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
ab19e84
·
verified ·
1 Parent(s): 1a040d6

Add asset kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/affordance/affordance_annot.json +574 -0
  3. dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7658,4 +7658,4 @@ dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/affordance/mesh_p
7658
  dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7659
  dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/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
 
7658
  dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7659
  dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/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/d74cc4527b5e5328af3cdeca950932d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,574 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to twist and open the bottle",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "pinch the cap to stabilize the bottle during manipulation",
14
+ "confidence": 0.56
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "seal the bottle opening",
19
+ "enable opening and closing",
20
+ "provide a twisting grip surface",
21
+ "prevent liquid leakage"
22
+ ],
23
+ "semantic_description": "Small white plastic cap with a matte to slightly satin finish, ribbed texture, and short cylindrical shape at the top of the bottle.",
24
+ "id": 3,
25
+ "grasp_group": {
26
+ "grasp_62": {
27
+ "confidence": 0.5653759241104126,
28
+ "position": [
29
+ -0.01655762759037316,
30
+ -0.02236648742109537,
31
+ 0.2015592474490404
32
+ ],
33
+ "orientation": {
34
+ "w": 0.09519001717323113,
35
+ "xyz": [
36
+ -0.749206450110701,
37
+ 0.6550060115984577,
38
+ -0.02440656700486573
39
+ ]
40
+ }
41
+ },
42
+ "grasp_63": {
43
+ "confidence": 0.5278752446174622,
44
+ "position": [
45
+ -0.040254581021144986,
46
+ 0.04648644756525755,
47
+ 0.1854990143328905
48
+ ],
49
+ "orientation": {
50
+ "w": 0.12301423537510063,
51
+ "xyz": [
52
+ -0.48568626123934516,
53
+ 0.8109004950879977,
54
+ -0.3023520143879757
55
+ ]
56
+ }
57
+ },
58
+ "grasp_64": {
59
+ "confidence": 0.49199655652046204,
60
+ "position": [
61
+ -0.002622400177642703,
62
+ 0.05172524135559797,
63
+ 0.19258678145706654
64
+ ],
65
+ "orientation": {
66
+ "w": 0.25509146357505413,
67
+ "xyz": [
68
+ 0.9607474834856748,
69
+ 0.10630077083089529,
70
+ 0.02434675148428213
71
+ ]
72
+ }
73
+ },
74
+ "grasp_65": {
75
+ "confidence": 0.4212993383407593,
76
+ "position": [
77
+ 0.03341039712540805,
78
+ 0.03845441993325949,
79
+ 0.18974065966904163
80
+ ],
81
+ "orientation": {
82
+ "w": 0.21796466845208926,
83
+ "xyz": [
84
+ 0.9702488662868796,
85
+ 0.03209737365341783,
86
+ -0.10039073353725708
87
+ ]
88
+ }
89
+ },
90
+ "grasp_66": {
91
+ "confidence": 0.26512548327445984,
92
+ "position": [
93
+ 0.038173970533534884,
94
+ 0.09344521816819906,
95
+ 0.15308651514351368
96
+ ],
97
+ "orientation": {
98
+ "w": 0.5053474412096556,
99
+ "xyz": [
100
+ 0.8572159809882625,
101
+ -0.02362982129279645,
102
+ -0.09615798015170214
103
+ ]
104
+ }
105
+ },
106
+ "grasp_71": {
107
+ "confidence": 0.6513382196426392,
108
+ "position": [
109
+ -0.03960079629905522,
110
+ 0.004252806771546602,
111
+ 0.1955606509000063
112
+ ],
113
+ "orientation": {
114
+ "w": 0.13276487017059976,
115
+ "xyz": [
116
+ -0.6520249893545637,
117
+ 0.7256960413128165,
118
+ -0.1749347253368287
119
+ ]
120
+ }
121
+ },
122
+ "grasp_73": {
123
+ "confidence": 0.6427769064903259,
124
+ "position": [
125
+ -0.033782969461753964,
126
+ 0.0009013748494908214,
127
+ 0.1976685244590044
128
+ ],
129
+ "orientation": {
130
+ "w": 0.12878464020400562,
131
+ "xyz": [
132
+ -0.6571340477795394,
133
+ 0.7253345576077808,
134
+ -0.15962186327796052
135
+ ]
136
+ }
137
+ },
138
+ "grasp_74": {
139
+ "confidence": 0.6286017298698425,
140
+ "position": [
141
+ 0.05907430197112262,
142
+ -0.014254631474614143,
143
+ 0.18974250741302967
144
+ ],
145
+ "orientation": {
146
+ "w": 0.1445045206376017,
147
+ "xyz": [
148
+ 0.6713368380424268,
149
+ -0.6987526409629363,
150
+ -0.20042464955642486
151
+ ]
152
+ }
153
+ },
154
+ "grasp_77": {
155
+ "confidence": 0.5945478081703186,
156
+ "position": [
157
+ -0.007223492721095681,
158
+ 0.01895247306674719,
159
+ 0.20003503747284412
160
+ ],
161
+ "orientation": {
162
+ "w": 0.10110498077019937,
163
+ "xyz": [
164
+ 0.9919124169182268,
165
+ 0.06253252989184668,
166
+ 0.04446597274573711
167
+ ]
168
+ }
169
+ },
170
+ "grasp_78": {
171
+ "confidence": 0.5467618107795715,
172
+ "position": [
173
+ 0.012750868452712893,
174
+ 0.0024239697959274054,
175
+ 0.20611565001308918
176
+ ],
177
+ "orientation": {
178
+ "w": 0.0334724361358069,
179
+ "xyz": [
180
+ -0.9978654621078494,
181
+ -0.038621474955383386,
182
+ 0.040650919100224524
183
+ ]
184
+ }
185
+ }
186
+ }
187
+ },
188
+ {
189
+ "part_name": "shoulder and neck",
190
+ "mask_color": "Blue",
191
+ "graspable": true,
192
+ "grasp_scenarios": [
193
+ {
194
+ "scenario": "grasp the neck area to lift or reposition the bottle briefly",
195
+ "confidence": 0.55
196
+ },
197
+ {
198
+ "scenario": "hold the upper bottle to stabilize it while twisting the cap",
199
+ "confidence": 0.72
200
+ }
201
+ ],
202
+ "functional_labels": [
203
+ "connect cap to bottle body",
204
+ "guide pouring from the opening",
205
+ "support cap attachment",
206
+ "provide an upper gripping area"
207
+ ],
208
+ "semantic_description": "Dark blue plastic upper section with a smooth slightly glossy finish, rounded tapered shoulder, and narrower neck directly below the cap.",
209
+ "id": 2,
210
+ "grasp_group": {
211
+ "grasp_40": {
212
+ "confidence": 0.7964099049568176,
213
+ "position": [
214
+ 0.11995872925035655,
215
+ -0.0070416913367807865,
216
+ 0.05449976958334446
217
+ ],
218
+ "orientation": {
219
+ "w": 0.4959294301593785,
220
+ "xyz": [
221
+ -0.535053214251188,
222
+ -0.5044508892593125,
223
+ 0.4618456003327904
224
+ ]
225
+ }
226
+ },
227
+ "grasp_41": {
228
+ "confidence": 0.7891981601715088,
229
+ "position": [
230
+ 0.10732857207767665,
231
+ -0.03996340651065111,
232
+ 0.06641375459730625
233
+ ],
234
+ "orientation": {
235
+ "w": 0.5326505248982364,
236
+ "xyz": [
237
+ -0.6269706746331752,
238
+ -0.4479541865801421,
239
+ 0.35004033796260925
240
+ ]
241
+ }
242
+ },
243
+ "grasp_46": {
244
+ "confidence": 0.7794219255447388,
245
+ "position": [
246
+ 0.11551060597412288,
247
+ 0.001118972897529602,
248
+ 0.05966162122786045
249
+ ],
250
+ "orientation": {
251
+ "w": 0.48540094778460074,
252
+ "xyz": [
253
+ -0.5230868959543612,
254
+ -0.5129907275700424,
255
+ 0.47708126414459096
256
+ ]
257
+ }
258
+ },
259
+ "grasp_48": {
260
+ "confidence": 0.777153730392456,
261
+ "position": [
262
+ 0.10238126735202968,
263
+ -0.02052470203489065,
264
+ 0.1136650163680315
265
+ ],
266
+ "orientation": {
267
+ "w": 0.3112314450899416,
268
+ "xyz": [
269
+ 0.5546796142721468,
270
+ -0.6687015943034181,
271
+ -0.38510218238046345
272
+ ]
273
+ }
274
+ },
275
+ "grasp_52": {
276
+ "confidence": 0.7715514302253723,
277
+ "position": [
278
+ 0.11420090566389263,
279
+ -0.018426590599119663,
280
+ 0.07867992110550404
281
+ ],
282
+ "orientation": {
283
+ "w": 0.4025393822690814,
284
+ "xyz": [
285
+ 0.4792401107295549,
286
+ -0.6210619564034338,
287
+ -0.471776438897376
288
+ ]
289
+ }
290
+ },
291
+ "grasp_53": {
292
+ "confidence": 0.7676565647125244,
293
+ "position": [
294
+ 0.11446562479250133,
295
+ -0.0037550306878983974,
296
+ 0.0643752459436655
297
+ ],
298
+ "orientation": {
299
+ "w": 0.4501127555783619,
300
+ "xyz": [
301
+ 0.5264125490987391,
302
+ -0.5546770171776536,
303
+ -0.46110925173099904
304
+ ]
305
+ }
306
+ },
307
+ "grasp_54": {
308
+ "confidence": 0.7646870613098145,
309
+ "position": [
310
+ 0.010201524710282683,
311
+ -0.11740839574486017,
312
+ 0.05583401955664158
313
+ ],
314
+ "orientation": {
315
+ "w": 0.6993314039073768,
316
+ "xyz": [
317
+ -0.7133561911595779,
318
+ -0.04530346126523643,
319
+ -0.002475568748066919
320
+ ]
321
+ }
322
+ },
323
+ "grasp_55": {
324
+ "confidence": 0.7634093165397644,
325
+ "position": [
326
+ 0.11806812952272594,
327
+ 0.011916693300008774,
328
+ 0.07599438913166523
329
+ ],
330
+ "orientation": {
331
+ "w": 0.517538540001033,
332
+ "xyz": [
333
+ 0.5126630485217702,
334
+ -0.539659226128471,
335
+ -0.42201703514003297
336
+ ]
337
+ }
338
+ },
339
+ "grasp_59": {
340
+ "confidence": 0.7555083632469177,
341
+ "position": [
342
+ 0.1197667873930186,
343
+ -0.005675166845321655,
344
+ 0.06499037332832813
345
+ ],
346
+ "orientation": {
347
+ "w": 0.48750361471385784,
348
+ "xyz": [
349
+ -0.5288613563956287,
350
+ -0.5080969117698919,
351
+ 0.47379681257074374
352
+ ]
353
+ }
354
+ }
355
+ }
356
+ },
357
+ {
358
+ "part_name": "neck ring",
359
+ "mask_color": "Orange",
360
+ "graspable": false,
361
+ "grasp_scenarios": [],
362
+ "functional_labels": [
363
+ "reinforce the transition below the neck",
364
+ "separate upper and main body sections",
365
+ "provide a collar below the shoulder"
366
+ ],
367
+ "semantic_description": "Thin orange band around the bottle below the shoulder, appearing as a narrow smooth plastic ring encircling the upper body.",
368
+ "id": 4,
369
+ "grasp_group": {}
370
+ },
371
+ {
372
+ "part_name": "main bottle body",
373
+ "mask_color": "Green",
374
+ "graspable": true,
375
+ "grasp_scenarios": [
376
+ {
377
+ "scenario": "grasp the bottle body to pick up and carry the bottle",
378
+ "confidence": 0.97
379
+ },
380
+ {
381
+ "scenario": "hold the body to pour or reposition the bottle",
382
+ "confidence": 0.95
383
+ },
384
+ {
385
+ "scenario": "clamp the body to stabilize it while opening the cap",
386
+ "confidence": 0.93
387
+ }
388
+ ],
389
+ "functional_labels": [
390
+ "contain liquid",
391
+ "provide main grasp surface",
392
+ "support lifting and carrying",
393
+ "stabilize during pouring"
394
+ ],
395
+ "semantic_description": "Large light blue plastic midsection with a smooth slightly glossy finish, gently waisted cylindrical shape, and the largest central area of the bottle.",
396
+ "id": 1,
397
+ "grasp_group": {
398
+ "grasp_21": {
399
+ "confidence": 0.8672285676002502,
400
+ "position": [
401
+ -0.118684969143942,
402
+ -0.009501762688159943,
403
+ -0.034940000623464584
404
+ ],
405
+ "orientation": {
406
+ "w": 0.4828912866789739,
407
+ "xyz": [
408
+ 0.48951265635177266,
409
+ 0.5093188977702457,
410
+ 0.5174820044166345
411
+ ]
412
+ }
413
+ },
414
+ "grasp_22": {
415
+ "confidence": 0.866382360458374,
416
+ "position": [
417
+ -0.11949775298126042,
418
+ -0.012032749131321907,
419
+ -0.03959749173372984
420
+ ],
421
+ "orientation": {
422
+ "w": 0.5244094609161682,
423
+ "xyz": [
424
+ -0.5152975801069172,
425
+ 0.45975769240852016,
426
+ -0.49808230796602415
427
+ ]
428
+ }
429
+ },
430
+ "grasp_23": {
431
+ "confidence": 0.8663171529769897,
432
+ "position": [
433
+ -0.12094505806453526,
434
+ -0.002911393763497472,
435
+ -0.03822461701929569
436
+ ],
437
+ "orientation": {
438
+ "w": 0.5123491582972237,
439
+ "xyz": [
440
+ 0.4860432728451712,
441
+ 0.4985863552673281,
442
+ 0.5026648219791414
443
+ ]
444
+ }
445
+ },
446
+ "grasp_25": {
447
+ "confidence": 0.8584406971931458,
448
+ "position": [
449
+ -0.11973361601121724,
450
+ 0.0009706377750262618,
451
+ -0.042904866859316826
452
+ ],
453
+ "orientation": {
454
+ "w": 0.5121566850518653,
455
+ "xyz": [
456
+ -0.47772344558218904,
457
+ 0.4979783224481903,
458
+ -0.5113642829426516
459
+ ]
460
+ }
461
+ },
462
+ "grasp_28": {
463
+ "confidence": 0.8572161197662354,
464
+ "position": [
465
+ -0.11945851077325642,
466
+ 0.0007554980693385005,
467
+ -0.05058619566261768
468
+ ],
469
+ "orientation": {
470
+ "w": 0.524401185963792,
471
+ "xyz": [
472
+ 0.48745237239313455,
473
+ 0.48847724517898805,
474
+ 0.4987820784174385
475
+ ]
476
+ }
477
+ },
478
+ "grasp_29": {
479
+ "confidence": 0.8568580150604248,
480
+ "position": [
481
+ -0.12222656537778676,
482
+ -0.007350432686507702,
483
+ -0.041282596066594124
484
+ ],
485
+ "orientation": {
486
+ "w": 0.5129640783798363,
487
+ "xyz": [
488
+ 0.46802231182630394,
489
+ 0.5017553353556978,
490
+ 0.5158144563375267
491
+ ]
492
+ }
493
+ },
494
+ "grasp_32": {
495
+ "confidence": 0.8542783856391907,
496
+ "position": [
497
+ -0.1212135546375066,
498
+ -0.005436227191239595,
499
+ -0.04403739422559738
500
+ ],
501
+ "orientation": {
502
+ "w": 0.5211727446992389,
503
+ "xyz": [
504
+ -0.490119120429872,
505
+ 0.48603436049717363,
506
+ -0.5019290969726838
507
+ ]
508
+ }
509
+ },
510
+ "grasp_39": {
511
+ "confidence": 0.8521071672439575,
512
+ "position": [
513
+ -0.12200108100660145,
514
+ -0.0011939568212255836,
515
+ -0.041619845665991306
516
+ ],
517
+ "orientation": {
518
+ "w": 0.5148697367034978,
519
+ "xyz": [
520
+ -0.4832062123864154,
521
+ 0.49863877791404065,
522
+ -0.5027725924296564
523
+ ]
524
+ }
525
+ }
526
+ }
527
+ },
528
+ {
529
+ "part_name": "base",
530
+ "mask_color": "Red",
531
+ "graspable": true,
532
+ "grasp_scenarios": [
533
+ {
534
+ "scenario": "grasp the lower bottle to lift it from a surface",
535
+ "confidence": 0.62
536
+ },
537
+ {
538
+ "scenario": "hold the base to orient or stabilize the bottle during placement",
539
+ "confidence": 0.56
540
+ }
541
+ ],
542
+ "functional_labels": [
543
+ "support upright standing",
544
+ "protect the bottom",
545
+ "stabilize placement",
546
+ "provide lower structural rigidity"
547
+ ],
548
+ "semantic_description": "Dark blue plastic bottom section with a smooth slightly glossy finish and rounded petaloid feet forming the bottle base.",
549
+ "id": 0,
550
+ "grasp_group": {
551
+ "grasp_14": {
552
+ "confidence": 0.6654123067855835,
553
+ "position": [
554
+ -0.09774082829244435,
555
+ -0.0007788912917021662,
556
+ -0.14852718822658062
557
+ ],
558
+ "orientation": {
559
+ "w": 0.6302681099128697,
560
+ "xyz": [
561
+ 0.31596854996805407,
562
+ 0.32859386569345417,
563
+ 0.6284521115300489
564
+ ]
565
+ }
566
+ }
567
+ }
568
+ }
569
+ ],
570
+ "quality_check": {
571
+ "success": false,
572
+ "message": "Several semantic descriptions use mask colors, not visible RGB colors; body/neck/base colors are incorrect."
573
+ }
574
+ }
dataset/kitchen_supplies/ware/d74cc4527b5e5328af3cdeca950932d4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9e40cb577088dbb2519bd26bd8519017a38abf930ed2f5f02174111920446b9
3
+ size 2258932