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
d2bb970
·
verified ·
1 Parent(s): 7d4c99d

Add asset kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/affordance_annot.json +382 -0
  3. dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7530,3 +7530,4 @@ dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/affordance/mesh_p
7530
  dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7531
  dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7532
  dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7530
  dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7531
  dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7532
  dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7533
+ dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,382 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body around the waist to pick up and carry the bottle",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the bottle while unscrewing the cap",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the body to tilt and pour liquid",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain liquid",
23
+ "provide main grasp surface",
24
+ "support lifting and carrying",
25
+ "stabilize during opening",
26
+ "enable pouring"
27
+ ],
28
+ "semantic_description": "Large dark gray to black plastic bottle body with a slightly glossy smooth surface, ribbed molded contours, hard feel, and a rounded tapered shape forming most of the container.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.8657928705215454,
33
+ "position": [
34
+ -0.09789384802570567,
35
+ 0.018414673919323832,
36
+ 0.10359840840101242
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5045372892920514,
40
+ "xyz": [
41
+ 0.5833197415837342,
42
+ 0.5040693088260607,
43
+ 0.3887085472331841
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.864331066608429,
49
+ "position": [
50
+ -0.08023925771703944,
51
+ 0.027862224320415407,
52
+ 0.14587140828371048
53
+ ],
54
+ "orientation": {
55
+ "w": 0.40707472655484067,
56
+ "xyz": [
57
+ 0.6967862090630287,
58
+ 0.5259358222493509,
59
+ 0.26864596913926414
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.8595514297485352,
65
+ "position": [
66
+ -0.08478335937252268,
67
+ 0.007519538106862456,
68
+ 0.1469084694981575
69
+ ],
70
+ "orientation": {
71
+ "w": 0.3271091049878,
72
+ "xyz": [
73
+ -0.5849835400703266,
74
+ 0.6492675705938051,
75
+ -0.35950731989222057
76
+ ]
77
+ }
78
+ },
79
+ "grasp_23": {
80
+ "confidence": 0.8583019375801086,
81
+ "position": [
82
+ -0.07490645250072703,
83
+ 0.04140930954599753,
84
+ 0.1477111205458641
85
+ ],
86
+ "orientation": {
87
+ "w": 0.23733435335525443,
88
+ "xyz": [
89
+ -0.45790893521554515,
90
+ 0.7469924005155846,
91
+ -0.419516585296903
92
+ ]
93
+ }
94
+ },
95
+ "grasp_24": {
96
+ "confidence": 0.8550412654876709,
97
+ "position": [
98
+ -0.07109162112465128,
99
+ 0.044152419606689364,
100
+ 0.14666257053613663
101
+ ],
102
+ "orientation": {
103
+ "w": 0.43088844898474277,
104
+ "xyz": [
105
+ 0.7454948509057049,
106
+ 0.46173664075925624,
107
+ 0.21300668155004185
108
+ ]
109
+ }
110
+ },
111
+ "grasp_25": {
112
+ "confidence": 0.8548123836517334,
113
+ "position": [
114
+ -0.04966090148082003,
115
+ 0.012583670730236918,
116
+ 0.17706989496946335
117
+ ],
118
+ "orientation": {
119
+ "w": 0.20748997959505966,
120
+ "xyz": [
121
+ 0.748718846181385,
122
+ 0.6084005875907118,
123
+ 0.16191578909956106
124
+ ]
125
+ }
126
+ },
127
+ "grasp_26": {
128
+ "confidence": 0.8547321557998657,
129
+ "position": [
130
+ 0.10191762546310201,
131
+ -0.024923980643507093,
132
+ 0.08158588409423828
133
+ ],
134
+ "orientation": {
135
+ "w": 0.43571087133643044,
136
+ "xyz": [
137
+ 0.429773199978998,
138
+ -0.5320271981142555,
139
+ -0.5851479245846776
140
+ ]
141
+ }
142
+ },
143
+ "grasp_27": {
144
+ "confidence": 0.8540005087852478,
145
+ "position": [
146
+ -0.0864964266656898,
147
+ 0.011976116860751063,
148
+ 0.14217277616262436
149
+ ],
150
+ "orientation": {
151
+ "w": 0.37250123505016564,
152
+ "xyz": [
153
+ 0.645838771905967,
154
+ 0.5860415937350238,
155
+ 0.3173174451580106
156
+ ]
157
+ }
158
+ },
159
+ "grasp_28": {
160
+ "confidence": 0.8536989688873291,
161
+ "position": [
162
+ -0.07420550932874903,
163
+ 0.020076738263014704,
164
+ 0.1545441821217537
165
+ ],
166
+ "orientation": {
167
+ "w": 0.3023536946776938,
168
+ "xyz": [
169
+ -0.4996993498798176,
170
+ 0.7367199276401899,
171
+ -0.34077346032557854
172
+ ]
173
+ }
174
+ },
175
+ "grasp_29": {
176
+ "confidence": 0.8534444570541382,
177
+ "position": [
178
+ -0.08338527282467112,
179
+ 0.02137977589154616,
180
+ 0.14450322836637497
181
+ ],
182
+ "orientation": {
183
+ "w": 0.2811144920869246,
184
+ "xyz": [
185
+ -0.5589939122791073,
186
+ 0.6745417291361494,
187
+ -0.3917829807784177
188
+ ]
189
+ }
190
+ },
191
+ "grasp_30": {
192
+ "confidence": 0.8517353534698486,
193
+ "position": [
194
+ -0.055155116075184196,
195
+ 0.08782810677075759,
196
+ 0.09732688218355179
197
+ ],
198
+ "orientation": {
199
+ "w": 0.6317587747571721,
200
+ "xyz": [
201
+ 0.720748111543999,
202
+ 0.2101523549210551,
203
+ 0.19297408619866732
204
+ ]
205
+ }
206
+ },
207
+ "grasp_31": {
208
+ "confidence": 0.85122150182724,
209
+ "position": [
210
+ 0.10197299072751775,
211
+ -0.024288554152008146,
212
+ 0.0804692879319191
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4335210066020206,
216
+ "xyz": [
217
+ 0.4448744282061291,
218
+ -0.5234108588117242,
219
+ -0.5832558210948375
220
+ ]
221
+ }
222
+ },
223
+ "grasp_32": {
224
+ "confidence": 0.8511752486228943,
225
+ "position": [
226
+ -0.08646289905300364,
227
+ 0.028638099844101816,
228
+ 0.14616499096155167
229
+ ],
230
+ "orientation": {
231
+ "w": 0.40413755993777045,
232
+ "xyz": [
233
+ 0.6866180165456068,
234
+ 0.5403104646604395,
235
+ 0.2707270466372756
236
+ ]
237
+ }
238
+ },
239
+ "grasp_33": {
240
+ "confidence": 0.8511366844177246,
241
+ "position": [
242
+ -0.0487086241482757,
243
+ 0.015511909092310816,
244
+ 0.17667361348867416
245
+ ],
246
+ "orientation": {
247
+ "w": 0.16574568237028528,
248
+ "xyz": [
249
+ -0.5623513037201511,
250
+ 0.780979031228934,
251
+ -0.21531635506986274
252
+ ]
253
+ }
254
+ },
255
+ "grasp_34": {
256
+ "confidence": 0.8500111699104309,
257
+ "position": [
258
+ -0.08819404890527949,
259
+ 0.020856218005064875,
260
+ 0.14211464673280716
261
+ ],
262
+ "orientation": {
263
+ "w": 0.3940143313578438,
264
+ "xyz": [
265
+ 0.6584015060541607,
266
+ 0.568709569497975,
267
+ 0.2963605727347553
268
+ ]
269
+ }
270
+ },
271
+ "grasp_35": {
272
+ "confidence": 0.8482852578163147,
273
+ "position": [
274
+ 0.07348088274011388,
275
+ -0.04662320058559999,
276
+ 0.1396074816584587
277
+ ],
278
+ "orientation": {
279
+ "w": 0.23481740258616896,
280
+ "xyz": [
281
+ 0.4331747089754086,
282
+ -0.7361765022266237,
283
+ -0.4639661803581462
284
+ ]
285
+ }
286
+ },
287
+ "grasp_36": {
288
+ "confidence": 0.8480163812637329,
289
+ "position": [
290
+ -0.08343233069172129,
291
+ 0.0013868125679437071,
292
+ 0.14810141175985336
293
+ ],
294
+ "orientation": {
295
+ "w": 0.3386198968864186,
296
+ "xyz": [
297
+ 0.6382963760359542,
298
+ 0.6030589399383531,
299
+ 0.33798552740084725
300
+ ]
301
+ }
302
+ },
303
+ "grasp_37": {
304
+ "confidence": 0.8454048037528992,
305
+ "position": [
306
+ -0.08581114461412653,
307
+ 0.03274686593795195,
308
+ 0.13610293716192245
309
+ ],
310
+ "orientation": {
311
+ "w": 0.281303915122695,
312
+ "xyz": [
313
+ -0.4891024032851988,
314
+ 0.7115899744591477,
315
+ -0.4186724909598384
316
+ ]
317
+ }
318
+ },
319
+ "grasp_38": {
320
+ "confidence": 0.8448965549468994,
321
+ "position": [
322
+ 0.04074729705462232,
323
+ -0.03594397794222459,
324
+ 0.17703478783369064
325
+ ],
326
+ "orientation": {
327
+ "w": 0.10299702723443645,
328
+ "xyz": [
329
+ 0.534764049686864,
330
+ -0.8007303340228348,
331
+ -0.2494994102579277
332
+ ]
333
+ }
334
+ },
335
+ "grasp_39": {
336
+ "confidence": 0.8444209098815918,
337
+ "position": [
338
+ -0.0874489908455871,
339
+ 0.0015403214492835104,
340
+ 0.14392726868391037
341
+ ],
342
+ "orientation": {
343
+ "w": 0.3445029982280571,
344
+ "xyz": [
345
+ 0.6247952206560746,
346
+ 0.6136836075618657,
347
+ 0.3381435290923968
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "bottle base",
355
+ "mask_color": "Red",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the lower base to lift the bottle when the middle is obstructed",
360
+ "confidence": 0.68
361
+ },
362
+ {
363
+ "scenario": "hold the bottom section to stabilize the bottle during placement or repositioning",
364
+ "confidence": 0.62
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "support standing",
369
+ "stabilize the bottle upright",
370
+ "protect the bottom",
371
+ "provide lower contact surface"
372
+ ],
373
+ "semantic_description": "Dark gray to black plastic bottom section with a slightly glossy hard smooth finish, petaloid footed shape, and rounded lobes at the lower end of the bottle.",
374
+ "id": 0,
375
+ "grasp_group": {}
376
+ }
377
+ ],
378
+ "quality_check": {
379
+ "success": true,
380
+ "message": "YES"
381
+ }
382
+ }
dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e23a24c041495dfcc8e8083bf5e5ed6cf15a23af6476f2862a3e4b45f1d78181
3
+ size 2279236