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
91f7651
·
verified ·
1 Parent(s): 5d38f5b

Add asset kitchen_supplies/ware/f3426f88400b59dba4053e56618f4fd4

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/f3426f88400b59dba4053e56618f4fd4/affordance/affordance_annot.json +562 -0
  3. dataset/kitchen_supplies/ware/f3426f88400b59dba4053e56618f4fd4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8518,3 +8518,4 @@ dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/affordance/mesh_p
8518
  dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8519
  dataset/kitchen_supplies/ware/eee69bbe1277572db5d337d9f44248a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8520
  dataset/kitchen_supplies/ware/f12311730f8d5f01a45b101bbaa8c165/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8518
  dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8519
  dataset/kitchen_supplies/ware/eee69bbe1277572db5d337d9f44248a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8520
  dataset/kitchen_supplies/ware/f12311730f8d5f01a45b101bbaa8c165/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8521
+ dataset/kitchen_supplies/ware/f3426f88400b59dba4053e56618f4fd4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/f3426f88400b59dba4053e56618f4fd4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,562 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body to pick up and carry the water bottle",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body to stabilize it while unscrewing the cap",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "grasp the mid-body to reposition the bottle on a surface",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain water",
23
+ "main grasp surface",
24
+ "support lifting and carrying",
25
+ "provide structural enclosure",
26
+ "stabilize during cap twisting"
27
+ ],
28
+ "semantic_description": "Large translucent blue plastic bottle body with a glossy smooth hard surface, tapered cylindrical shape, ribbed shoulder banding, and a petaloid base forming the main central volume.",
29
+ "id": 3,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9008950591087341,
33
+ "position": [
34
+ -0.01397034211549908,
35
+ 0.12346503493608907,
36
+ -0.05483996449038386
37
+ ],
38
+ "orientation": {
39
+ "w": 0.7269337427148598,
40
+ "xyz": [
41
+ 0.6845066182221801,
42
+ 0.03419774361164252,
43
+ 0.042994623436809994
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.8985188603401184,
49
+ "position": [
50
+ -0.015451032319106162,
51
+ 0.11928946879925206,
52
+ -0.06345838261768222
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7226456103429908,
56
+ "xyz": [
57
+ 0.6877023218910205,
58
+ 0.04928583699187372,
59
+ 0.049190899460321555
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.892155110836029,
65
+ "position": [
66
+ -0.0007030520355328918,
67
+ 0.1221650427323766,
68
+ -0.06747855944558978
69
+ ],
70
+ "orientation": {
71
+ "w": 0.7297782010716222,
72
+ "xyz": [
73
+ 0.68350236189772,
74
+ 0.009649178027217209,
75
+ 0.012457603473572956
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.8912855982780457,
81
+ "position": [
82
+ -0.003573622670955956,
83
+ 0.12165348586859182,
84
+ -0.06043979851529002
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7190768663294275,
88
+ "xyz": [
89
+ 0.6946220368314404,
90
+ 0.01953434918095387,
91
+ 0.006862613209855777
92
+ ]
93
+ }
94
+ },
95
+ "grasp_7": {
96
+ "confidence": 0.8879403471946716,
97
+ "position": [
98
+ -0.013978263013996184,
99
+ 0.12399918941082433,
100
+ -0.044713355135172606
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7189622461335943,
104
+ "xyz": [
105
+ 0.692471410920583,
106
+ 0.04666306900852979,
107
+ 0.03740577071655248
108
+ ]
109
+ }
110
+ },
111
+ "grasp_11": {
112
+ "confidence": 0.8857467174530029,
113
+ "position": [
114
+ -0.018254117690958083,
115
+ 0.12045647558989003,
116
+ -0.039856411051005125
117
+ ],
118
+ "orientation": {
119
+ "w": 0.6628701769019193,
120
+ "xyz": [
121
+ 0.7454192794810803,
122
+ 0.051486230283475876,
123
+ 0.047983272534520546
124
+ ]
125
+ }
126
+ },
127
+ "grasp_12": {
128
+ "confidence": 0.8856298327445984,
129
+ "position": [
130
+ 0.003025443176738918,
131
+ 0.12155320105375722,
132
+ -0.07053814036771655
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7369189967868135,
136
+ "xyz": [
137
+ 0.6758726042271246,
138
+ -0.0031874487017506947,
139
+ 0.0116814040566455
140
+ ]
141
+ }
142
+ },
143
+ "grasp_13": {
144
+ "confidence": 0.8847208619117737,
145
+ "position": [
146
+ -0.015413188957609236,
147
+ 0.11815990117611364,
148
+ -0.059174693655222654
149
+ ],
150
+ "orientation": {
151
+ "w": 0.7110142097319244,
152
+ "xyz": [
153
+ 0.7010804242313018,
154
+ 0.03354616111377573,
155
+ 0.04265779405306639
156
+ ]
157
+ }
158
+ },
159
+ "grasp_17": {
160
+ "confidence": 0.8808087110519409,
161
+ "position": [
162
+ -0.006191226770170033,
163
+ 0.12316942570032552,
164
+ -0.07130850804969668
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7267196637643025,
168
+ "xyz": [
169
+ 0.6862181947116693,
170
+ 0.016937763555827323,
171
+ 0.02638620303651033
172
+ ]
173
+ }
174
+ },
175
+ "grasp_18": {
176
+ "confidence": 0.8796959519386292,
177
+ "position": [
178
+ -0.00025619228836148977,
179
+ -0.12214548530755565,
180
+ -0.055762338917702436
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7293195171452735,
184
+ "xyz": [
185
+ -0.6841566373932748,
186
+ -0.004292380723515232,
187
+ 0.0020767497290795503
188
+ ]
189
+ }
190
+ },
191
+ "grasp_19": {
192
+ "confidence": 0.8786753416061401,
193
+ "position": [
194
+ -0.02293033490423113,
195
+ 0.12035884318174794,
196
+ -0.0725170518271625
197
+ ],
198
+ "orientation": {
199
+ "w": 0.714009963186872,
200
+ "xyz": [
201
+ 0.6950131657680859,
202
+ 0.06317688495419793,
203
+ 0.056170749384253094
204
+ ]
205
+ }
206
+ }
207
+ }
208
+ },
209
+ {
210
+ "part_name": "cap",
211
+ "mask_color": "Orange",
212
+ "graspable": true,
213
+ "grasp_scenarios": [
214
+ {
215
+ "scenario": "grasp the cap to twist it open or closed",
216
+ "confidence": 0.93
217
+ },
218
+ {
219
+ "scenario": "pinch the cap to orient the bottle by its top",
220
+ "confidence": 0.54
221
+ },
222
+ {
223
+ "scenario": "grasp the cap to lift the bottle briefly in a careful manipulation task",
224
+ "confidence": 0.29
225
+ }
226
+ ],
227
+ "functional_labels": [
228
+ "seal the bottle opening",
229
+ "enable opening and closing",
230
+ "provide top gripping point for twisting",
231
+ "prevent spills"
232
+ ],
233
+ "semantic_description": "Small opaque blue plastic cap with a glossy smooth hard finish, short cylindrical shape, and slightly rounded top located at the bottle neck.",
234
+ "id": 4,
235
+ "grasp_group": {
236
+ "grasp_20": {
237
+ "confidence": 0.711578905582428,
238
+ "position": [
239
+ 0.01937281747814268,
240
+ -0.088743869389873,
241
+ 0.15967477904632688
242
+ ],
243
+ "orientation": {
244
+ "w": 0.040638175055029174,
245
+ "xyz": [
246
+ 0.07808966227098123,
247
+ -0.8655601782952039,
248
+ -0.493007222182572
249
+ ]
250
+ }
251
+ },
252
+ "grasp_22": {
253
+ "confidence": 0.6764956712722778,
254
+ "position": [
255
+ 0.003260358120314777,
256
+ -0.08393470587907359,
257
+ 0.169156224001199
258
+ ],
259
+ "orientation": {
260
+ "w": 0.4689700092478693,
261
+ "xyz": [
262
+ -0.8831009222587906,
263
+ 0.005559767204658894,
264
+ 0.012999250761375572
265
+ ]
266
+ }
267
+ },
268
+ "grasp_23": {
269
+ "confidence": 0.675349771976471,
270
+ "position": [
271
+ -0.007224440225400031,
272
+ 0.09785089996876195,
273
+ 0.15182985411956906
274
+ ],
275
+ "orientation": {
276
+ "w": 0.5267815348332698,
277
+ "xyz": [
278
+ 0.8476871409813259,
279
+ 0.05457632058115125,
280
+ 0.0308082911800289
281
+ ]
282
+ }
283
+ },
284
+ "grasp_24": {
285
+ "confidence": 0.6752913594245911,
286
+ "position": [
287
+ 0.004545124829746783,
288
+ -0.08670471998630092,
289
+ 0.16271005617454648
290
+ ],
291
+ "orientation": {
292
+ "w": 0.4704205075222432,
293
+ "xyz": [
294
+ -0.882148528251512,
295
+ -0.019290665972642673,
296
+ 0.012099190573680533
297
+ ]
298
+ }
299
+ },
300
+ "grasp_25": {
301
+ "confidence": 0.6729811429977417,
302
+ "position": [
303
+ -0.0029400201747193933,
304
+ 0.10029965249123052,
305
+ 0.14951129304245114
306
+ ],
307
+ "orientation": {
308
+ "w": 0.5284854799202392,
309
+ "xyz": [
310
+ 0.8476233707758556,
311
+ 0.044094727007644274,
312
+ 0.017128160384932804
313
+ ]
314
+ }
315
+ },
316
+ "grasp_26": {
317
+ "confidence": 0.6718493700027466,
318
+ "position": [
319
+ 0.004608122515492141,
320
+ -0.0871329719084315,
321
+ 0.1598767344839871
322
+ ],
323
+ "orientation": {
324
+ "w": 0.47852303435760934,
325
+ "xyz": [
326
+ -0.8778557693512474,
327
+ -0.01156800533172353,
328
+ 0.015847241354914766
329
+ ]
330
+ }
331
+ },
332
+ "grasp_27": {
333
+ "confidence": 0.6711964011192322,
334
+ "position": [
335
+ 0.0025604638503864408,
336
+ -0.08651518466649577,
337
+ 0.16211083577945828
338
+ ],
339
+ "orientation": {
340
+ "w": 0.47718212445791497,
341
+ "xyz": [
342
+ -0.8786882484887515,
343
+ -0.011443826626212183,
344
+ 0.008556921043819601
345
+ ]
346
+ }
347
+ },
348
+ "grasp_28": {
349
+ "confidence": 0.6636853218078613,
350
+ "position": [
351
+ 0.004557917243801057,
352
+ -0.08128993603168055,
353
+ 0.1714145396836102
354
+ ],
355
+ "orientation": {
356
+ "w": 0.44891725061092574,
357
+ "xyz": [
358
+ -0.8933411697655572,
359
+ 0.00326480920943234,
360
+ 0.02010466430107662
361
+ ]
362
+ }
363
+ },
364
+ "grasp_29": {
365
+ "confidence": 0.6633847951889038,
366
+ "position": [
367
+ -0.03092340345028788,
368
+ 0.10733634588541463,
369
+ 0.12753936694934964
370
+ ],
371
+ "orientation": {
372
+ "w": 0.6161831974621608,
373
+ "xyz": [
374
+ 0.7720438888872518,
375
+ 0.1171621961938295,
376
+ 0.10266216722919576
377
+ ]
378
+ }
379
+ },
380
+ "grasp_30": {
381
+ "confidence": 0.6623209118843079,
382
+ "position": [
383
+ -0.0032156655797734857,
384
+ 0.10141176340403035,
385
+ 0.15057769464328885
386
+ ],
387
+ "orientation": {
388
+ "w": 0.5317650194293462,
389
+ "xyz": [
390
+ 0.8460285685486005,
391
+ 0.03562815498213534,
392
+ 0.013865781026766116
393
+ ]
394
+ }
395
+ },
396
+ "grasp_31": {
397
+ "confidence": 0.6612710356712341,
398
+ "position": [
399
+ 0.06746926938649267,
400
+ 0.08009025809587911,
401
+ 0.1335356687195599
402
+ ],
403
+ "orientation": {
404
+ "w": 0.21555538232236915,
405
+ "xyz": [
406
+ -0.25103216842889614,
407
+ -0.7599674844154636,
408
+ 0.5594355639365233
409
+ ]
410
+ }
411
+ },
412
+ "grasp_32": {
413
+ "confidence": 0.6604361534118652,
414
+ "position": [
415
+ 0.06230671366211027,
416
+ 0.08641714957775548,
417
+ 0.1277431850321591
418
+ ],
419
+ "orientation": {
420
+ "w": 0.5775635538541042,
421
+ "xyz": [
422
+ 0.7600132649881889,
423
+ -0.19848864856977966,
424
+ -0.22226658473633154
425
+ ]
426
+ }
427
+ },
428
+ "grasp_33": {
429
+ "confidence": 0.6541396975517273,
430
+ "position": [
431
+ -0.0032641665311530232,
432
+ -0.08377878012834117,
433
+ 0.16874605463817716
434
+ ],
435
+ "orientation": {
436
+ "w": 0.4712203703556318,
437
+ "xyz": [
438
+ -0.8818368811342652,
439
+ 0.017065184431171387,
440
+ -0.004884374435194682
441
+ ]
442
+ }
443
+ },
444
+ "grasp_34": {
445
+ "confidence": 0.650375485420227,
446
+ "position": [
447
+ 0.0642462003743276,
448
+ -0.07024038227973506,
449
+ 0.1547296796925366
450
+ ],
451
+ "orientation": {
452
+ "w": 0.4714298011233076,
453
+ "xyz": [
454
+ -0.8209702624130026,
455
+ -0.2566806832393175,
456
+ 0.19461962310661654
457
+ ]
458
+ }
459
+ },
460
+ "grasp_35": {
461
+ "confidence": 0.6491522789001465,
462
+ "position": [
463
+ -0.07396591419819742,
464
+ 0.06717834976734594,
465
+ 0.15085341082885861
466
+ ],
467
+ "orientation": {
468
+ "w": 0.4831816958602727,
469
+ "xyz": [
470
+ 0.7591082195978051,
471
+ 0.38515285543161426,
472
+ 0.2048107362359596
473
+ ]
474
+ }
475
+ },
476
+ "grasp_36": {
477
+ "confidence": 0.6484807133674622,
478
+ "position": [
479
+ 0.014104192494414747,
480
+ 0.1008812224608846,
481
+ 0.14244192885234952
482
+ ],
483
+ "orientation": {
484
+ "w": 0.556429529907781,
485
+ "xyz": [
486
+ 0.8300221259187249,
487
+ -0.01771618166613287,
488
+ -0.033698451583695846
489
+ ]
490
+ }
491
+ },
492
+ "grasp_37": {
493
+ "confidence": 0.6473859548568726,
494
+ "position": [
495
+ -0.08362217957619578,
496
+ 0.048971950833220035,
497
+ 0.15802328335121274
498
+ ],
499
+ "orientation": {
500
+ "w": 0.2581136126649362,
501
+ "xyz": [
502
+ -0.4555386439379873,
503
+ 0.7256839241436007,
504
+ -0.44636840062412514
505
+ ]
506
+ }
507
+ },
508
+ "grasp_38": {
509
+ "confidence": 0.6457873582839966,
510
+ "position": [
511
+ 0.00809636793565005,
512
+ 0.09488488343777135,
513
+ 0.15622419165447354
514
+ ],
515
+ "orientation": {
516
+ "w": 0.015523004488875414,
517
+ "xyz": [
518
+ -0.02051302623714513,
519
+ -0.8553604267256296,
520
+ 0.5173942331317398
521
+ ]
522
+ }
523
+ },
524
+ "grasp_39": {
525
+ "confidence": 0.6449384093284607,
526
+ "position": [
527
+ -0.021268866606988013,
528
+ 0.09902572986902669,
529
+ 0.14904984878376126
530
+ ],
531
+ "orientation": {
532
+ "w": 0.5391169803090595,
533
+ "xyz": [
534
+ 0.8342102558575886,
535
+ 0.09349745825002065,
536
+ 0.06858830705917174
537
+ ]
538
+ }
539
+ }
540
+ }
541
+ },
542
+ {
543
+ "part_name": "tamper ring",
544
+ "mask_color": "Purple",
545
+ "graspable": false,
546
+ "grasp_scenarios": [],
547
+ "functional_labels": [
548
+ "indicate unopened seal",
549
+ "retain cap before first opening",
550
+ "provide evidence of tampering",
551
+ "connect cap area to neck"
552
+ ],
553
+ "semantic_description": "Thin blue plastic tamper band fragments around the lower edge of the cap and upper neck, with a glossy hard surface and narrow ring-like form.",
554
+ "id": 5,
555
+ "grasp_group": {}
556
+ }
557
+ ],
558
+ "quality_check": {
559
+ "success": true,
560
+ "message": "YES"
561
+ }
562
+ }
dataset/kitchen_supplies/ware/f3426f88400b59dba4053e56618f4fd4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62099991e8fb207e53a29f6667ec13626a4c5c0f35599d668006d7df55ccbf60
3
+ size 2248324