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
6b62c89
·
verified ·
1 Parent(s): 46c516c

Add asset kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/affordance/affordance_annot.json +418 -0
  3. dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7319,3 +7319,4 @@ dataset/kitchen_supplies/tableware/8e361317c45150208b904db1618ace6d/affordance/m
7319
  dataset/kitchen_supplies/tableware/911d549b6f7a594fbac70e8715604588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7320
  dataset/kitchen_supplies/tableware/92264018e5b056c68a7725e52c123860/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7321
  dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7319
  dataset/kitchen_supplies/tableware/911d549b6f7a594fbac70e8715604588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7320
  dataset/kitchen_supplies/tableware/92264018e5b056c68a7725e52c123860/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7321
  dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7322
+ dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/affordance/affordance_annot.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bowl rim",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the rim to lift or reposition the empty fruit bowl",
10
+ "confidence": 0.86
11
+ },
12
+ {
13
+ "scenario": "pinch the rim to stabilize the bowl while placing fruit inside",
14
+ "confidence": 0.78
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide an upper gripping edge",
19
+ "define the opening",
20
+ "support containment boundary",
21
+ "stabilize handling during placement"
22
+ ],
23
+ "semantic_description": "Thin circular white rim of likely painted metal with a smooth slightly glossy hard surface, running around the bowl's top edge as a narrow raised border.",
24
+ "id": 3,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "perforated bowl body",
29
+ "mask_color": "Blue",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the bowl body from opposite sides to pick up the fruit bowl",
34
+ "confidence": 0.72
35
+ },
36
+ {
37
+ "scenario": "hold the sidewall to steady the bowl during loading or unloading",
38
+ "confidence": 0.74
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "contain fruit",
43
+ "provide main structural body",
44
+ "allow airflow through perforations",
45
+ "support contents above the base"
46
+ ],
47
+ "semantic_description": "Large white metal bowl body with a smooth semi-gloss hard finish, rounded open shape, and many decorative ventilation holes across the sidewalls and lower outer surface.",
48
+ "id": 2,
49
+ "grasp_group": {
50
+ "grasp_20": {
51
+ "confidence": 0.9760899543762207,
52
+ "position": [
53
+ 0.051334687508642673,
54
+ 0.13743737793993205,
55
+ 0.13416262553073466
56
+ ],
57
+ "orientation": {
58
+ "w": 0.23338560268999084,
59
+ "xyz": [
60
+ 0.8407550497069415,
61
+ 0.48418772142674804,
62
+ -0.06499505572643322
63
+ ]
64
+ }
65
+ },
66
+ "grasp_21": {
67
+ "confidence": 0.9733179807662964,
68
+ "position": [
69
+ 0.06815790850669146,
70
+ 0.12719046033453196,
71
+ 0.13698001787997782
72
+ ],
73
+ "orientation": {
74
+ "w": 0.17746095258704347,
75
+ "xyz": [
76
+ 0.859549848302858,
77
+ 0.4662797354352336,
78
+ -0.11074690475079389
79
+ ]
80
+ }
81
+ },
82
+ "grasp_22": {
83
+ "confidence": 0.9721949100494385,
84
+ "position": [
85
+ 0.05095954705029726,
86
+ 0.13279335654806346,
87
+ 0.13624176965095103
88
+ ],
89
+ "orientation": {
90
+ "w": 0.19048968470726957,
91
+ "xyz": [
92
+ 0.8298731477229776,
93
+ 0.5152234729362363,
94
+ -0.09782132509839306
95
+ ]
96
+ }
97
+ },
98
+ "grasp_23": {
99
+ "confidence": 0.9716156721115112,
100
+ "position": [
101
+ 0.08992596436291933,
102
+ -0.11003677092958242,
103
+ 0.14064086065627635
104
+ ],
105
+ "orientation": {
106
+ "w": 0.0656383526395652,
107
+ "xyz": [
108
+ -0.8882060399837851,
109
+ 0.42780458090306284,
110
+ 0.15415861233626127
111
+ ]
112
+ }
113
+ },
114
+ "grasp_24": {
115
+ "confidence": 0.9713122248649597,
116
+ "position": [
117
+ 0.05660905409604311,
118
+ 0.13384764350485057,
119
+ 0.136598369339481
120
+ ],
121
+ "orientation": {
122
+ "w": 0.15017740954102365,
123
+ "xyz": [
124
+ 0.8298210459028821,
125
+ 0.5179815186668077,
126
+ -0.14331407383722544
127
+ ]
128
+ }
129
+ },
130
+ "grasp_25": {
131
+ "confidence": 0.9710655212402344,
132
+ "position": [
133
+ 0.06687251944094896,
134
+ 0.1441223070723936,
135
+ 0.1318446306977421
136
+ ],
137
+ "orientation": {
138
+ "w": 0.18954570114768904,
139
+ "xyz": [
140
+ 0.8255353421157463,
141
+ 0.4964125140178871,
142
+ -0.19010113629515632
143
+ ]
144
+ }
145
+ },
146
+ "grasp_26": {
147
+ "confidence": 0.9708356261253357,
148
+ "position": [
149
+ 0.0581613602116704,
150
+ 0.12926981307100505,
151
+ 0.13650106475688517
152
+ ],
153
+ "orientation": {
154
+ "w": 0.16864848477546884,
155
+ "xyz": [
156
+ 0.8429726564647213,
157
+ 0.5000477416784064,
158
+ -0.10443679944385224
159
+ ]
160
+ }
161
+ },
162
+ "grasp_27": {
163
+ "confidence": 0.9705998301506042,
164
+ "position": [
165
+ 0.04656884539872408,
166
+ 0.1339766726596281,
167
+ 0.13519053743220866
168
+ ],
169
+ "orientation": {
170
+ "w": 0.2072750743094254,
171
+ "xyz": [
172
+ 0.8377902435190379,
173
+ 0.500561207251377,
174
+ -0.0676980740448167
175
+ ]
176
+ }
177
+ },
178
+ "grasp_28": {
179
+ "confidence": 0.970000147819519,
180
+ "position": [
181
+ 0.11767060775309801,
182
+ -0.06927231245208532,
183
+ 0.1411139874253422
184
+ ],
185
+ "orientation": {
186
+ "w": 0.05704839768147391,
187
+ "xyz": [
188
+ -0.9539861082380163,
189
+ 0.2625478085684071,
190
+ 0.13313389435747497
191
+ ]
192
+ }
193
+ },
194
+ "grasp_29": {
195
+ "confidence": 0.9696645736694336,
196
+ "position": [
197
+ 0.11257497686892748,
198
+ -0.08271695964504033,
199
+ 0.1394217370543629
200
+ ],
201
+ "orientation": {
202
+ "w": 0.03342275439444005,
203
+ "xyz": [
204
+ -0.922777276586222,
205
+ 0.3531200256102328,
206
+ 0.1505698004841367
207
+ ]
208
+ }
209
+ },
210
+ "grasp_30": {
211
+ "confidence": 0.9694655537605286,
212
+ "position": [
213
+ 0.08478831220418215,
214
+ 0.12726334191393107,
215
+ 0.1363568662200123
216
+ ],
217
+ "orientation": {
218
+ "w": 0.16420602822790706,
219
+ "xyz": [
220
+ 0.4347593041628127,
221
+ -0.8721928583798165,
222
+ 0.152644507037522
223
+ ]
224
+ }
225
+ },
226
+ "grasp_31": {
227
+ "confidence": 0.9694469571113586,
228
+ "position": [
229
+ 0.03717545885592699,
230
+ 0.14730561233591288,
231
+ 0.12814793572761118
232
+ ],
233
+ "orientation": {
234
+ "w": 0.3078572991225962,
235
+ "xyz": [
236
+ 0.8010309530287988,
237
+ 0.5105420740678048,
238
+ -0.054037822617674106
239
+ ]
240
+ }
241
+ },
242
+ "grasp_32": {
243
+ "confidence": 0.96944260597229,
244
+ "position": [
245
+ 0.06723976600915194,
246
+ 0.13857591606210917,
247
+ 0.13382374332286417
248
+ ],
249
+ "orientation": {
250
+ "w": 0.14671597126359695,
251
+ "xyz": [
252
+ 0.4575069967273209,
253
+ -0.8506463174923561,
254
+ 0.21345400970330855
255
+ ]
256
+ }
257
+ },
258
+ "grasp_33": {
259
+ "confidence": 0.9694095253944397,
260
+ "position": [
261
+ 0.09732712525874376,
262
+ -0.106081637670286,
263
+ 0.13533543632365763
264
+ ],
265
+ "orientation": {
266
+ "w": 0.04073549097068187,
267
+ "xyz": [
268
+ -0.877842784448395,
269
+ 0.44102019362173017,
270
+ 0.18230154795041487
271
+ ]
272
+ }
273
+ },
274
+ "grasp_34": {
275
+ "confidence": 0.9692909121513367,
276
+ "position": [
277
+ 0.06652901042252779,
278
+ 0.13962935365270823,
279
+ 0.1319749264512211
280
+ ],
281
+ "orientation": {
282
+ "w": 0.20196989038321747,
283
+ "xyz": [
284
+ 0.4980705660181762,
285
+ -0.8331329592256316,
286
+ 0.1304735486482496
287
+ ]
288
+ }
289
+ },
290
+ "grasp_35": {
291
+ "confidence": 0.9692443013191223,
292
+ "position": [
293
+ 0.08817413169890642,
294
+ 0.13840979791712016,
295
+ 0.1292349307332188
296
+ ],
297
+ "orientation": {
298
+ "w": 0.2632372211727677,
299
+ "xyz": [
300
+ 0.45687267692248856,
301
+ -0.8428820553196721,
302
+ 0.10734692958349493
303
+ ]
304
+ }
305
+ },
306
+ "grasp_36": {
307
+ "confidence": 0.9692110419273376,
308
+ "position": [
309
+ 0.04439468402415514,
310
+ 0.14101455069612712,
311
+ 0.13443117425777018
312
+ ],
313
+ "orientation": {
314
+ "w": 0.10324580056888287,
315
+ "xyz": [
316
+ 0.7765644388680758,
317
+ 0.586768939220505,
318
+ -0.20491507732825479
319
+ ]
320
+ }
321
+ },
322
+ "grasp_37": {
323
+ "confidence": 0.9687992334365845,
324
+ "position": [
325
+ 0.04224978107959032,
326
+ 0.14210285700391978,
327
+ 0.1334327368531376
328
+ ],
329
+ "orientation": {
330
+ "w": 0.19464090695841496,
331
+ "xyz": [
332
+ 0.8068771262231694,
333
+ 0.542752319536583,
334
+ -0.12839057657750486
335
+ ]
336
+ }
337
+ },
338
+ "grasp_38": {
339
+ "confidence": 0.9687486886978149,
340
+ "position": [
341
+ 0.04389639664441347,
342
+ 0.14239378727506846,
343
+ 0.13219239399768412
344
+ ],
345
+ "orientation": {
346
+ "w": 0.1493092212931911,
347
+ "xyz": [
348
+ 0.7776713954699227,
349
+ 0.585741515325583,
350
+ -0.17274499798481505
351
+ ]
352
+ }
353
+ },
354
+ "grasp_39": {
355
+ "confidence": 0.9686405062675476,
356
+ "position": [
357
+ 0.08602008689194918,
358
+ 0.13692677475046366,
359
+ 0.12994585023261607
360
+ ],
361
+ "orientation": {
362
+ "w": 0.260204054732136,
363
+ "xyz": [
364
+ 0.49127408909166703,
365
+ -0.8281304692137647,
366
+ 0.07171851398278314
367
+ ]
368
+ }
369
+ }
370
+ }
371
+ },
372
+ {
373
+ "part_name": "base of fruit bowl",
374
+ "mask_color": "Green",
375
+ "graspable": true,
376
+ "grasp_scenarios": [
377
+ {
378
+ "scenario": "grasp the bottom base to lift or flip the empty bowl during handling",
379
+ "confidence": 0.51
380
+ },
381
+ {
382
+ "scenario": "support the base from below while another gripper stabilizes the rim",
383
+ "confidence": 0.67
384
+ }
385
+ ],
386
+ "functional_labels": [
387
+ "support on a flat surface",
388
+ "stabilize the bowl",
389
+ "distribute load to the table",
390
+ "elevate contained fruit slightly"
391
+ ],
392
+ "semantic_description": "Circular white bottom base of likely metal with a smooth hard slightly glossy finish, centered under the bowl as a smaller flat round support area.",
393
+ "id": 1,
394
+ "grasp_group": {
395
+ "grasp_0": {
396
+ "confidence": 0.025781067088246346,
397
+ "position": [
398
+ -0.02155421022325754,
399
+ 0.05264914862345904,
400
+ -0.15086307539604604
401
+ ],
402
+ "orientation": {
403
+ "w": 0.5879929833493082,
404
+ "xyz": [
405
+ 0.1746980716703769,
406
+ 0.239076447768778,
407
+ -0.7527199262733077
408
+ ]
409
+ }
410
+ }
411
+ }
412
+ }
413
+ ],
414
+ "quality_check": {
415
+ "success": true,
416
+ "message": "YES"
417
+ }
418
+ }
dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:248b07189c61bdf2099ab42d420e05b722a81dba0d75e23484ef38b490f0879e
3
+ size 1711648