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
b8e7d96
·
verified ·
1 Parent(s): 883b3d1

Add asset kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/affordance/affordance_annot.json +420 -0
  3. dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7512,3 +7512,4 @@ dataset/kitchen_supplies/ware/14851e723f035738bf4188fb70e8beb7/affordance/mesh_p
7512
  dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7513
  dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7514
  dataset/kitchen_supplies/ware/16146ca2c91d5e3c9fa6a55037aff66a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7512
  dataset/kitchen_supplies/ware/14fe24202cd55a9fb3140d5524b92916/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7513
  dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7514
  dataset/kitchen_supplies/ware/16146ca2c91d5e3c9fa6a55037aff66a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7515
+ dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,420 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body with side handles",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body to pick up and carry the baby bottle",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "grasp one of the integrated side handles to lift or reposition the bottle",
14
+ "confidence": 0.87
15
+ },
16
+ {
17
+ "scenario": "hold the body to stabilize the bottle during filling or cleaning",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain liquid",
23
+ "provide main grasp surface",
24
+ "support lifting and carrying",
25
+ "support printed volume measurement",
26
+ "stabilize bottle upright"
27
+ ],
28
+ "semantic_description": "Large cream-white translucent plastic bottle body with a glossy smooth surface, rounded waisted shape, two integrated curved side handles, and visible printed volume markings on the side.",
29
+ "id": 8,
30
+ "grasp_group": {}
31
+ },
32
+ {
33
+ "part_name": "screw collar",
34
+ "mask_color": "Blue",
35
+ "graspable": true,
36
+ "grasp_scenarios": [
37
+ {
38
+ "scenario": "grasp the collar to twist and unscrew the top assembly",
39
+ "confidence": 0.88
40
+ },
41
+ {
42
+ "scenario": "hold the collar to stabilize the bottle while attaching the nipple assembly",
43
+ "confidence": 0.8
44
+ }
45
+ ],
46
+ "functional_labels": [
47
+ "secure nipple assembly",
48
+ "provide threaded connection",
49
+ "enable opening and closing",
50
+ "help seal the bottle top"
51
+ ],
52
+ "semantic_description": "Medium amber translucent plastic ring at the top of the bottle with a glossy smooth finish and circular threaded form surrounding the base of the nipple.",
53
+ "id": 2,
54
+ "grasp_group": {
55
+ "grasp_8": {
56
+ "confidence": 0.7023257613182068,
57
+ "position": [
58
+ -0.09854775261192117,
59
+ -0.010694908276491333,
60
+ 0.0776983774267137
61
+ ],
62
+ "orientation": {
63
+ "w": 0.42438483912108643,
64
+ "xyz": [
65
+ -0.5988302075652429,
66
+ 0.5642880973132123,
67
+ -0.37799316668714084
68
+ ]
69
+ }
70
+ },
71
+ "grasp_11": {
72
+ "confidence": 0.6746723651885986,
73
+ "position": [
74
+ -0.08048226278333459,
75
+ -0.003741720756806899,
76
+ 0.105140236672014
77
+ ],
78
+ "orientation": {
79
+ "w": 0.30951021999454265,
80
+ "xyz": [
81
+ -0.6430632924259688,
82
+ 0.6401656152716556,
83
+ -0.2843607052267694
84
+ ]
85
+ }
86
+ },
87
+ "grasp_12": {
88
+ "confidence": 0.664183497428894,
89
+ "position": [
90
+ 0.08618457276315894,
91
+ -0.011370739266567398,
92
+ 0.09611657029017806
93
+ ],
94
+ "orientation": {
95
+ "w": 0.2894581719432661,
96
+ "xyz": [
97
+ 0.6108499740210938,
98
+ -0.6513360815132194,
99
+ -0.3447282768394498
100
+ ]
101
+ }
102
+ },
103
+ "grasp_15": {
104
+ "confidence": 0.6483381390571594,
105
+ "position": [
106
+ -0.0922465358307818,
107
+ 0.04246501501620514,
108
+ 0.07954001193866134
109
+ ],
110
+ "orientation": {
111
+ "w": 0.27657795367846266,
112
+ "xyz": [
113
+ -0.44302323229376867,
114
+ 0.7073450011562519,
115
+ -0.4763382207279588
116
+ ]
117
+ }
118
+ },
119
+ "grasp_17": {
120
+ "confidence": 0.6417816281318665,
121
+ "position": [
122
+ -0.09072970192937646,
123
+ 0.016370444260246586,
124
+ 0.0874872631393373
125
+ ],
126
+ "orientation": {
127
+ "w": 0.3994679962187666,
128
+ "xyz": [
129
+ 0.6579058125518342,
130
+ 0.5515913791673741,
131
+ 0.32145328157557984
132
+ ]
133
+ }
134
+ },
135
+ "grasp_19": {
136
+ "confidence": 0.6305281519889832,
137
+ "position": [
138
+ 0.10286415774316993,
139
+ -0.022688244767778087,
140
+ 0.07407112186774611
141
+ ],
142
+ "orientation": {
143
+ "w": 0.3735746339336344,
144
+ "xyz": [
145
+ 0.5139045960900785,
146
+ -0.6184040286947725,
147
+ -0.4625154227622242
148
+ ]
149
+ }
150
+ }
151
+ }
152
+ },
153
+ {
154
+ "part_name": "neck sealing band",
155
+ "mask_color": "Green",
156
+ "graspable": false,
157
+ "grasp_scenarios": [],
158
+ "functional_labels": [
159
+ "help seal between the collar and bottle neck",
160
+ "provide a transition ring between top parts",
161
+ "help prevent leaks"
162
+ ],
163
+ "semantic_description": "Thin narrow amber-brown translucent band below the collar and above the bottle body, with a smooth slightly glossy circular profile around the neck.",
164
+ "id": 1,
165
+ "grasp_group": {}
166
+ },
167
+ {
168
+ "part_name": "nipple",
169
+ "mask_color": "Yellow",
170
+ "graspable": true,
171
+ "grasp_scenarios": [
172
+ {
173
+ "scenario": "delicately grasp the nipple tip to orient the bottle top during assembly or inspection",
174
+ "confidence": 0.3
175
+ },
176
+ {
177
+ "scenario": "pinch the nipple to manipulate the top component during cleaning",
178
+ "confidence": 0.26
179
+ }
180
+ ],
181
+ "functional_labels": [
182
+ "dispense liquid for feeding",
183
+ "provide sucking interface",
184
+ "control flow at the tip"
185
+ ],
186
+ "semantic_description": "Small beige translucent silicone nipple with a soft smooth surface, bulbous tapered shape, and rounded tip protruding from the center of the bottle top.",
187
+ "id": 3,
188
+ "grasp_group": {
189
+ "grasp_20": {
190
+ "confidence": 0.9431056380271912,
191
+ "position": [
192
+ 0.08115574378462043,
193
+ 0.003930608909286093,
194
+ 0.13109046733006835
195
+ ],
196
+ "orientation": {
197
+ "w": 0.33241573597333546,
198
+ "xyz": [
199
+ -0.5798265218559198,
200
+ -0.6604467979212655,
201
+ 0.3422148596208518
202
+ ]
203
+ }
204
+ },
205
+ "grasp_21": {
206
+ "confidence": 0.9394673109054565,
207
+ "position": [
208
+ 0.08188295770378318,
209
+ -0.015079661570780445,
210
+ 0.13038038229569793
211
+ ],
212
+ "orientation": {
213
+ "w": 0.36723678073765403,
214
+ "xyz": [
215
+ -0.6801020125708604,
216
+ -0.5506034025021656,
217
+ 0.3153320353588379
218
+ ]
219
+ }
220
+ },
221
+ "grasp_22": {
222
+ "confidence": 0.9373401999473572,
223
+ "position": [
224
+ 0.07771520722599234,
225
+ -0.014166991524689365,
226
+ 0.13535668468102813
227
+ ],
228
+ "orientation": {
229
+ "w": 0.3354278188547067,
230
+ "xyz": [
231
+ -0.6864148205151185,
232
+ -0.5672343188019547,
233
+ 0.30751926783350264
234
+ ]
235
+ }
236
+ },
237
+ "grasp_23": {
238
+ "confidence": 0.9359140396118164,
239
+ "position": [
240
+ 0.058001794255687855,
241
+ 0.024952432773716282,
242
+ 0.14952372526749969
243
+ ],
244
+ "orientation": {
245
+ "w": 0.300987192589281,
246
+ "xyz": [
247
+ 0.7814724255713777,
248
+ -0.5204743871769462,
249
+ -0.1667752087739439
250
+ ]
251
+ }
252
+ },
253
+ "grasp_24": {
254
+ "confidence": 0.9355807900428772,
255
+ "position": [
256
+ -0.05848412554769311,
257
+ 0.0160968459022115,
258
+ 0.16064455127343535
259
+ ],
260
+ "orientation": {
261
+ "w": 0.18642550078391348,
262
+ "xyz": [
263
+ -0.5368995913400338,
264
+ 0.7859243502907513,
265
+ -0.24353085450602022
266
+ ]
267
+ }
268
+ },
269
+ "grasp_25": {
270
+ "confidence": 0.935039758682251,
271
+ "position": [
272
+ -0.07122879814414773,
273
+ 0.02243740547419293,
274
+ 0.14707759534940124
275
+ ],
276
+ "orientation": {
277
+ "w": 0.32072328445141995,
278
+ "xyz": [
279
+ 0.7422391901434838,
280
+ 0.5388011004253125,
281
+ 0.23645492933392384
282
+ ]
283
+ }
284
+ },
285
+ "grasp_26": {
286
+ "confidence": 0.9347758889198303,
287
+ "position": [
288
+ -0.0801405046513537,
289
+ -0.026528868191235233,
290
+ 0.12170553719624877
291
+ ],
292
+ "orientation": {
293
+ "w": 0.4047390986048442,
294
+ "xyz": [
295
+ -0.6915235208101846,
296
+ 0.5163707378431329,
297
+ -0.30222962019987926
298
+ ]
299
+ }
300
+ },
301
+ "grasp_27": {
302
+ "confidence": 0.9344072341918945,
303
+ "position": [
304
+ -0.08504934947995935,
305
+ 0.018385820723779034,
306
+ 0.12879898166283965
307
+ ],
308
+ "orientation": {
309
+ "w": 0.32151022553900627,
310
+ "xyz": [
311
+ -0.5011385853443926,
312
+ 0.702042812836675,
313
+ -0.3906752898472681
314
+ ]
315
+ }
316
+ },
317
+ "grasp_29": {
318
+ "confidence": 0.9329173564910889,
319
+ "position": [
320
+ -0.051246508621261455,
321
+ 0.01607484992564423,
322
+ 0.15851055597886443
323
+ ],
324
+ "orientation": {
325
+ "w": 0.16842169085809272,
326
+ "xyz": [
327
+ -0.526271891457805,
328
+ 0.8021990419833748,
329
+ -0.2261608439825105
330
+ ]
331
+ }
332
+ },
333
+ "grasp_31": {
334
+ "confidence": 0.9321584105491638,
335
+ "position": [
336
+ -0.06800615381507669,
337
+ -0.03569601971685188,
338
+ 0.1443654797039926
339
+ ],
340
+ "orientation": {
341
+ "w": 0.37393926819581935,
342
+ "xyz": [
343
+ -0.691495517857752,
344
+ 0.591551028799328,
345
+ -0.1790830891242131
346
+ ]
347
+ }
348
+ },
349
+ "grasp_32": {
350
+ "confidence": 0.9320343136787415,
351
+ "position": [
352
+ 0.04946463961096015,
353
+ -0.02998482000111835,
354
+ 0.1623647860251367
355
+ ],
356
+ "orientation": {
357
+ "w": 0.13173533741801885,
358
+ "xyz": [
359
+ 0.5938858995757856,
360
+ -0.7512618973895215,
361
+ -0.25602910125826717
362
+ ]
363
+ }
364
+ },
365
+ "grasp_33": {
366
+ "confidence": 0.9319316148757935,
367
+ "position": [
368
+ 0.054906219578697346,
369
+ 0.014230168126232456,
370
+ 0.1614328077994287
371
+ ],
372
+ "orientation": {
373
+ "w": 0.16196573932697142,
374
+ "xyz": [
375
+ -0.6389424681298931,
376
+ -0.7073071195572368,
377
+ 0.25541390002894
378
+ ]
379
+ }
380
+ },
381
+ "grasp_36": {
382
+ "confidence": 0.9317245483398438,
383
+ "position": [
384
+ 0.055903327054693364,
385
+ -0.0015695223773946054,
386
+ 0.16191790020093322
387
+ ],
388
+ "orientation": {
389
+ "w": 0.19681506362938184,
390
+ "xyz": [
391
+ -0.7260169033218687,
392
+ -0.6231007936179703,
393
+ 0.214263127514145
394
+ ]
395
+ }
396
+ },
397
+ "grasp_39": {
398
+ "confidence": 0.9299400448799133,
399
+ "position": [
400
+ -0.0568451580038527,
401
+ -0.019112528600089718,
402
+ 0.15894119953736663
403
+ ],
404
+ "orientation": {
405
+ "w": 0.26207244935799023,
406
+ "xyz": [
407
+ -0.7241958139029596,
408
+ 0.6095847320288416,
409
+ -0.18778953349497104
410
+ ]
411
+ }
412
+ }
413
+ }
414
+ }
415
+ ],
416
+ "quality_check": {
417
+ "success": false,
418
+ "message": "Pink mask combines body and handles; annotation misses handles as separate functional parts and overstates printed markings support on body."
419
+ }
420
+ }
dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4515f0d9312ee4bb75b50281e5666d635c5cd7d888c10eb36267c85080bba942
3
+ size 111326120