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
dbaf41e
·
verified ·
1 Parent(s): 7979299

Add asset kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/affordance_annot.json +306 -0
  3. dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7519,4 +7519,4 @@ dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/affordance/mesh_p
7519
  dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7520
  dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7521
  dataset/kitchen_supplies/ware/1f2830aa26c95ea593855c989c9997c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7522
- dataset/kitchen_supplies/ware/22672bceb36552e08f4cf75ab82bbfe3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7519
  dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7520
  dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7521
  dataset/kitchen_supplies/ware/1f2830aa26c95ea593855c989c9997c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7522
+ dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,306 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "base of wine glass",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "support upright standing",
10
+ "provide table contact",
11
+ "stabilize the glass",
12
+ "distribute load at the bottom"
13
+ ],
14
+ "semantic_description": "Flat circular transparent to lightly reflective glass base with a smooth surface, wider than the stem and located at the bottom, with faint etched markings visible near the outer area.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "bowl and stem",
20
+ "mask_color": "Green",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the slender stem to lift and move the glass without touching the bowl",
25
+ "confidence": 0.9
26
+ },
27
+ {
28
+ "scenario": "grasp around the lower bowl and stem area to reposition the glass carefully",
29
+ "confidence": 0.63
30
+ },
31
+ {
32
+ "scenario": "hold the stem to stabilize the glass during placement or serving",
33
+ "confidence": 0.84
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "contain liquid",
38
+ "provide primary lifting area",
39
+ "support the bowl above the base",
40
+ "enable drinking from the rim"
41
+ ],
42
+ "semantic_description": "Transparent clear glass champagne-flute-style bowl with an integrated slender stem, smooth and glossy, forming the main upper body centered above the base.",
43
+ "id": 1,
44
+ "grasp_group": {
45
+ "grasp_0": {
46
+ "confidence": 0.988860547542572,
47
+ "position": [
48
+ 0.03507514964439906,
49
+ -0.0960596605000319,
50
+ 0.03654776839539409
51
+ ],
52
+ "orientation": {
53
+ "w": 0.7103596360141093,
54
+ "xyz": [
55
+ -0.6793350130460758,
56
+ -0.14876000192413497,
57
+ 0.10846008205382233
58
+ ]
59
+ }
60
+ },
61
+ "grasp_2": {
62
+ "confidence": 0.9855140447616577,
63
+ "position": [
64
+ 0.04391602720716037,
65
+ -0.09312329727981705,
66
+ 0.07155962474644184
67
+ ],
68
+ "orientation": {
69
+ "w": 0.15094155725729888,
70
+ "xyz": [
71
+ 0.16048270224418518,
72
+ -0.6808340151574152,
73
+ -0.6985177108547633
74
+ ]
75
+ }
76
+ },
77
+ "grasp_3": {
78
+ "confidence": 0.9854286313056946,
79
+ "position": [
80
+ 0.029586053598904982,
81
+ -0.09823855299327988,
82
+ 0.06593967042863369
83
+ ],
84
+ "orientation": {
85
+ "w": 0.7030222526675726,
86
+ "xyz": [
87
+ -0.6953875713630703,
88
+ -0.11278183188879942,
89
+ 0.09734524253290254
90
+ ]
91
+ }
92
+ },
93
+ "grasp_4": {
94
+ "confidence": 0.9847044944763184,
95
+ "position": [
96
+ -0.022132438461994752,
97
+ 0.09924138795759063,
98
+ 0.0765330158174038
99
+ ],
100
+ "orientation": {
101
+ "w": 0.06500314250982696,
102
+ "xyz": [
103
+ -0.10425586797348722,
104
+ 0.6999437220871118,
105
+ -0.7035510581100574
106
+ ]
107
+ }
108
+ },
109
+ "grasp_5": {
110
+ "confidence": 0.9843357801437378,
111
+ "position": [
112
+ -0.04084318209788762,
113
+ 0.09335200946952682,
114
+ 0.07778279855847359
115
+ ],
116
+ "orientation": {
117
+ "w": 0.1496164028742765,
118
+ "xyz": [
119
+ -0.14505172015428017,
120
+ 0.6872452836789729,
121
+ -0.6958942811463927
122
+ ]
123
+ }
124
+ },
125
+ "grasp_6": {
126
+ "confidence": 0.9839479327201843,
127
+ "position": [
128
+ -0.013390367705142125,
129
+ -0.09992456722829957,
130
+ 0.04386371182044968
131
+ ],
132
+ "orientation": {
133
+ "w": 0.7219812511188698,
134
+ "xyz": [
135
+ -0.6884439498709024,
136
+ 0.040055776066118653,
137
+ -0.05642282980074129
138
+ ]
139
+ }
140
+ },
141
+ "grasp_8": {
142
+ "confidence": 0.9838204383850098,
143
+ "position": [
144
+ -0.027507199760293588,
145
+ 0.09677950751211029,
146
+ 0.07846780493855476
147
+ ],
148
+ "orientation": {
149
+ "w": 0.10169046773427869,
150
+ "xyz": [
151
+ -0.10584166468167693,
152
+ 0.6953503150314152,
153
+ -0.7035229421810683
154
+ ]
155
+ }
156
+ },
157
+ "grasp_9": {
158
+ "confidence": 0.9835357666015625,
159
+ "position": [
160
+ 0.018019014183664694,
161
+ -0.10010326195333619,
162
+ 0.06218213215470314
163
+ ],
164
+ "orientation": {
165
+ "w": 0.7103356229426762,
166
+ "xyz": [
167
+ -0.6970469983398044,
168
+ -0.08558191411054128,
169
+ 0.04716482652660423
170
+ ]
171
+ }
172
+ },
173
+ "grasp_10": {
174
+ "confidence": 0.9835143089294434,
175
+ "position": [
176
+ 0.03157265405752696,
177
+ -0.09795072216365952,
178
+ 0.050880406983196735
179
+ ],
180
+ "orientation": {
181
+ "w": 0.14584202695354784,
182
+ "xyz": [
183
+ 0.1036563069490173,
184
+ -0.6860367505426249,
185
+ -0.7052226954010251
186
+ ]
187
+ }
188
+ },
189
+ "grasp_11": {
190
+ "confidence": 0.9835139513015747,
191
+ "position": [
192
+ -0.021305647533154115,
193
+ 0.09882332097913604,
194
+ 0.04580991622060537
195
+ ],
196
+ "orientation": {
197
+ "w": 0.10252792410894948,
198
+ "xyz": [
199
+ -0.083130875368711,
200
+ 0.6857317560951027,
201
+ -0.7157857507809636
202
+ ]
203
+ }
204
+ },
205
+ "grasp_12": {
206
+ "confidence": 0.9833629131317139,
207
+ "position": [
208
+ 0.02321808520355262,
209
+ -0.09784543055866379,
210
+ 0.05506404209882021
211
+ ],
212
+ "orientation": {
213
+ "w": 0.7117599728018893,
214
+ "xyz": [
215
+ -0.6917121993319761,
216
+ -0.09520170671186368,
217
+ 0.0766068498994887
218
+ ]
219
+ }
220
+ },
221
+ "grasp_13": {
222
+ "confidence": 0.9828599095344543,
223
+ "position": [
224
+ 0.09766284670331515,
225
+ 0.028801000604289584,
226
+ 0.06093020737171173
227
+ ],
228
+ "orientation": {
229
+ "w": 0.44376200392539605,
230
+ "xyz": [
231
+ -0.411302832888932,
232
+ -0.5735217210369502,
233
+ 0.5522482222954374
234
+ ]
235
+ }
236
+ },
237
+ "grasp_14": {
238
+ "confidence": 0.9819366335868835,
239
+ "position": [
240
+ -0.02983931716880761,
241
+ -0.09699269670818467,
242
+ 0.04316113622917328
243
+ ],
244
+ "orientation": {
245
+ "w": 0.7077096894620772,
246
+ "xyz": [
247
+ -0.6905104455134475,
248
+ 0.08133368897491478,
249
+ -0.1254079388078834
250
+ ]
251
+ }
252
+ },
253
+ "grasp_15": {
254
+ "confidence": 0.981543779373169,
255
+ "position": [
256
+ -0.029965110908960924,
257
+ -0.09718772310588975,
258
+ 0.04400375415571034
259
+ ],
260
+ "orientation": {
261
+ "w": 0.7060208967258323,
262
+ "xyz": [
263
+ -0.6910216976946462,
264
+ 0.07480870303239973,
265
+ -0.13574669296992453
266
+ ]
267
+ }
268
+ },
269
+ "grasp_19": {
270
+ "confidence": 0.9813289642333984,
271
+ "position": [
272
+ 0.04210559945204295,
273
+ -0.09075457889412064,
274
+ 0.04943674383684993
275
+ ],
276
+ "orientation": {
277
+ "w": 0.6961881498210204,
278
+ "xyz": [
279
+ -0.6845244926585525,
280
+ -0.1618954390852141,
281
+ 0.1433113596430547
282
+ ]
283
+ }
284
+ }
285
+ }
286
+ },
287
+ {
288
+ "part_name": "rim",
289
+ "mask_color": "Purple",
290
+ "graspable": false,
291
+ "grasp_scenarios": [],
292
+ "functional_labels": [
293
+ "provide drinking edge",
294
+ "define opening",
295
+ "assist pouring into the glass"
296
+ ],
297
+ "semantic_description": "Thin circular rim at the top opening of the glass, clear and reflective with a smooth hard finish, outlining the mouth of the bowl.",
298
+ "id": 5,
299
+ "grasp_group": {}
300
+ }
301
+ ],
302
+ "quality_check": {
303
+ "success": false,
304
+ "message": "Object is a metal champagne flute, not transparent glass; descriptions and labels mismatch material/appearance."
305
+ }
306
+ }
dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37079ce1939eac7d48ba3e1ac100ec9c1967b9e33cb8a4cdfc753ccaee28bffe
3
+ size 3780576