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
b775b05
·
verified ·
1 Parent(s): 86bd83c

Add asset kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/012d1fb76e005cbebef8e6fdcff3e51d.urdf +1 -0
  3. dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/affordance/affordance_annot.json +276 -0
  4. dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8400,3 +8400,4 @@ dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/affordance/m
8400
  dataset/kitchen_supplies/tableware/0060b9d890805442ba613743195c1123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8401
  dataset/kitchen_supplies/tableware/0102b3824fb353b8b17882423eb26501/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8402
  dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8400
  dataset/kitchen_supplies/tableware/0060b9d890805442ba613743195c1123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8401
  dataset/kitchen_supplies/tableware/0102b3824fb353b8b17882423eb26501/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8402
  dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8403
+ dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/012d1fb76e005cbebef8e6fdcff3e51d.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  </custom_data>
57
  </robot>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  </custom_data>
58
  </robot>
dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,276 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "fork head",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "pierce food",
10
+ "hold food on tines",
11
+ "separate small bites",
12
+ "contact eating surface"
13
+ ],
14
+ "semantic_description": "Small dark metallic fork head with a reflective smooth hard finish, featuring three narrow tapered tines at one end of the utensil.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "fork handle",
20
+ "mask_color": "Green",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the handle to pick up and move the fork",
25
+ "confidence": 0.98
26
+ },
27
+ {
28
+ "scenario": "hold the handle to orient the fork for food piercing",
29
+ "confidence": 0.97
30
+ },
31
+ {
32
+ "scenario": "grasp the handle to place or retrieve the fork from a table setting",
33
+ "confidence": 0.95
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "provide main grip",
38
+ "support utensil manipulation",
39
+ "position the fork head",
40
+ "balance the utensil"
41
+ ],
42
+ "semantic_description": "Long slightly flared dark metal handle with a smooth hard semi-gloss finish, broad and rounded at the end and forming the larger rear portion of the fork.",
43
+ "id": 1,
44
+ "grasp_group": {
45
+ "grasp_0": {
46
+ "confidence": 0.987013041973114,
47
+ "position": [
48
+ -0.05201906617730856,
49
+ -0.09328084852313623,
50
+ -0.018453014898113906
51
+ ],
52
+ "orientation": {
53
+ "w": 0.4507648281737334,
54
+ "xyz": [
55
+ -0.5099121221602019,
56
+ 0.33329645293211685,
57
+ 0.6524677553860062
58
+ ]
59
+ }
60
+ },
61
+ "grasp_1": {
62
+ "confidence": 0.9838500022888184,
63
+ "position": [
64
+ -0.12624855246394873,
65
+ 0.10812144313240424,
66
+ 0.014010104467161
67
+ ],
68
+ "orientation": {
69
+ "w": 0.5134072136696617,
70
+ "xyz": [
71
+ 0.5026489707834313,
72
+ 0.517738714596345,
73
+ -0.46443909022651864
74
+ ]
75
+ }
76
+ },
77
+ "grasp_2": {
78
+ "confidence": 0.9837728142738342,
79
+ "position": [
80
+ -0.08186576422303915,
81
+ -0.10016419406747445,
82
+ -0.006856959196738899
83
+ ],
84
+ "orientation": {
85
+ "w": 0.5714005724905779,
86
+ "xyz": [
87
+ -0.429660430244329,
88
+ -0.4866881354709882,
89
+ -0.502023863209182
90
+ ]
91
+ }
92
+ },
93
+ "grasp_4": {
94
+ "confidence": 0.9821248054504395,
95
+ "position": [
96
+ -0.1228107949718833,
97
+ -0.10519587661838159,
98
+ 0.0037381398724392056
99
+ ],
100
+ "orientation": {
101
+ "w": 0.4945103512983819,
102
+ "xyz": [
103
+ -0.487186424072423,
104
+ -0.48877643201318655,
105
+ -0.5283999433826007
106
+ ]
107
+ }
108
+ },
109
+ "grasp_5": {
110
+ "confidence": 0.9820651412010193,
111
+ "position": [
112
+ -0.06694153603166342,
113
+ -0.09671441133832559,
114
+ -0.020254213246516883
115
+ ],
116
+ "orientation": {
117
+ "w": 0.631303191387226,
118
+ "xyz": [
119
+ -0.3017860328464754,
120
+ -0.5078306335530386,
121
+ -0.5024833515134698
122
+ ]
123
+ }
124
+ },
125
+ "grasp_6": {
126
+ "confidence": 0.9817386269569397,
127
+ "position": [
128
+ -0.11183673795312643,
129
+ -0.10823408182477579,
130
+ 0.005594492540694773
131
+ ],
132
+ "orientation": {
133
+ "w": 0.5075565431685555,
134
+ "xyz": [
135
+ -0.48200511469853236,
136
+ -0.4971765782192613,
137
+ -0.5127112978679401
138
+ ]
139
+ }
140
+ },
141
+ "grasp_8": {
142
+ "confidence": 0.9815199971199036,
143
+ "position": [
144
+ -0.054272412322461605,
145
+ 0.09677616093540564,
146
+ 0.008781700511462986
147
+ ],
148
+ "orientation": {
149
+ "w": 0.42990530134407606,
150
+ "xyz": [
151
+ 0.563551471996164,
152
+ 0.4371538532696785,
153
+ -0.553613293607269
154
+ ]
155
+ }
156
+ },
157
+ "grasp_9": {
158
+ "confidence": 0.9814807772636414,
159
+ "position": [
160
+ -0.11296915169805288,
161
+ 0.1040520403184928,
162
+ 0.01709838875103742
163
+ ],
164
+ "orientation": {
165
+ "w": 0.5019485372414667,
166
+ "xyz": [
167
+ 0.486731563624117,
168
+ 0.5255653842964798,
169
+ -0.48468657683338806
170
+ ]
171
+ }
172
+ },
173
+ "grasp_10": {
174
+ "confidence": 0.9809929728507996,
175
+ "position": [
176
+ -0.12007208075374365,
177
+ -0.1050839390954934,
178
+ -0.008161380770616233
179
+ ],
180
+ "orientation": {
181
+ "w": 0.5550268087766057,
182
+ "xyz": [
183
+ -0.4670317435199274,
184
+ 0.4614421949159163,
185
+ 0.5107814531041389
186
+ ]
187
+ }
188
+ },
189
+ "grasp_11": {
190
+ "confidence": 0.9809727668762207,
191
+ "position": [
192
+ -0.10539368446916342,
193
+ 0.1043572086491622,
194
+ 0.016702255350537598
195
+ ],
196
+ "orientation": {
197
+ "w": 0.5031950556761554,
198
+ "xyz": [
199
+ 0.5088355469034263,
200
+ 0.5189529688028525,
201
+ -0.4675135702001252
202
+ ]
203
+ }
204
+ },
205
+ "grasp_12": {
206
+ "confidence": 0.9809483289718628,
207
+ "position": [
208
+ -0.12613174226135015,
209
+ 0.10328024957561865,
210
+ 0.009321422432549298
211
+ ],
212
+ "orientation": {
213
+ "w": 0.46761953747279394,
214
+ "xyz": [
215
+ 0.5145622652096965,
216
+ -0.4806561639364001,
217
+ 0.5343475418357804
218
+ ]
219
+ }
220
+ },
221
+ "grasp_13": {
222
+ "confidence": 0.9803511500358582,
223
+ "position": [
224
+ -0.10356431361287832,
225
+ 0.10374107543611899,
226
+ 0.012153410469181836
227
+ ],
228
+ "orientation": {
229
+ "w": 0.49092404588923144,
230
+ "xyz": [
231
+ 0.5108080889750258,
232
+ -0.4923501733945834,
233
+ 0.5056283063315906
234
+ ]
235
+ }
236
+ },
237
+ "grasp_15": {
238
+ "confidence": 0.9800682663917542,
239
+ "position": [
240
+ -0.1312043508514762,
241
+ -0.10469039942836389,
242
+ 0.00398008746560663
243
+ ],
244
+ "orientation": {
245
+ "w": 0.4652806583557238,
246
+ "xyz": [
247
+ -0.5158786950092294,
248
+ -0.44636216855820543,
249
+ -0.5640424589298708
250
+ ]
251
+ }
252
+ },
253
+ "grasp_16": {
254
+ "confidence": 0.9797829985618591,
255
+ "position": [
256
+ -0.06555821653455496,
257
+ 0.09641041938448325,
258
+ 0.006918185041286051
259
+ ],
260
+ "orientation": {
261
+ "w": 0.36155582956398713,
262
+ "xyz": [
263
+ 0.6097088327598045,
264
+ 0.36121488587599193,
265
+ -0.6058517372959887
266
+ ]
267
+ }
268
+ }
269
+ }
270
+ }
271
+ ],
272
+ "quality_check": {
273
+ "success": true,
274
+ "message": "YES"
275
+ }
276
+ }
dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfe1d2b4d3c4a31c64c6ea5920a5c68575975377b9913670fc1edc197c7deada
3
+ size 485400