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
da6d3c5
·
verified ·
1 Parent(s): 2daa4e3

Add asset kitchen_supplies/tableware/e072e24065a45cef8202f7da6ae7e71d

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/e072e24065a45cef8202f7da6ae7e71d/affordance/affordance_annot.json +300 -0
  3. dataset/kitchen_supplies/tableware/e072e24065a45cef8202f7da6ae7e71d/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7414,3 +7414,4 @@ dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/affordance/m
7414
  dataset/kitchen_supplies/tableware/ddb14ad17d1f5b05b275db87581c3ba4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7415
  dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7416
  dataset/kitchen_supplies/tableware/def24dd643fc54d59f60712ef5123660/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7414
  dataset/kitchen_supplies/tableware/ddb14ad17d1f5b05b275db87581c3ba4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7415
  dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7416
  dataset/kitchen_supplies/tableware/def24dd643fc54d59f60712ef5123660/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7417
+ dataset/kitchen_supplies/tableware/e072e24065a45cef8202f7da6ae7e71d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/e072e24065a45cef8202f7da6ae7e71d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "fork head",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the fork head to reposition or sort the utensil in a tray",
10
+ "confidence": 0.34
11
+ },
12
+ {
13
+ "scenario": "pinch the neck of the fork head to stabilize the utensil during inspection",
14
+ "confidence": 0.29
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "pierce food",
19
+ "lift small bites",
20
+ "separate soft food",
21
+ "serve as the eating end"
22
+ ],
23
+ "semantic_description": "Small silver-colored metal fork head with a reflective smooth hard surface, featuring four narrow tines at one end and located opposite the handle.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_1": {
27
+ "confidence": 0.9771801829338074,
28
+ "position": [
29
+ -0.042542201350443065,
30
+ -0.09594514921116115,
31
+ 0.012537891290776315
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4428092849853407,
35
+ "xyz": [
36
+ -0.602576896368192,
37
+ -0.44458669879293056,
38
+ -0.49311630306698667
39
+ ]
40
+ }
41
+ },
42
+ "grasp_6": {
43
+ "confidence": 0.9725334644317627,
44
+ "position": [
45
+ -0.022974724764935672,
46
+ 0.09631834969115971,
47
+ -0.0011995044642389985
48
+ ],
49
+ "orientation": {
50
+ "w": 0.4903349073245162,
51
+ "xyz": [
52
+ 0.5065216177401466,
53
+ 0.5014006082628547,
54
+ -0.5016023917951374
55
+ ]
56
+ }
57
+ },
58
+ "grasp_7": {
59
+ "confidence": 0.9709054827690125,
60
+ "position": [
61
+ -0.019581260974518955,
62
+ -0.09037910356926204,
63
+ 0.0349273013544007
64
+ ],
65
+ "orientation": {
66
+ "w": 0.3864506577244965,
67
+ "xyz": [
68
+ -0.6206826532696139,
69
+ 0.5535820232242595,
70
+ 0.39869270953634356
71
+ ]
72
+ }
73
+ },
74
+ "grasp_12": {
75
+ "confidence": 0.9467422962188721,
76
+ "position": [
77
+ -0.07541815272998065,
78
+ -0.08559502616333248,
79
+ 0.009901698924295488
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5792306491942022,
83
+ "xyz": [
84
+ -0.38855126093520514,
85
+ 0.6439956957006607,
86
+ 0.31430767820520616
87
+ ]
88
+ }
89
+ },
90
+ "grasp_13": {
91
+ "confidence": 0.9435423016548157,
92
+ "position": [
93
+ -0.03766042075585574,
94
+ 0.09687197253299473,
95
+ -0.006214325536348042
96
+ ],
97
+ "orientation": {
98
+ "w": 0.5146505058027911,
99
+ "xyz": [
100
+ 0.4701954149853021,
101
+ 0.524996343647334,
102
+ -0.48829291184765466
103
+ ]
104
+ }
105
+ },
106
+ "grasp_15": {
107
+ "confidence": 0.9396002292633057,
108
+ "position": [
109
+ -0.07650667510461062,
110
+ 0.08572838500333546,
111
+ -0.0022297082341538044
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5944014688088982,
115
+ "xyz": [
116
+ 0.3207790313169795,
117
+ 0.634815681394647,
118
+ -0.3752289402493022
119
+ ]
120
+ }
121
+ },
122
+ "grasp_16": {
123
+ "confidence": 0.9390261769294739,
124
+ "position": [
125
+ -0.06593895785044879,
126
+ -0.08742780193495037,
127
+ 0.019801464177362504
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5109964344517767,
131
+ "xyz": [
132
+ -0.3276862081703539,
133
+ 0.6950918042360238,
134
+ 0.3851646097922495
135
+ ]
136
+ }
137
+ },
138
+ "grasp_18": {
139
+ "confidence": 0.9201945066452026,
140
+ "position": [
141
+ -0.07937620661687106,
142
+ 0.08537235900951146,
143
+ 0.005018625188313308
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5771636637556137,
147
+ "xyz": [
148
+ 0.3395428659059888,
149
+ 0.6560230590130793,
150
+ -0.3481759519203852
151
+ ]
152
+ }
153
+ },
154
+ "grasp_19": {
155
+ "confidence": 0.918294370174408,
156
+ "position": [
157
+ -0.07790269784163684,
158
+ 0.08567033752990483,
159
+ -0.003982154406912741
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6026414823488553,
163
+ "xyz": [
164
+ 0.34074756569956766,
165
+ 0.6310183994080455,
166
+ -0.3500430256849893
167
+ ]
168
+ }
169
+ }
170
+ }
171
+ },
172
+ {
173
+ "part_name": "handle",
174
+ "mask_color": "Green",
175
+ "graspable": true,
176
+ "grasp_scenarios": [
177
+ {
178
+ "scenario": "grasp the handle to pick up and manipulate the fork for use",
179
+ "confidence": 0.97
180
+ },
181
+ {
182
+ "scenario": "hold the handle to orient the fork for serving or placement",
183
+ "confidence": 0.94
184
+ },
185
+ {
186
+ "scenario": "grip the handle to pull the fork from a drawer or holder",
187
+ "confidence": 0.9
188
+ }
189
+ ],
190
+ "functional_labels": [
191
+ "provide main grip",
192
+ "enable utensil control",
193
+ "keep hand away from food end",
194
+ "support lifting and positioning"
195
+ ],
196
+ "semantic_description": "Bulbous blue-and-white handle, likely glazed ceramic or plastic, with a glossy smooth hard finish, larger than the neck and positioned at the rear for comfortable gripping.",
197
+ "id": 1,
198
+ "grasp_group": {
199
+ "grasp_20": {
200
+ "confidence": 0.9771912097930908,
201
+ "position": [
202
+ 0.071606709738262,
203
+ 0.08713448837590931,
204
+ -0.0068384611386136385
205
+ ],
206
+ "orientation": {
207
+ "w": 0.3805318871977719,
208
+ "xyz": [
209
+ 0.6035118853863907,
210
+ 0.3441151376048235,
211
+ -0.6103717384465631
212
+ ]
213
+ }
214
+ },
215
+ "grasp_22": {
216
+ "confidence": 0.9726489782333374,
217
+ "position": [
218
+ 0.07438357837963849,
219
+ 0.08692538783145665,
220
+ -0.011243420407481608
221
+ ],
222
+ "orientation": {
223
+ "w": 0.3969977186665768,
224
+ "xyz": [
225
+ 0.577566769677371,
226
+ 0.343600064527286,
227
+ -0.6250987390763356
228
+ ]
229
+ }
230
+ },
231
+ "grasp_24": {
232
+ "confidence": 0.9716508984565735,
233
+ "position": [
234
+ 0.03949919261503965,
235
+ 0.098706737609632,
236
+ 0.000397614652683842
237
+ ],
238
+ "orientation": {
239
+ "w": 0.4881391361492108,
240
+ "xyz": [
241
+ 0.5223907293143775,
242
+ 0.4823180941514362,
243
+ -0.506159427196631
244
+ ]
245
+ }
246
+ },
247
+ "grasp_26": {
248
+ "confidence": 0.9665628671646118,
249
+ "position": [
250
+ -0.019559080596081913,
251
+ 0.040516149701602444,
252
+ 0.07636747906326491
253
+ ],
254
+ "orientation": {
255
+ "w": 0.34470240266204266,
256
+ "xyz": [
257
+ 0.6751799800469551,
258
+ 0.6514704462046549,
259
+ 0.029975087401305788
260
+ ]
261
+ }
262
+ },
263
+ "grasp_32": {
264
+ "confidence": 0.9601927995681763,
265
+ "position": [
266
+ 0.07785664417315274,
267
+ 0.08640275940490483,
268
+ -0.012642848059840617
269
+ ],
270
+ "orientation": {
271
+ "w": 0.39400162086836776,
272
+ "xyz": [
273
+ 0.5912502702413366,
274
+ 0.3357899706803422,
275
+ -0.618410006616274
276
+ ]
277
+ }
278
+ }
279
+ }
280
+ },
281
+ {
282
+ "part_name": "ferrule",
283
+ "mask_color": "Blue",
284
+ "graspable": false,
285
+ "grasp_scenarios": [],
286
+ "functional_labels": [
287
+ "connect handle to fork head",
288
+ "reinforce joint",
289
+ "transition between materials"
290
+ ],
291
+ "semantic_description": "Small silver-toned collar at the junction between the handle and fork head, with a smooth reflective hard finish and a narrow ring-like shape.",
292
+ "id": 2,
293
+ "grasp_group": {}
294
+ }
295
+ ],
296
+ "quality_check": {
297
+ "success": true,
298
+ "message": "YES"
299
+ }
300
+ }
dataset/kitchen_supplies/tableware/e072e24065a45cef8202f7da6ae7e71d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e25ccd80ef18773483c1de68644f0ef8a874bc49e00958105f10ea766064fc61
3
+ size 3779676