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
632fa78
·
verified ·
1 Parent(s): 3832f28

Add asset kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/affordance/affordance_annot.json +349 -0
  3. dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7496,3 +7496,4 @@ dataset/kitchen_supplies/utensils/f5bcaaeed8b95b7db6bad0b1523e257d/affordance/me
7496
  dataset/kitchen_supplies/utensils/f65a130f3c5854328df0d3af81a1cc82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7497
  dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7498
  dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7496
  dataset/kitchen_supplies/utensils/f65a130f3c5854328df0d3af81a1cc82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7497
  dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7498
  dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7499
+ dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/affordance/affordance_annot.json ADDED
@@ -0,0 +1,349 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bowl interior and rim",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the rim area to pick up the bowl from above or the side",
10
+ "confidence": 0.82
11
+ },
12
+ {
13
+ "scenario": "hold the upper bowl section to stabilize it during placement",
14
+ "confidence": 0.76
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain food or liquids",
19
+ "provide an access opening",
20
+ "support pouring from the rim",
21
+ "offer an upper gripping edge"
22
+ ],
23
+ "semantic_description": "Wide cream to tan ceramic upper bowl section with a glossy hard smooth surface, rounded open shape, medium size, and a brown-stained rim with visible crackle-like markings around the top edge.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.9748705625534058,
28
+ "position": [
29
+ 0.05428171198582277,
30
+ 0.10792775638401508,
31
+ 0.12231764174066484
32
+ ],
33
+ "orientation": {
34
+ "w": 0.20708950505901036,
35
+ "xyz": [
36
+ 0.8619831538259092,
37
+ 0.44939038609178406,
38
+ -0.11021461020676969
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.9741834402084351,
44
+ "position": [
45
+ 0.1134900901815854,
46
+ -0.02015838399529457,
47
+ 0.1291866300161928
48
+ ],
49
+ "orientation": {
50
+ "w": 0.17946188987726747,
51
+ "xyz": [
52
+ -0.10216556099816808,
53
+ -0.9782704876450256,
54
+ -0.01850624841434111
55
+ ]
56
+ }
57
+ },
58
+ "grasp_22": {
59
+ "confidence": 0.9731542468070984,
60
+ "position": [
61
+ 0.11906279664253816,
62
+ 0.015443560667335987,
63
+ 0.12629370368085802
64
+ ],
65
+ "orientation": {
66
+ "w": 0.18588884347283388,
67
+ "xyz": [
68
+ 0.002908607620194747,
69
+ -0.9766344092612362,
70
+ 0.10780588351755062
71
+ ]
72
+ }
73
+ },
74
+ "grasp_23": {
75
+ "confidence": 0.9719736576080322,
76
+ "position": [
77
+ 0.10877031128620729,
78
+ -0.03924529813230038,
79
+ 0.12956559634767473
80
+ ],
81
+ "orientation": {
82
+ "w": 0.1602216739869654,
83
+ "xyz": [
84
+ -0.1088777452780697,
85
+ -0.9759968992890438,
86
+ -0.09952238113183402
87
+ ]
88
+ }
89
+ },
90
+ "grasp_25": {
91
+ "confidence": 0.9712018370628357,
92
+ "position": [
93
+ 0.06217262934660539,
94
+ 0.09683157689869404,
95
+ 0.1263009754475206
96
+ ],
97
+ "orientation": {
98
+ "w": 0.11396835062337661,
99
+ "xyz": [
100
+ 0.4241119676468582,
101
+ -0.8846149329848875,
102
+ 0.15683326909505302
103
+ ]
104
+ }
105
+ },
106
+ "grasp_26": {
107
+ "confidence": 0.970252275466919,
108
+ "position": [
109
+ 0.0011114723165519536,
110
+ 0.12486581690609455,
111
+ 0.11502894735895097
112
+ ],
113
+ "orientation": {
114
+ "w": 0.3145580712973556,
115
+ "xyz": [
116
+ 0.7313492221186083,
117
+ 0.6028353514638359,
118
+ -0.05264099271164598
119
+ ]
120
+ }
121
+ },
122
+ "grasp_27": {
123
+ "confidence": 0.9701233506202698,
124
+ "position": [
125
+ 0.0014150936040095985,
126
+ 0.11568036116659641,
127
+ 0.12220526463352144
128
+ ],
129
+ "orientation": {
130
+ "w": 0.2543084970431107,
131
+ "xyz": [
132
+ 0.7526598420013795,
133
+ 0.6067609935313683,
134
+ -0.025912300147994085
135
+ ]
136
+ }
137
+ },
138
+ "grasp_28": {
139
+ "confidence": 0.9698706269264221,
140
+ "position": [
141
+ 0.06855880509829149,
142
+ 0.08904147334396839,
143
+ 0.1251353023108095
144
+ ],
145
+ "orientation": {
146
+ "w": 0.05476233755854618,
147
+ "xyz": [
148
+ -0.8270586261442696,
149
+ -0.5093813405834332,
150
+ 0.23131313229235695
151
+ ]
152
+ }
153
+ },
154
+ "grasp_29": {
155
+ "confidence": 0.9694101810455322,
156
+ "position": [
157
+ 0.016826792096253484,
158
+ 0.11884799040853977,
159
+ 0.11884098476730287
160
+ ],
161
+ "orientation": {
162
+ "w": 0.27557736914107095,
163
+ "xyz": [
164
+ 0.8021171185432853,
165
+ 0.5280876775894654,
166
+ -0.04229239334996527
167
+ ]
168
+ }
169
+ },
170
+ "grasp_30": {
171
+ "confidence": 0.9681914448738098,
172
+ "position": [
173
+ 0.0983555693528615,
174
+ -0.05824578367173672,
175
+ 0.1275413183029741
176
+ ],
177
+ "orientation": {
178
+ "w": 0.2024050244954564,
179
+ "xyz": [
180
+ -0.32409878081310395,
181
+ -0.9234674250765088,
182
+ 0.03464247619637061
183
+ ]
184
+ }
185
+ },
186
+ "grasp_31": {
187
+ "confidence": 0.9680641889572144,
188
+ "position": [
189
+ 0.07768701802706346,
190
+ 0.09588249959051609,
191
+ 0.12060975260101259
192
+ ],
193
+ "orientation": {
194
+ "w": 0.07292901955673804,
195
+ "xyz": [
196
+ -0.8103987488271572,
197
+ -0.5097536252918311,
198
+ 0.27943955966846684
199
+ ]
200
+ }
201
+ },
202
+ "grasp_32": {
203
+ "confidence": 0.9677463173866272,
204
+ "position": [
205
+ 0.06812036078190431,
206
+ 0.1012979093939066,
207
+ 0.11687296605668962
208
+ ],
209
+ "orientation": {
210
+ "w": 0.06406157326610508,
211
+ "xyz": [
212
+ -0.8009749473832873,
213
+ -0.5096788631237759,
214
+ 0.3075104957231005
215
+ ]
216
+ }
217
+ },
218
+ "grasp_34": {
219
+ "confidence": 0.9673857092857361,
220
+ "position": [
221
+ 0.05569272529100999,
222
+ 0.12197496928274632,
223
+ 0.11460271454416215
224
+ ],
225
+ "orientation": {
226
+ "w": 0.30686510155940755,
227
+ "xyz": [
228
+ 0.8421321490081656,
229
+ 0.42326238483539946,
230
+ -0.13227322720518106
231
+ ]
232
+ }
233
+ },
234
+ "grasp_35": {
235
+ "confidence": 0.9673676490783691,
236
+ "position": [
237
+ 0.057151891698595136,
238
+ 0.09190664626657963,
239
+ 0.1293127981480211
240
+ ],
241
+ "orientation": {
242
+ "w": 0.08738035751066214,
243
+ "xyz": [
244
+ 0.42816062831788354,
245
+ -0.887480551420816,
246
+ 0.146360583250917
247
+ ]
248
+ }
249
+ },
250
+ "grasp_36": {
251
+ "confidence": 0.9673656821250916,
252
+ "position": [
253
+ 0.06729209463810548,
254
+ 0.11781561560928822,
255
+ 0.11300700134597719
256
+ ],
257
+ "orientation": {
258
+ "w": 0.2527168131181247,
259
+ "xyz": [
260
+ 0.8204652570231418,
261
+ 0.47429486444792623,
262
+ -0.19497527008236715
263
+ ]
264
+ }
265
+ },
266
+ "grasp_37": {
267
+ "confidence": 0.9672510027885437,
268
+ "position": [
269
+ 0.04236119653796777,
270
+ 0.11030820198357105,
271
+ 0.12479652441106737
272
+ ],
273
+ "orientation": {
274
+ "w": 0.2027702799062363,
275
+ "xyz": [
276
+ 0.8517494416418535,
277
+ 0.47487892494636674,
278
+ -0.08886567892792269
279
+ ]
280
+ }
281
+ },
282
+ "grasp_38": {
283
+ "confidence": 0.9671717882156372,
284
+ "position": [
285
+ 0.11103775392984971,
286
+ 0.02551640383899212,
287
+ 0.12407886958681047
288
+ ],
289
+ "orientation": {
290
+ "w": 0.16940620179858576,
291
+ "xyz": [
292
+ -0.013554344371697554,
293
+ -0.9685063914587606,
294
+ 0.18197029495046768
295
+ ]
296
+ }
297
+ },
298
+ "grasp_39": {
299
+ "confidence": 0.9671165943145752,
300
+ "position": [
301
+ -0.05943357531214133,
302
+ 0.09278597123920918,
303
+ 0.13112512207590044
304
+ ],
305
+ "orientation": {
306
+ "w": 0.17548908357528903,
307
+ "xyz": [
308
+ 0.5161346852692282,
309
+ 0.8381595634190888,
310
+ -0.017237008355908374
311
+ ]
312
+ }
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "part_name": "bowl base and outer wall",
318
+ "mask_color": "Red",
319
+ "graspable": true,
320
+ "grasp_scenarios": [
321
+ {
322
+ "scenario": "grasp the outer body from the sides to lift the bowl",
323
+ "confidence": 0.88
324
+ },
325
+ {
326
+ "scenario": "hold the lower body to reposition the bowl on a surface",
327
+ "confidence": 0.84
328
+ },
329
+ {
330
+ "scenario": "grasp around the foot area to stabilize the bowl while rotating it",
331
+ "confidence": 0.62
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "support the bowl structure",
336
+ "provide a main grasp surface",
337
+ "rest on a table",
338
+ "stabilize the vessel while filled"
339
+ ],
340
+ "semantic_description": "Tapered cream-colored ceramic lower body with a glossy hard smooth finish, rounded exterior walls, and a small circular foot ring on the bottom with subtle crack-like markings.",
341
+ "id": 0,
342
+ "grasp_group": {}
343
+ }
344
+ ],
345
+ "quality_check": {
346
+ "success": true,
347
+ "message": "YES"
348
+ }
349
+ }
dataset/kitchen_supplies/ware/01756aff57e25ac29f0aa75e171ab6ab/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e91800451286aaa3aef4afa6735b613c06c65267883612fc94b9a03c4b42695
3
+ size 614992