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
1
xinjjj commited on
Commit
0821f36
·
verified ·
1 Parent(s): 9ee6019

Add asset kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/affordance_annot.json +428 -0
  3. dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8462,3 +8462,4 @@ dataset/kitchen_supplies/tableware/21aa54f072ee5f369d67ff5428f0f53f/affordance/m
8462
  dataset/kitchen_supplies/tableware/2207bc19555b5462a493c791be749e7c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8463
  dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8464
  dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8462
  dataset/kitchen_supplies/tableware/2207bc19555b5462a493c791be749e7c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8463
  dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8464
  dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8465
+ dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/affordance_annot.json ADDED
@@ -0,0 +1,428 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and carry the fork",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle to orient and manipulate the fork during eating or serving",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the utensil while inserting or withdrawing the tines from food",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip area",
23
+ "support lifting the fork",
24
+ "provide leverage and control"
25
+ ],
26
+ "semantic_description": "Light silver metal handle with a smooth reflective finish, elongated and slightly tapered with a rounded wider end, positioned at the rear of the fork.",
27
+ "id": 0,
28
+ "grasp_group": {
29
+ "grasp_0": {
30
+ "confidence": 0.9822545647621155,
31
+ "position": [
32
+ 0.09800453402567655,
33
+ 0.1020754338169354,
34
+ 0.007028158266621176
35
+ ],
36
+ "orientation": {
37
+ "w": 0.5305029800362105,
38
+ "xyz": [
39
+ 0.4526808709742994,
40
+ -0.561480518647652,
41
+ 0.4454057076484462
42
+ ]
43
+ }
44
+ },
45
+ "grasp_2": {
46
+ "confidence": 0.9813131093978882,
47
+ "position": [
48
+ 0.09015490033198148,
49
+ 0.09847860642912565,
50
+ -0.001962006113899406
51
+ ],
52
+ "orientation": {
53
+ "w": 0.5431110118736633,
54
+ "xyz": [
55
+ 0.44750236557124706,
56
+ -0.5356028375867747,
57
+ 0.46679938084652517
58
+ ]
59
+ }
60
+ },
61
+ "grasp_3": {
62
+ "confidence": 0.9811015725135803,
63
+ "position": [
64
+ 0.06914740719366819,
65
+ 0.09899311372282682,
66
+ 0.010205956154095475
67
+ ],
68
+ "orientation": {
69
+ "w": 0.4746762943666889,
70
+ "xyz": [
71
+ 0.5123938246430106,
72
+ -0.528949022999478,
73
+ 0.48202480755860927
74
+ ]
75
+ }
76
+ },
77
+ "grasp_5": {
78
+ "confidence": 0.9805442690849304,
79
+ "position": [
80
+ 0.06777549453545362,
81
+ 0.09959008404257474,
82
+ 0.003166397313179914
83
+ ],
84
+ "orientation": {
85
+ "w": 0.482047515557697,
86
+ "xyz": [
87
+ 0.5053318050283575,
88
+ -0.5118197978686629,
89
+ 0.5003103577591761
90
+ ]
91
+ }
92
+ },
93
+ "grasp_6": {
94
+ "confidence": 0.9802584648132324,
95
+ "position": [
96
+ 0.08595010556746274,
97
+ 0.10359545656683622,
98
+ 0.0010186936488025822
99
+ ],
100
+ "orientation": {
101
+ "w": 0.5057657745322371,
102
+ "xyz": [
103
+ 0.506192065654736,
104
+ 0.49720865159675154,
105
+ -0.4906670263603801
106
+ ]
107
+ }
108
+ },
109
+ "grasp_7": {
110
+ "confidence": 0.980102002620697,
111
+ "position": [
112
+ 0.05828582413960248,
113
+ 0.09741461136582075,
114
+ 0.0016478930847370066
115
+ ],
116
+ "orientation": {
117
+ "w": 0.5240488273141493,
118
+ "xyz": [
119
+ 0.4998806997373094,
120
+ 0.5101186794564362,
121
+ -0.46397310858542734
122
+ ]
123
+ }
124
+ },
125
+ "grasp_8": {
126
+ "confidence": 0.9796253442764282,
127
+ "position": [
128
+ 0.08531402715016156,
129
+ 0.09948307880404172,
130
+ -0.0049875248441821896
131
+ ],
132
+ "orientation": {
133
+ "w": 0.5083511336408311,
134
+ "xyz": [
135
+ 0.5053262548578427,
136
+ 0.4738844530429722,
137
+ -0.5115251960965287
138
+ ]
139
+ }
140
+ },
141
+ "grasp_9": {
142
+ "confidence": 0.9795794486999512,
143
+ "position": [
144
+ 0.09826596744824201,
145
+ 0.09501565852406202,
146
+ 0.006997758035140578
147
+ ],
148
+ "orientation": {
149
+ "w": 0.4154442253437545,
150
+ "xyz": [
151
+ 0.5845592031815088,
152
+ 0.42773609816389113,
153
+ -0.5502167426858778
154
+ ]
155
+ }
156
+ },
157
+ "grasp_10": {
158
+ "confidence": 0.9795385003089905,
159
+ "position": [
160
+ 0.07966222532559186,
161
+ 0.10240032383444486,
162
+ 0.013325271174835507
163
+ ],
164
+ "orientation": {
165
+ "w": 0.4691755761381903,
166
+ "xyz": [
167
+ 0.5210655781500458,
168
+ -0.5369446155348706,
169
+ 0.469100652174632
170
+ ]
171
+ }
172
+ },
173
+ "grasp_11": {
174
+ "confidence": 0.9792996048927307,
175
+ "position": [
176
+ 0.08612622984219342,
177
+ 0.10139015921595274,
178
+ -0.002559570850280579
179
+ ],
180
+ "orientation": {
181
+ "w": 0.5102130820318013,
182
+ "xyz": [
183
+ 0.5082889724854079,
184
+ 0.48945074170410763,
185
+ -0.4916939117160574
186
+ ]
187
+ }
188
+ },
189
+ "grasp_13": {
190
+ "confidence": 0.9791766405105591,
191
+ "position": [
192
+ 0.07299466349650174,
193
+ 0.09768664696457563,
194
+ 0.002164775251003448
195
+ ],
196
+ "orientation": {
197
+ "w": 0.4998980846214331,
198
+ "xyz": [
199
+ 0.50906379086729,
200
+ 0.4970961281373413,
201
+ -0.4938131237730623
202
+ ]
203
+ }
204
+ },
205
+ "grasp_14": {
206
+ "confidence": 0.9787181615829468,
207
+ "position": [
208
+ 0.06456649967003614,
209
+ 0.09815279253962217,
210
+ -0.000941807717026677
211
+ ],
212
+ "orientation": {
213
+ "w": 0.5025824655660486,
214
+ "xyz": [
215
+ 0.49094011893569,
216
+ -0.5043511458881993,
217
+ 0.5020145282421837
218
+ ]
219
+ }
220
+ },
221
+ "grasp_15": {
222
+ "confidence": 0.9786995649337769,
223
+ "position": [
224
+ 0.06285788037348539,
225
+ 0.09852649131062208,
226
+ -0.0009158620014204644
227
+ ],
228
+ "orientation": {
229
+ "w": 0.48653456934949507,
230
+ "xyz": [
231
+ 0.4934867025800602,
232
+ -0.5074293504353632,
233
+ 0.5121234631622598
234
+ ]
235
+ }
236
+ },
237
+ "grasp_16": {
238
+ "confidence": 0.9785998463630676,
239
+ "position": [
240
+ 0.07148054160643369,
241
+ 0.0975275994205731,
242
+ 0.002742517950537149
243
+ ],
244
+ "orientation": {
245
+ "w": 0.49720822393074404,
246
+ "xyz": [
247
+ 0.5180521863272184,
248
+ 0.5021657690802914,
249
+ -0.48190813923529424
250
+ ]
251
+ }
252
+ },
253
+ "grasp_18": {
254
+ "confidence": 0.9785194993019104,
255
+ "position": [
256
+ 0.0755475751357153,
257
+ 0.0981142059827107,
258
+ 0.00600245639361674
259
+ ],
260
+ "orientation": {
261
+ "w": 0.48566781865610253,
262
+ "xyz": [
263
+ 0.5236762591873162,
264
+ 0.509887092109513,
265
+ -0.47948420076735315
266
+ ]
267
+ }
268
+ },
269
+ "grasp_19": {
270
+ "confidence": 0.9785142540931702,
271
+ "position": [
272
+ 0.06275674619246274,
273
+ 0.09782250830176054,
274
+ -0.0012907004202133976
275
+ ],
276
+ "orientation": {
277
+ "w": 0.4922032645586015,
278
+ "xyz": [
279
+ 0.497062439809635,
280
+ -0.50267105399382,
281
+ 0.5079239005649273
282
+ ]
283
+ }
284
+ }
285
+ }
286
+ },
287
+ {
288
+ "part_name": "fork head and two outer tines",
289
+ "mask_color": "Blue",
290
+ "graspable": true,
291
+ "grasp_scenarios": [
292
+ {
293
+ "scenario": "pinch the fork head near the neck to reposition it in a drawer or bin",
294
+ "confidence": 0.46
295
+ },
296
+ {
297
+ "scenario": "grasp the head briefly during inspection or handoff",
298
+ "confidence": 0.36
299
+ }
300
+ ],
301
+ "functional_labels": [
302
+ "connect handle to tines",
303
+ "support the fork head structure",
304
+ "transmit force from handle to tines",
305
+ "includes two outer food-piercing tines"
306
+ ],
307
+ "semantic_description": "Light silver metal front section with a smooth reflective surface, including the neck and head of the fork plus the two outer prongs at the tip.",
308
+ "id": 2,
309
+ "grasp_group": {
310
+ "grasp_20": {
311
+ "confidence": 0.5304657220840454,
312
+ "position": [
313
+ -0.17606999806594104,
314
+ 0.013607695225800853,
315
+ -0.00083337976684561
316
+ ],
317
+ "orientation": {
318
+ "w": 0.7066193503230874,
319
+ "xyz": [
320
+ 0.02643002882884355,
321
+ 0.7070966416615484,
322
+ 0.0022105827387679158
323
+ ]
324
+ }
325
+ },
326
+ "grasp_22": {
327
+ "confidence": 0.925772488117218,
328
+ "position": [
329
+ -0.18952652148436755,
330
+ 0.01331887533160625,
331
+ 0.002621703526529018
332
+ ],
333
+ "orientation": {
334
+ "w": 0.6976607332583393,
335
+ "xyz": [
336
+ 0.029275991879628205,
337
+ 0.715730740864829,
338
+ 0.011913192266703659
339
+ ]
340
+ }
341
+ },
342
+ "grasp_30": {
343
+ "confidence": 0.8495455384254456,
344
+ "position": [
345
+ -0.08634942106436938,
346
+ -0.03749492159840884,
347
+ -0.08657817079074448
348
+ ],
349
+ "orientation": {
350
+ "w": 0.6906918486071435,
351
+ "xyz": [
352
+ -0.2580437307085672,
353
+ -0.042623011687106915,
354
+ -0.6741969164749806
355
+ ]
356
+ }
357
+ },
358
+ "grasp_37": {
359
+ "confidence": 0.11763288080692291,
360
+ "position": [
361
+ -0.13130375079344958,
362
+ -0.010470984976564068,
363
+ 0.04692955406062538
364
+ ],
365
+ "orientation": {
366
+ "w": 0.3383576671133187,
367
+ "xyz": [
368
+ 0.6174679046305255,
369
+ 0.6047336433217478,
370
+ 0.37221592724066244
371
+ ]
372
+ }
373
+ },
374
+ "grasp_38": {
375
+ "confidence": 0.9630562663078308,
376
+ "position": [
377
+ -0.040526152472011745,
378
+ 0.10437355795147596,
379
+ 0.009278823599743191
380
+ ],
381
+ "orientation": {
382
+ "w": 0.50437753839732,
383
+ "xyz": [
384
+ 0.49796572158460733,
385
+ -0.523116562010307,
386
+ 0.47326789605623804
387
+ ]
388
+ }
389
+ },
390
+ "grasp_39": {
391
+ "confidence": 0.9480541944503784,
392
+ "position": [
393
+ -0.0398279846413061,
394
+ -0.10666929325816454,
395
+ -0.000212986116821412
396
+ ],
397
+ "orientation": {
398
+ "w": 0.493204924617507,
399
+ "xyz": [
400
+ -0.49507394905178287,
401
+ -0.5060207748735326,
402
+ -0.5055627188586022
403
+ ]
404
+ }
405
+ }
406
+ }
407
+ },
408
+ {
409
+ "part_name": "center tine",
410
+ "mask_color": "Green",
411
+ "graspable": false,
412
+ "grasp_scenarios": [],
413
+ "functional_labels": [
414
+ "pierce food",
415
+ "help hold bites between adjacent tines",
416
+ "contact food directly",
417
+ "assist guiding food onto the fork"
418
+ ],
419
+ "semantic_description": "Thin central light silver metal tine with a smooth reflective hard surface, straight and narrow, positioned between the two outer prongs at the fork tip.",
420
+ "id": 1,
421
+ "grasp_group": {}
422
+ }
423
+ ],
424
+ "quality_check": {
425
+ "success": false,
426
+ "message": "Mask-part mapping is wrong: red covers most of fork, blue is all three tines/neck, green is only one inner tine."
427
+ }
428
+ }
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa21013f3fa8791bd9b7d205c925c4652bd411cb4b96aaa701a4ccc0d59540d1
3
+ size 562552