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
841c0b4
·
verified ·
1 Parent(s): 5acc8eb

Add asset kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/affordance_annot.json +326 -0
  3. dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7200,4 +7200,4 @@ dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/affordance/mes
7200
  dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7201
  dataset/kitchen_supplies/tableware/2a845a4248835312834c60c045d2fc4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7202
  dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7203
- dataset/kitchen_supplies/tableware/2bf01f8973c0597abf0f017547df9f80/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7200
  dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7201
  dataset/kitchen_supplies/tableware/2a845a4248835312834c60c045d2fc4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7202
  dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7203
+ dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/affordance_annot.json ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "coaster body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the coaster along opposite side edges to pick it up from a table",
10
+ "confidence": 0.91
11
+ },
12
+ {
13
+ "scenario": "pinch the coaster at one corner to reposition it",
14
+ "confidence": 0.79
15
+ },
16
+ {
17
+ "scenario": "hold the coaster body to place it under a cup or glass",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "support a cup or glass",
23
+ "protect the table surface",
24
+ "provide a resting surface for drinkware",
25
+ "catch minor condensation drips",
26
+ "stabilize drink placement"
27
+ ],
28
+ "semantic_description": "Single-piece medium-brown wooden coaster with visible wood grain, a smooth satin hard surface, rounded-square shape, shallow recessed top, and slightly thickened raised rim around the perimeter.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9873144030570984,
33
+ "position": [
34
+ -0.002620992156153079,
35
+ -0.14428522280650213,
36
+ 0.0009705392003525048
37
+ ],
38
+ "orientation": {
39
+ "w": 0.4920467428939375,
40
+ "xyz": [
41
+ -0.49760246788567103,
42
+ -0.4998064623484678,
43
+ -0.5103677957671962
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9872676730155945,
49
+ "position": [
50
+ -0.006323178437014576,
51
+ -0.14775334886508062,
52
+ 0.0002908626402131631
53
+ ],
54
+ "orientation": {
55
+ "w": 0.49014135554220106,
56
+ "xyz": [
57
+ -0.5015852887000976,
58
+ -0.49290850565045674,
59
+ -0.5149901502012706
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9871661067008972,
65
+ "position": [
66
+ 0.007035819209704641,
67
+ -0.14416924706893042,
68
+ -0.0005459254898596555
69
+ ],
70
+ "orientation": {
71
+ "w": 0.42847241226581895,
72
+ "xyz": [
73
+ -0.5795592218240397,
74
+ 0.40977834810983726,
75
+ 0.5591101910591475
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.987108051776886,
81
+ "position": [
82
+ 0.009054510250280146,
83
+ -0.14873903087573126,
84
+ -0.0004332167736720294
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4943451406110094,
88
+ "xyz": [
89
+ -0.5014026795718627,
90
+ -0.49629063110945004,
91
+ -0.5078521874969347
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9868796467781067,
97
+ "position": [
98
+ 0.14826786737103248,
99
+ 0.03415005811257288,
100
+ -0.00768954903469421
101
+ ],
102
+ "orientation": {
103
+ "w": 0.04249086458760233,
104
+ "xyz": [
105
+ 0.6948273338660932,
106
+ 0.03876800579538542,
107
+ -0.716872753189702
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9868001937866211,
113
+ "position": [
114
+ -0.011697735310008284,
115
+ -0.14570865622954443,
116
+ -0.0029807986284140497
117
+ ],
118
+ "orientation": {
119
+ "w": 0.49244616598926516,
120
+ "xyz": [
121
+ -0.49733514561918146,
122
+ -0.49527427271395463,
123
+ -0.5146434895362851
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9867952466011047,
129
+ "position": [
130
+ -0.026404801428725477,
131
+ -0.14570645085768774,
132
+ 0.0050807684601750225
133
+ ],
134
+ "orientation": {
135
+ "w": 0.47783475610655124,
136
+ "xyz": [
137
+ -0.5171322922148114,
138
+ -0.4941244953705791,
139
+ -0.5099893344767304
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.986763060092926,
145
+ "position": [
146
+ -0.00873035811673617,
147
+ -0.1450298189301975,
148
+ -0.0008463909907732159
149
+ ],
150
+ "orientation": {
151
+ "w": 0.507457271740374,
152
+ "xyz": [
153
+ -0.5040436970975597,
154
+ 0.4968013849773416,
155
+ 0.49154394784051053
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9867448210716248,
161
+ "position": [
162
+ -0.005443122376163956,
163
+ -0.14292665413813666,
164
+ 0.0024176778679247946
165
+ ],
166
+ "orientation": {
167
+ "w": 0.4891897096638195,
168
+ "xyz": [
169
+ -0.5021938822101442,
170
+ -0.5042428191455918,
171
+ -0.5042161361656706
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9865743517875671,
177
+ "position": [
178
+ -0.009392507978191134,
179
+ -0.14566130033927038,
180
+ 0.007195794576546177
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4922859213614585,
184
+ "xyz": [
185
+ -0.5219780639198548,
186
+ 0.5106181572249171,
187
+ 0.47377480930080107
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9864055514335632,
193
+ "position": [
194
+ -0.008287829950859305,
195
+ -0.14430641225771978,
196
+ -0.0036414176283869892
197
+ ],
198
+ "orientation": {
199
+ "w": 0.48737917400321285,
200
+ "xyz": [
201
+ -0.5191963765241083,
202
+ 0.47271202407552393,
203
+ 0.5190761077593571
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9861418604850769,
209
+ "position": [
210
+ -0.007085517652740236,
211
+ -0.14467272750334814,
212
+ -0.004073912656167522
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4696519097264304,
216
+ "xyz": [
217
+ -0.5204842342496495,
218
+ -0.4549783588695635,
219
+ -0.5491064910818597
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9861211180686951,
225
+ "position": [
226
+ -0.040100494072248694,
227
+ -0.1415905564208515,
228
+ 0.004839128901949152
229
+ ],
230
+ "orientation": {
231
+ "w": 0.47541507793625615,
232
+ "xyz": [
233
+ -0.520817210316241,
234
+ -0.48464740870679124,
235
+ -0.5175392027113158
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9860367178916931,
241
+ "position": [
242
+ -0.02337660235207295,
243
+ -0.1435906498809345,
244
+ -0.005561337718972936
245
+ ],
246
+ "orientation": {
247
+ "w": 0.499955167139359,
248
+ "xyz": [
249
+ -0.4991386305734411,
250
+ -0.4826379206175472,
251
+ -0.5176544174465197
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9859738349914551,
257
+ "position": [
258
+ 0.012282324350962881,
259
+ -0.14826872042613104,
260
+ -0.00608271817327477
261
+ ],
262
+ "orientation": {
263
+ "w": 0.49563204440110553,
264
+ "xyz": [
265
+ -0.4966537572877296,
266
+ -0.4857661600359512,
267
+ -0.5212630427132618
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.985927939414978,
273
+ "position": [
274
+ -0.02172686313133454,
275
+ -0.14648116222815588,
276
+ -0.0003594054433051497
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5185384540243736,
280
+ "xyz": [
281
+ -0.4935709534941327,
282
+ 0.5115407367311077,
283
+ 0.47521748729345076
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9859259724617004,
289
+ "position": [
290
+ -0.02832781676988816,
291
+ -0.14596483699278906,
292
+ 0.009949410887202248
293
+ ],
294
+ "orientation": {
295
+ "w": 0.48138522212631646,
296
+ "xyz": [
297
+ -0.5173475564513675,
298
+ 0.5224269443525473,
299
+ 0.4771685882019646
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.9858515858650208,
305
+ "position": [
306
+ -0.018747074202110525,
307
+ -0.14235136500792578,
308
+ 0.0035301345342304558
309
+ ],
310
+ "orientation": {
311
+ "w": 0.4880661093485213,
312
+ "xyz": [
313
+ -0.5108377572953884,
314
+ -0.4949315992018639,
315
+ -0.5058448089466775
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ }
321
+ ],
322
+ "quality_check": {
323
+ "success": true,
324
+ "message": "YES"
325
+ }
326
+ }
dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:40e499fc400f6146fd47168772d409d766fb59432a2b5ceafd792b5317d32043
3
+ size 111286760