
154
+ 0.0017452912870794535
155
+ ],
156
+ "orientation": {
157
+ "w": 0.4601410344484623,
158
+ "xyz": [
159
+ -0.5117524707218831,
160
+ -0.5139094237616617,
161
+ -0.5121296137656017
162
+ ]
163
+ }
164
+ },
165
+ "grasp_28": {
166
+ "confidence": 0.9690443277359009,
167
+ "position": [
168
+ 0.01304886385332793,
169
+ -0.09925252582979738,
170
+ -0.0018944733310490847
171
+ ],
172
+ "orientation": {
173
+ "w": 0.4115580346008865,
174
+ "xyz": [
175
+ -0.44097373234129295,
176
+ -0.5591312872065868,
177
+ -0.5688008045064205
178
+ ]
179
+ }
180
+ },
181
+ "grasp_29": {
182
+ "confidence": 0.9690148830413818,
183
+ "position": [
184
+ -0.010733027011156082,
185
+ -0.09285183634710847,
186
+ -0.00650838459841907
187
+ ],
188
+ "orientation": {
189
+ "w": 0.6005042190148211,
190
+ "xyz": [
191
+ -0.4275190051060652,
192
+ 0.5491293992991964,
193
+ 0.3938008202680944
194
+ ]
195
+ }
196
+ },
197
+ "grasp_31": {
198
+ "confidence": 0.968643844127655,
199
+ "position": [
200
+ -0.012412773445248604,
201
+ 0.09189103159951628,
202
+ -0.00988068780861795
203
+ ],
204
+ "orientation": {
205
+ "w": 0.5854771244085379,
206
+ "xyz": [
207
+ 0.441719895324439,
208
+ 0.5288693711673456,
209
+ -0.42707992122076266
210
+ ]
211
+ }
212
+ },
213
+ "grasp_32": {
214
+ "confidence": 0.968629777431488,
215
+ "position": [
216
+ 0.018342805793508887,
217
+ -0.09676296647739946,
218
+ -0.005528715206310153
219
+ ],
220
+ "orientation": {
221
+ "w": 0.5230136303152141,
222
+ "xyz": [
223
+ -0.5430850873068227,
224
+ 0.4517071194384572,
225
+ 0.47694445032734406
226
+ ]
227
+ }
228
+ },
229
+ "grasp_33": {
230
+ "confidence": 0.968045711517334,
231
+ "position": [
232
+ -0.004304258152842522,
233
+ 0.09241310123252333,
234
+ -0.01232520374469459
235
+ ],
236
+ "orientation": {
237
+ "w": 0.4903207805882095,
238
+ "xyz": [
239
+ 0.5505391813386412,
240
+ -0.4029766075638366,
241
+ 0.5423117145062326
242
+ ]
243
+ }
244
+ },
245
+ "grasp_34": {
246
+ "confidence": 0.9679755568504333,
247
+ "position": [
248
+ -0.00018943194299936295,
249
+ -0.09426833327961504,
250
+ -0.016329137375578284
251
+ ],
252
+ "orientation": {
253
+ "w": 0.4227085939435255,
254
+ "xyz": [
255
+ -0.46728299942871176,
256
+ -0.4640038876881166,
257
+ -0.6226270434710562
258
+ ]
259
+ }
260
+ },
261
+ "grasp_36": {
262
+ "confidence": 0.9674962759017944,
263
+ "position": [
264
+ 0.019782612565904856,
265
+ -0.09790714468908845,
266
+ 0.005754307145252824
267
+ ],
268
+ "orientation": {
269
+ "w": 0.5511315062815331,
270
+ "xyz": [
271
+ -0.5922355033275813,
272
+ 0.4342199895995098,
273
+ 0.39618704170426394
274
+ ]
275
+ }
276
+ },
277
+ "grasp_38": {
278
+ "confidence": 0.9674444198608398,
279
+ "position": [
280
+ -0.013997303321957588,
281
+ 0.0888433418040222,
282
+ -0.026789891300722957
283
+ ],
284
+ "orientation": {
285
+ "w": 0.6382645478749941,
286
+ "xyz": [
287
+ 0.3881075328919295,
288
+ 0.510528986084647,
289
+ -0.42585333649726315
290
+ ]
291
+ }
292
+ }
293
+ }
294
+ }
295
+ ],
296
+ "quality_check": {
297
+ "success": true,
298
+ "message": "YES"
299
+ }
300
+ }
dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11a2ad2dcf0009c05b7e96e24e654c59c40288b4fef3f0c156d36fa608698810
3
+ size 570648