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
4129852
·
verified ·
1 Parent(s): 390cf13

Add asset kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/affordance/affordance_annot.json +329 -0
  3. dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7660,3 +7660,4 @@ dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/affordance/mesh_p
7660
  dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7661
  dataset/kitchen_supplies/ware/d73ce17048865fabb1aad66b312b9e3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7662
  dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7660
  dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7661
  dataset/kitchen_supplies/ware/d73ce17048865fabb1aad66b312b9e3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7662
  dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7663
+ dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/affordance/affordance_annot.json ADDED
@@ -0,0 +1,329 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mug handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to lift and carry the mug",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize the mug while pouring",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "hook a gripper through the handle to reorient the mug",
18
+ "confidence": 0.76
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide a side grip",
23
+ "lift the mug without touching the hot body",
24
+ "stabilize during pouring",
25
+ "aid orientation and manipulation"
26
+ ],
27
+ "semantic_description": "Curved white ceramic handle with a glossy finish and hard smooth surface, medium-sized and attached to the mug side as the primary dedicated gripping feature.",
28
+ "id": 0,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "rim",
33
+ "mask_color": "Green",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "pinch the rim to pick up an empty mug from above",
38
+ "confidence": 0.53
39
+ },
40
+ {
41
+ "scenario": "hold the rim to stabilize the mug during placement",
42
+ "confidence": 0.47
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "define the drinking edge",
47
+ "bound the opening",
48
+ "support pouring flow at the lip",
49
+ "provide top-edge alignment"
50
+ ],
51
+ "semantic_description": "Thin circular white ceramic rim with a glossy smooth finish, forming the top edge of the cup opening around the upper perimeter and decorated continuously with red ornamental detailing nearby.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_20": {
55
+ "confidence": 0.9073596596717834,
56
+ "position": [
57
+ -0.10672066418919712,
58
+ -0.035605433222372085,
59
+ 0.027035376406274736
60
+ ],
61
+ "orientation": {
62
+ "w": 0.5560424266054637,
63
+ "xyz": [
64
+ -0.5790865046000907,
65
+ 0.42694826982686684,
66
+ -0.4161620055898922
67
+ ]
68
+ }
69
+ },
70
+ "grasp_22": {
71
+ "confidence": 0.38335877656936646,
72
+ "position": [
73
+ -0.06537555961403996,
74
+ 0.07461770734516904,
75
+ 0.030376933864317834
76
+ ],
77
+ "orientation": {
78
+ "w": 0.22356101825187455,
79
+ "xyz": [
80
+ -0.2762629231396847,
81
+ 0.6735129085240809,
82
+ -0.6481355031688467
83
+ ]
84
+ }
85
+ },
86
+ "grasp_23": {
87
+ "confidence": 0.8758295774459839,
88
+ "position": [
89
+ -0.08988565264735371,
90
+ 0.02775386645225808,
91
+ 0.07242376019712538
92
+ ],
93
+ "orientation": {
94
+ "w": 0.2735786283198442,
95
+ "xyz": [
96
+ -0.5314618603849962,
97
+ 0.6789303488923922,
98
+ -0.42632922306077753
99
+ ]
100
+ }
101
+ },
102
+ "grasp_25": {
103
+ "confidence": 0.77985018491745,
104
+ "position": [
105
+ -0.06374806968960911,
106
+ -0.06298551225336269,
107
+ 0.08175084402319044
108
+ ],
109
+ "orientation": {
110
+ "w": 0.40303987213057857,
111
+ "xyz": [
112
+ -0.8574147985997338,
113
+ 0.248862972894478,
114
+ -0.20116149069160144
115
+ ]
116
+ }
117
+ },
118
+ "grasp_26": {
119
+ "confidence": 0.7207953333854675,
120
+ "position": [
121
+ -0.06713414250407368,
122
+ -0.06334304698975757,
123
+ 0.07097831030841917
124
+ ],
125
+ "orientation": {
126
+ "w": 0.46954001642181165,
127
+ "xyz": [
128
+ -0.8062845119331701,
129
+ 0.29825538193458556,
130
+ -0.2011993686430173
131
+ ]
132
+ }
133
+ },
134
+ "grasp_27": {
135
+ "confidence": 0.7165374159812927,
136
+ "position": [
137
+ -0.08271251677069813,
138
+ 0.03939624986378476,
139
+ 0.07725608011242002
140
+ ],
141
+ "orientation": {
142
+ "w": 0.22382745835803178,
143
+ "xyz": [
144
+ -0.5077036007271665,
145
+ 0.7046024476192215,
146
+ -0.4423502158953423
147
+ ]
148
+ }
149
+ },
150
+ "grasp_31": {
151
+ "confidence": 0.5140942931175232,
152
+ "position": [
153
+ -0.05273897259030491,
154
+ 0.06500195077387616,
155
+ 0.07724415173288435
156
+ ],
157
+ "orientation": {
158
+ "w": 0.4620029623522502,
159
+ "xyz": [
160
+ 0.8133403848482279,
161
+ 0.3271152134225963,
162
+ 0.1342621253376049
163
+ ]
164
+ }
165
+ },
166
+ "grasp_32": {
167
+ "confidence": 0.4641399383544922,
168
+ "position": [
169
+ -0.02634204796049744,
170
+ -0.10275089630158618,
171
+ 0.026714925072155893
172
+ ],
173
+ "orientation": {
174
+ "w": 0.07528050292505069,
175
+ "xyz": [
176
+ 0.11557957192079267,
177
+ 0.7049007916856178,
178
+ 0.6957651057037478
179
+ ]
180
+ }
181
+ },
182
+ "grasp_36": {
183
+ "confidence": 0.8716525435447693,
184
+ "position": [
185
+ 0.0784807795425877,
186
+ 0.04368310159770772,
187
+ 0.07858991285320371
188
+ ],
189
+ "orientation": {
190
+ "w": 0.21728230366888246,
191
+ "xyz": [
192
+ -0.4893761236792141,
193
+ -0.7306789843616515,
194
+ 0.42356538090037016
195
+ ]
196
+ }
197
+ },
198
+ "grasp_37": {
199
+ "confidence": 0.8496021628379822,
200
+ "position": [
201
+ 0.07441361190285534,
202
+ -0.03677731641801074,
203
+ 0.08451065083499998
204
+ ],
205
+ "orientation": {
206
+ "w": 0.4010093203287334,
207
+ "xyz": [
208
+ -0.6990126966504506,
209
+ -0.5565298016096338,
210
+ 0.20210728549781093
211
+ ]
212
+ }
213
+ },
214
+ "grasp_38": {
215
+ "confidence": 0.8419412970542908,
216
+ "position": [
217
+ 0.08732073695864528,
218
+ -0.00026066217105835676,
219
+ 0.0750077780103311
220
+ ],
221
+ "orientation": {
222
+ "w": 0.34651203701453837,
223
+ "xyz": [
224
+ 0.6281265713273478,
225
+ -0.6029387762818554,
226
+ -0.34907198491475105
227
+ ]
228
+ }
229
+ },
230
+ "grasp_39": {
231
+ "confidence": 0.7939224243164062,
232
+ "position": [
233
+ -0.0814601412275806,
234
+ 0.019991613167803735,
235
+ 0.08286188950296491
236
+ ],
237
+ "orientation": {
238
+ "w": 0.263736859074102,
239
+ "xyz": [
240
+ -0.5572306906494533,
241
+ 0.6860713443413948,
242
+ -0.38631973420685045
243
+ ]
244
+ }
245
+ }
246
+ }
247
+ },
248
+ {
249
+ "part_name": "cup body",
250
+ "mask_color": "Blue",
251
+ "graspable": true,
252
+ "grasp_scenarios": [
253
+ {
254
+ "scenario": "grasp the cup body from the sides to pick up the mug",
255
+ "confidence": 0.86
256
+ },
257
+ {
258
+ "scenario": "hold the body to stabilize the mug on a surface",
259
+ "confidence": 0.82
260
+ },
261
+ {
262
+ "scenario": "clamp the body for transport when the handle is inaccessible",
263
+ "confidence": 0.79
264
+ }
265
+ ],
266
+ "functional_labels": [
267
+ "contain liquid",
268
+ "support the mug structure",
269
+ "provide the main grasp surface",
270
+ "present decorative exterior"
271
+ ],
272
+ "semantic_description": "Tapered white ceramic cup body with a glossy hard smooth surface, medium-sized and forming most of the mug, decorated with vertical red stripes and scrolling ornamental patterns.",
273
+ "id": 2,
274
+ "grasp_group": {
275
+ "grasp_48": {
276
+ "confidence": 0.9851465821266174,
277
+ "position": [
278
+ -0.095422193990089,
279
+ -0.010509610001463443,
280
+ -0.05865469912532717
281
+ ],
282
+ "orientation": {
283
+ "w": 0.5748748248203539,
284
+ "xyz": [
285
+ 0.34543982531330686,
286
+ 0.37351661954103665,
287
+ 0.6408397598479019
288
+ ]
289
+ }
290
+ },
291
+ "grasp_55": {
292
+ "confidence": 0.9839232563972473,
293
+ "position": [
294
+ -0.10794522671494633,
295
+ -0.021970321249682456,
296
+ -0.028684842982329428
297
+ ],
298
+ "orientation": {
299
+ "w": 0.49796738136673974,
300
+ "xyz": [
301
+ 0.400708063289873,
302
+ 0.4711608371968531,
303
+ 0.6078396174988853
304
+ ]
305
+ }
306
+ }
307
+ }
308
+ },
309
+ {
310
+ "part_name": "bottom base",
311
+ "mask_color": "Yellow",
312
+ "graspable": false,
313
+ "grasp_scenarios": [],
314
+ "functional_labels": [
315
+ "support upright placement",
316
+ "contact the table",
317
+ "stabilize the mug base",
318
+ "protect the vessel shape"
319
+ ],
320
+ "semantic_description": "Flat circular white ceramic bottom with a glossy hard smooth surface, located underneath the mug as the main support area for resting on a table.",
321
+ "id": 3,
322
+ "grasp_group": {}
323
+ }
324
+ ],
325
+ "quality_check": {
326
+ "success": true,
327
+ "message": "YES"
328
+ }
329
+ }
dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c3355112ae185d476f8525427183aa57394f4c6fe70fab8584d9ecac5c412d6c
3
+ size 3782872