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
e754a16
·
verified ·
1 Parent(s): 6f7976d

Add asset kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/affordance/affordance_annot.json +294 -0
  3. dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7329,3 +7329,4 @@ dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/affordance/m
7329
  dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7330
  dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7331
  dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7329
  dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7330
  dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7331
  dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7332
+ dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,294 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "napkin",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp an edge or corner to pick up the folded napkin",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "pinch the napkin body to unfold or reposition it on a table",
14
+ "confidence": 0.87
15
+ },
16
+ {
17
+ "scenario": "hold the folded stack to place or stack the napkin",
18
+ "confidence": 0.81
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "wipe surfaces or hands",
23
+ "absorb small spills",
24
+ "cover or wrap light items",
25
+ "provide a disposable table setting",
26
+ "fold for presentation"
27
+ ],
28
+ "semantic_description": "Folded red fabric-like paper napkin with a matte soft slightly textured surface, thin layered rectangular shape, gold and white snowflake prints, and crisp folded edges across the whole object.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_2": {
32
+ "confidence": 0.9847943186759949,
33
+ "position": [
34
+ 0.01566532300785184,
35
+ -0.14358519157394767,
36
+ -0.0013812070828862488
37
+ ],
38
+ "orientation": {
39
+ "w": 0.49200450538901375,
40
+ "xyz": [
41
+ -0.5131201157056449,
42
+ 0.483870572936799,
43
+ 0.5104004135783509
44
+ ]
45
+ }
46
+ },
47
+ "grasp_3": {
48
+ "confidence": 0.9847153425216675,
49
+ "position": [
50
+ 0.004021778702735901,
51
+ -0.14374148985370994,
52
+ -0.0016347322380170226
53
+ ],
54
+ "orientation": {
55
+ "w": 0.4903350242374026,
56
+ "xyz": [
57
+ -0.5154197821293088,
58
+ 0.48734756059998985,
59
+ 0.5063658434107903
60
+ ]
61
+ }
62
+ },
63
+ "grasp_4": {
64
+ "confidence": 0.984481930732727,
65
+ "position": [
66
+ 0.017291851807385683,
67
+ -0.1445803358219564,
68
+ -0.0037471872055903077
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5049231793543609,
72
+ "xyz": [
73
+ -0.4868339261881876,
74
+ -0.5005955144163527,
75
+ -0.5073947597375297
76
+ ]
77
+ }
78
+ },
79
+ "grasp_5": {
80
+ "confidence": 0.9842713475227356,
81
+ "position": [
82
+ -0.00158783420920372,
83
+ -0.14181152125820518,
84
+ -0.002483540796674788
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5047455793030539,
88
+ "xyz": [
89
+ -0.4901734904788389,
90
+ -0.507118505663504,
91
+ -0.4977877766874463
92
+ ]
93
+ }
94
+ },
95
+ "grasp_6": {
96
+ "confidence": 0.984164297580719,
97
+ "position": [
98
+ 0.009854041272774339,
99
+ -0.14219136675819755,
100
+ -0.0015979052986949682
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4246457799204108,
104
+ "xyz": [
105
+ -0.5784184518402211,
106
+ 0.4008910011967499,
107
+ 0.5695563723864524
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9841362237930298,
113
+ "position": [
114
+ -0.006627434864640236,
115
+ -0.14169681211933494,
116
+ -0.0024108884390443563
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5368629604087661,
120
+ "xyz": [
121
+ -0.4539227615159609,
122
+ -0.5312703039144636,
123
+ -0.4727411051489956
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9840990304946899,
129
+ "position": [
130
+ 0.003102097660303116,
131
+ -0.1408913000486791,
132
+ -0.0012350195902399719
133
+ ],
134
+ "orientation": {
135
+ "w": 0.49528648688667715,
136
+ "xyz": [
137
+ -0.508819764078092,
138
+ 0.49184343979639433,
139
+ 0.5038688066552819
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.9835898280143738,
145
+ "position": [
146
+ 0.008070416748523712,
147
+ -0.14335692068561912,
148
+ -0.002739816321991384
149
+ ],
150
+ "orientation": {
151
+ "w": 0.49917187239749977,
152
+ "xyz": [
153
+ -0.4974094256408907,
154
+ 0.5021500310729201,
155
+ 0.5012550761680504
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.9835770726203918,
161
+ "position": [
162
+ 0.011010386515408754,
163
+ -0.14534433325752616,
164
+ -0.000365784449968487
165
+ ],
166
+ "orientation": {
167
+ "w": 0.492357697844509,
168
+ "xyz": [
169
+ -0.5019668200310585,
170
+ 0.5032335800260863,
171
+ 0.5023635863548341
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9835667610168457,
177
+ "position": [
178
+ 0.003630431368947029,
179
+ -0.14590682229027152,
180
+ -0.0030147238867357373
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5127726446781772,
184
+ "xyz": [
185
+ -0.482022233228591,
186
+ -0.5075619315024478,
187
+ -0.49709120615091745
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9834119081497192,
193
+ "position": [
194
+ 0.002073058858513832,
195
+ -0.14059958001598716,
196
+ -0.00037342446739785373
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5055218296660469,
200
+ "xyz": [
201
+ -0.4843046408062765,
202
+ -0.514519043866225,
203
+ -0.4951432602021163
204
+ ]
205
+ }
206
+ },
207
+ "grasp_14": {
208
+ "confidence": 0.9833636283874512,
209
+ "position": [
210
+ -0.009162310510873795,
211
+ -0.14355780323967338,
212
+ -0.001065489079337567
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4744356084551017,
216
+ "xyz": [
217
+ -0.5287897122455127,
218
+ 0.46560681108096513,
219
+ 0.5277334470432585
220
+ ]
221
+ }
222
+ },
223
+ "grasp_15": {
224
+ "confidence": 0.9833594560623169,
225
+ "position": [
226
+ 0.008226168341934681,
227
+ -0.14185476442798972,
228
+ -0.0026779056061059237
229
+ ],
230
+ "orientation": {
231
+ "w": 0.49853073702067274,
232
+ "xyz": [
233
+ -0.5030578948618385,
234
+ 0.4973929479459147,
235
+ 0.5009991157641625
236
+ ]
237
+ }
238
+ },
239
+ "grasp_17": {
240
+ "confidence": 0.9831441640853882,
241
+ "position": [
242
+ 0.001277802512049675,
243
+ -0.1399704529903829,
244
+ -0.00322952086571604
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5351851732314352,
248
+ "xyz": [
249
+ -0.4604134200753475,
250
+ -0.5222984440715117,
251
+ -0.4783311073809007
252
+ ]
253
+ }
254
+ },
255
+ "grasp_18": {
256
+ "confidence": 0.983027458190918,
257
+ "position": [
258
+ 0.16417528875172138,
259
+ 0.043215586338192225,
260
+ 0.0005559957353398204
261
+ ],
262
+ "orientation": {
263
+ "w": 0.0029000441201176373,
264
+ "xyz": [
265
+ 0.7126351021750484,
266
+ -0.0034114183901839956,
267
+ -0.7015206077633265
268
+ ]
269
+ }
270
+ },
271
+ "grasp_19": {
272
+ "confidence": 0.9829581379890442,
273
+ "position": [
274
+ 0.02507785428315401,
275
+ -0.1454207762144506,
276
+ -0.002152213826775551
277
+ ],
278
+ "orientation": {
279
+ "w": 0.513508060917922,
280
+ "xyz": [
281
+ -0.4777937379837738,
282
+ 0.5211848811433171,
283
+ 0.486198452263512
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ }
289
+ ],
290
+ "quality_check": {
291
+ "success": true,
292
+ "message": "YES"
293
+ }
294
+ }
dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ce61a1637d2b1c9026d6bda9d775261810527a8a4c4bbd617514c0f01cee4db
3
+ size 793920