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
8f144c7
·
verified ·
1 Parent(s): 53dac71

Add asset kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/affordance/affordance_annot.json +357 -0
  3. dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8491,3 +8491,4 @@ dataset/kitchen_supplies/utensils/0e13775ef1515c65a7474ebe097b9022/affordance/me
8491
  dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8492
  dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8493
  dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8491
  dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8492
  dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8493
  dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8494
+ dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/affordance/affordance_annot.json ADDED
@@ -0,0 +1,357 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cylindrical body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body from the side to pick up and move the object",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body steadily while placing or removing the object from a surface or holder",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "stabilize the body during inspection or manipulation of the end caps",
18
+ "confidence": 0.77
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main structural body",
23
+ "primary grip surface",
24
+ "encloses internal components",
25
+ "supports top and bottom end caps"
26
+ ],
27
+ "semantic_description": "Elongated silver-gray cylindrical body with a slightly tapered profile, likely metal or metallic-coated plastic, featuring a smooth reflective finish and dark circular end caps on both ends.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9680225849151611,
32
+ "position": [
33
+ 0.09796415886376053,
34
+ 0.04084284775308333,
35
+ -0.03625899972394109
36
+ ],
37
+ "orientation": {
38
+ "w": 0.3775935338628185,
39
+ "xyz": [
40
+ -0.38722961933124805,
41
+ -0.595041536947227,
42
+ 0.5944761680715618
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9671224355697632,
48
+ "position": [
49
+ 0.1037829207489267,
50
+ -0.02342931568273343,
51
+ -0.03776166448369622
52
+ ],
53
+ "orientation": {
54
+ "w": 0.43964122802021194,
55
+ "xyz": [
56
+ 0.43921475222641143,
57
+ -0.5508228513334551,
58
+ -0.5571356912821634
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9637426733970642,
64
+ "position": [
65
+ -0.0908785326173529,
66
+ -0.059126516949618235,
67
+ -0.01822933228686452
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6178412242163315,
71
+ "xyz": [
72
+ -0.6075902808983945,
73
+ 0.3585223931688737,
74
+ -0.347228981816234
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9637251496315002,
80
+ "position": [
81
+ -0.05114857235457748,
82
+ -0.009397340152645484,
83
+ 0.1815150580368936
84
+ ],
85
+ "orientation": {
86
+ "w": 0.1596702160649868,
87
+ "xyz": [
88
+ 0.6279117866181431,
89
+ 0.73167268236289,
90
+ 0.21186622244158132
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9626021385192871,
96
+ "position": [
97
+ 0.07108688971493393,
98
+ -0.080533715110505,
99
+ -0.05698980251327157
100
+ ],
101
+ "orientation": {
102
+ "w": 0.25424981460457685,
103
+ "xyz": [
104
+ 0.24097874905696687,
105
+ -0.6594109007505486,
106
+ -0.6651793278867192
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9593520760536194,
112
+ "position": [
113
+ 0.10910329839680344,
114
+ -0.014301516261184588,
115
+ -0.04285526508465409
116
+ ],
117
+ "orientation": {
118
+ "w": 0.49499912574837507,
119
+ "xyz": [
120
+ -0.5254701976364373,
121
+ -0.4911068425628543,
122
+ 0.48751513421863346
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9564825296401978,
128
+ "position": [
129
+ -0.10479048022534698,
130
+ -0.04274824835010804,
131
+ -0.024013167712837458
132
+ ],
133
+ "orientation": {
134
+ "w": 0.40628176378015907,
135
+ "xyz": [
136
+ 0.3953991065487016,
137
+ 0.5864945496758663,
138
+ 0.5784624604593408
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.955285906791687,
144
+ "position": [
145
+ 0.023739824653603137,
146
+ -0.10625966094085015,
147
+ -0.04141444945707917
148
+ ],
149
+ "orientation": {
150
+ "w": 0.7000870377174987,
151
+ "xyz": [
152
+ -0.7067567621958885,
153
+ -0.0756999594220159,
154
+ 0.06813614939096325
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.955137312412262,
160
+ "position": [
161
+ 0.09189280739519745,
162
+ 0.0468134785478469,
163
+ -0.035116991493850946
164
+ ],
165
+ "orientation": {
166
+ "w": 0.3665897172990503,
167
+ "xyz": [
168
+ -0.3647202823337898,
169
+ -0.6093822038049014,
170
+ 0.6010361257951514
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9549985527992249,
176
+ "position": [
177
+ -0.02246830181684345,
178
+ 0.0461064817791339,
179
+ 0.1817252985201776
180
+ ],
181
+ "orientation": {
182
+ "w": 0.04298931428527035,
183
+ "xyz": [
184
+ -0.21447115083420049,
185
+ 0.9405867254638084,
186
+ -0.2597126415837447
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9545345306396484,
192
+ "position": [
193
+ -0.06328597047831863,
194
+ -0.09046539120026864,
195
+ -0.01903031812980771
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6682554701127777,
199
+ "xyz": [
200
+ -0.6703003295768031,
201
+ 0.22960813569972882,
202
+ -0.22674258279836773
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9537177085876465,
208
+ "position": [
209
+ 0.053230101824738085,
210
+ -0.09386199913569726,
211
+ -0.0487889819778502
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6853066488307125,
215
+ "xyz": [
216
+ -0.681792978627952,
217
+ -0.18728086401397914,
218
+ 0.1744677888213779
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9536501169204712,
224
+ "position": [
225
+ 0.07098803541157395,
226
+ -0.07830395750352181,
227
+ -0.03843806544318795
228
+ ],
229
+ "orientation": {
230
+ "w": 0.2608425740138616,
231
+ "xyz": [
232
+ 0.2564593394962867,
233
+ -0.6644732099895619,
234
+ -0.6516633425113907
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9532752633094788,
240
+ "position": [
241
+ 0.06883583089802414,
242
+ -0.07964837006875314,
243
+ -0.054552069399505854
244
+ ],
245
+ "orientation": {
246
+ "w": 0.24467359486102408,
247
+ "xyz": [
248
+ 0.25454902949064245,
249
+ -0.6662457649122859,
250
+ -0.6568532593354461
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9531809091567993,
256
+ "position": [
257
+ 0.10042198619339615,
258
+ -0.02655039369710721,
259
+ -0.040394766721874475
260
+ ],
261
+ "orientation": {
262
+ "w": 0.41888116968378125,
263
+ "xyz": [
264
+ 0.44073815986132325,
265
+ -0.5713753767945976,
266
+ -0.5511974409585307
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9529757499694824,
272
+ "position": [
273
+ -0.044845034717582166,
274
+ -0.009445686970138922,
275
+ 0.1847135773859918
276
+ ],
277
+ "orientation": {
278
+ "w": 0.14624535204319758,
279
+ "xyz": [
280
+ 0.607862898896734,
281
+ 0.7529409890537225,
282
+ 0.20541387526995852
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9525921940803528,
288
+ "position": [
289
+ -0.05370500439312309,
290
+ -0.0037811632791999727,
291
+ 0.17957124626263976
292
+ ],
293
+ "orientation": {
294
+ "w": 0.1965446132361245,
295
+ "xyz": [
296
+ -0.7202493323495225,
297
+ 0.6373523811247905,
298
+ -0.1907696425862603
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9523422718048096,
304
+ "position": [
305
+ -0.05102730670478195,
306
+ 0.015157452638959512,
307
+ 0.18063353514298797
308
+ ],
309
+ "orientation": {
310
+ "w": 0.1670470530977376,
311
+ "xyz": [
312
+ -0.5705204291481349,
313
+ 0.7742711537926218,
314
+ -0.21703894208328475
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9519183039665222,
320
+ "position": [
321
+ -0.022438721149228513,
322
+ 0.04368357904604636,
323
+ 0.18100804602727294
324
+ ],
325
+ "orientation": {
326
+ "w": 0.051056662629780265,
327
+ "xyz": [
328
+ -0.23554147432921932,
329
+ 0.9370258185379139,
330
+ -0.2527766731035082
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9517326951026917,
336
+ "position": [
337
+ 0.08237077912781388,
338
+ -0.06564777545281686,
339
+ -0.0404303097166121
340
+ ],
341
+ "orientation": {
342
+ "w": 0.30111675826179196,
343
+ "xyz": [
344
+ 0.31566296958651857,
345
+ -0.6497757320175553,
346
+ -0.6224765743437901
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ }
352
+ ],
353
+ "quality_check": {
354
+ "success": true,
355
+ "message": "YES"
356
+ }
357
+ }
dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ce762de3d0606643416b99f8635b76998f4a7ab368c9e69555a2e11f31078ce
3
+ size 111294132