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
5dce350
·
verified ·
1 Parent(s): 3553177

Add asset kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62/affordance/affordance_annot.json +614 -0
  3. dataset/kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7590,3 +7590,4 @@ dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/affordance/mesh_p
7590
  dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7591
  dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7592
  dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7590
  dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7591
  dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7592
  dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7593
+ dataset/kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62/affordance/affordance_annot.json ADDED
@@ -0,0 +1,614 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "drinking lid flap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the flap tab to open or close the drinking spout",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the flap edge lightly while aligning the lid during manipulation",
14
+ "confidence": 0.42
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the drinking opening",
19
+ "open and close the sip port",
20
+ "provide a pull tab",
21
+ "reduce spills while carried"
22
+ ],
23
+ "semantic_description": "Small light gray plastic flap with a smooth matte finish, hinged near the lid rim and extending as a curved tab over the sip opening.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "cup base",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "support the cup from below at the base while lifting it upright",
34
+ "confidence": 0.7
35
+ },
36
+ {
37
+ "scenario": "hold the bottom area to stabilize the cup during placement",
38
+ "confidence": 0.63
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "support standing",
43
+ "provide bottom contact surface",
44
+ "stabilize the cup on a table"
45
+ ],
46
+ "semantic_description": "Rounded dark gray bottom piece, likely rubber or plastic, with a dull smooth surface and circular shape at the lowest end of the cup.",
47
+ "id": 1,
48
+ "grasp_group": {
49
+ "grasp_20": {
50
+ "confidence": 0.7172384262084961,
51
+ "position": [
52
+ 0.04910318419570103,
53
+ 0.0985556694213301,
54
+ -0.07655392121523619
55
+ ],
56
+ "orientation": {
57
+ "w": 0.1850264408409229,
58
+ "xyz": [
59
+ -0.14502882402631825,
60
+ -0.6705116250898376,
61
+ 0.7036661260929566
62
+ ]
63
+ }
64
+ },
65
+ "grasp_21": {
66
+ "confidence": 0.7160444259643555,
67
+ "position": [
68
+ -0.04101148754125461,
69
+ -0.1091213074978441,
70
+ -0.06981123518198729
71
+ ],
72
+ "orientation": {
73
+ "w": 0.1411743140800666,
74
+ "xyz": [
75
+ 0.1120809460822746,
76
+ 0.7041466750703843,
77
+ 0.6867933710779741
78
+ ]
79
+ }
80
+ },
81
+ "grasp_22": {
82
+ "confidence": 0.7006552815437317,
83
+ "position": [
84
+ -0.11577261373167858,
85
+ -0.0312738751526922,
86
+ -0.07012376468628645
87
+ ],
88
+ "orientation": {
89
+ "w": 0.4422188666768001,
90
+ "xyz": [
91
+ 0.44122574221815086,
92
+ 0.550736242448391,
93
+ 0.5535809874019839
94
+ ]
95
+ }
96
+ },
97
+ "grasp_23": {
98
+ "confidence": 0.6996618509292603,
99
+ "position": [
100
+ 0.03736702218884602,
101
+ 0.10574028664268553,
102
+ -0.08357133250683546
103
+ ],
104
+ "orientation": {
105
+ "w": 0.17320351103394743,
106
+ "xyz": [
107
+ -0.10211083936367778,
108
+ -0.6647283794793776,
109
+ 0.7195207444991972
110
+ ]
111
+ }
112
+ },
113
+ "grasp_24": {
114
+ "confidence": 0.6993967890739441,
115
+ "position": [
116
+ -0.020662158203776926,
117
+ 0.11532832705415785,
118
+ -0.0727055324241519
119
+ ],
120
+ "orientation": {
121
+ "w": 0.7248666143355017,
122
+ "xyz": [
123
+ 0.6835286008952729,
124
+ 0.06508715080038441,
125
+ 0.0558632793579687
126
+ ]
127
+ }
128
+ },
129
+ "grasp_26": {
130
+ "confidence": 0.6760406494140625,
131
+ "position": [
132
+ -0.10525819048052654,
133
+ -0.056467063492164016,
134
+ -0.0711985481902957
135
+ ],
136
+ "orientation": {
137
+ "w": 0.6103068740641328,
138
+ "xyz": [
139
+ -0.5952769197540243,
140
+ 0.36098601363154714,
141
+ -0.3779682608905565
142
+ ]
143
+ }
144
+ },
145
+ "grasp_27": {
146
+ "confidence": 0.6736757159233093,
147
+ "position": [
148
+ -0.024480774474795908,
149
+ -0.11360063380561769,
150
+ -0.07025973778218031
151
+ ],
152
+ "orientation": {
153
+ "w": 0.07555045571336419,
154
+ "xyz": [
155
+ 0.09163583719861154,
156
+ 0.6929245546102704,
157
+ 0.7111614188076935
158
+ ]
159
+ }
160
+ },
161
+ "grasp_28": {
162
+ "confidence": 0.6614319682121277,
163
+ "position": [
164
+ -0.12032529845600948,
165
+ 0.00974422344006598,
166
+ -0.07289602886885405
167
+ ],
168
+ "orientation": {
169
+ "w": 0.5392777159950397,
170
+ "xyz": [
171
+ 0.5032612071835849,
172
+ 0.46342292223405057,
173
+ 0.49106710083587085
174
+ ]
175
+ }
176
+ },
177
+ "grasp_29": {
178
+ "confidence": 0.6555942893028259,
179
+ "position": [
180
+ -0.1142466826713644,
181
+ -0.0038220372516661882,
182
+ -0.0745736388489604
183
+ ],
184
+ "orientation": {
185
+ "w": 0.5025666264023767,
186
+ "xyz": [
187
+ 0.488054247638358,
188
+ 0.49249461841632336,
189
+ 0.5164096128265336
190
+ ]
191
+ }
192
+ },
193
+ "grasp_31": {
194
+ "confidence": 0.6472328901290894,
195
+ "position": [
196
+ -0.11333738401299343,
197
+ -0.04030736885033548,
198
+ -0.07706163357943296
199
+ ],
200
+ "orientation": {
201
+ "w": 0.44392382582669326,
202
+ "xyz": [
203
+ 0.40373128780861395,
204
+ 0.5364437254932789,
205
+ 0.5934313890305105
206
+ ]
207
+ }
208
+ },
209
+ "grasp_32": {
210
+ "confidence": 0.6469224691390991,
211
+ "position": [
212
+ -0.008337840845342726,
213
+ 0.007317383075132966,
214
+ -0.17206971626728773
215
+ ],
216
+ "orientation": {
217
+ "w": 0.5225713522612774,
218
+ "xyz": [
219
+ 0.02574198892952726,
220
+ 0.017833371607470005,
221
+ 0.8520202477986556
222
+ ]
223
+ }
224
+ },
225
+ "grasp_33": {
226
+ "confidence": 0.6466227173805237,
227
+ "position": [
228
+ -0.09728231414919719,
229
+ -0.010981603292748332,
230
+ -0.12045978289097548
231
+ ],
232
+ "orientation": {
233
+ "w": 0.642048383150872,
234
+ "xyz": [
235
+ -0.37259246794255013,
236
+ 0.3513922991602635,
237
+ -0.5705016902838191
238
+ ]
239
+ }
240
+ },
241
+ "grasp_35": {
242
+ "confidence": 0.6448280215263367,
243
+ "position": [
244
+ -0.0014461669488810003,
245
+ 0.002310743904672563,
246
+ -0.17311676125973463
247
+ ],
248
+ "orientation": {
249
+ "w": 0.9684224383021997,
250
+ "xyz": [
251
+ 0.010878044907990072,
252
+ 0.016969348858548172,
253
+ -0.2484988739031204
254
+ ]
255
+ }
256
+ },
257
+ "grasp_38": {
258
+ "confidence": 0.641043484210968,
259
+ "position": [
260
+ -0.09120778128271922,
261
+ -0.02232374413870275,
262
+ -0.12090663891285658
263
+ ],
264
+ "orientation": {
265
+ "w": 0.5341380096367564,
266
+ "xyz": [
267
+ 0.3069179944670271,
268
+ 0.4111039563127463,
269
+ 0.6719311485841606
270
+ ]
271
+ }
272
+ },
273
+ "grasp_39": {
274
+ "confidence": 0.6381075382232666,
275
+ "position": [
276
+ 0.0013375960406847298,
277
+ -0.0012926121708005667,
278
+ -0.1730347005650401
279
+ ],
280
+ "orientation": {
281
+ "w": 0.41619766623526694,
282
+ "xyz": [
283
+ 0.005516401836193738,
284
+ 0.0069673077733011235,
285
+ 0.9092307344967453
286
+ ]
287
+ }
288
+ }
289
+ }
290
+ },
291
+ {
292
+ "part_name": "cup body",
293
+ "mask_color": "Blue",
294
+ "graspable": true,
295
+ "grasp_scenarios": [
296
+ {
297
+ "scenario": "grasp the cup body around the sidewall to lift the cup",
298
+ "confidence": 0.96
299
+ },
300
+ {
301
+ "scenario": "hold the body to carry or reposition the cup",
302
+ "confidence": 0.94
303
+ },
304
+ {
305
+ "scenario": "grip the body to stabilize while opening the lid flap",
306
+ "confidence": 0.9
307
+ }
308
+ ],
309
+ "functional_labels": [
310
+ "contain liquid",
311
+ "main grasp surface",
312
+ "support the lid",
313
+ "provide insulated sidewall structure"
314
+ ],
315
+ "semantic_description": "Tall tapered light gray cup body with shallow horizontal ribbed rings, a matte finish, and a rigid plastic appearance forming most of the vessel.",
316
+ "id": 2,
317
+ "grasp_group": {
318
+ "grasp_40": {
319
+ "confidence": 0.7321847081184387,
320
+ "position": [
321
+ -0.019934540090616792,
322
+ 0.11331994854845107,
323
+ -0.05733689200133085
324
+ ],
325
+ "orientation": {
326
+ "w": 0.03999473264684138,
327
+ "xyz": [
328
+ -0.06811296211146824,
329
+ 0.706182871163047,
330
+ -0.7036098338062265
331
+ ]
332
+ }
333
+ },
334
+ "grasp_41": {
335
+ "confidence": 0.7312671542167664,
336
+ "position": [
337
+ -0.016848932427819818,
338
+ 0.11573822819627821,
339
+ -0.04712879937142134
340
+ ],
341
+ "orientation": {
342
+ "w": 0.046409332889503156,
343
+ "xyz": [
344
+ -0.06283959220971602,
345
+ 0.7150166133999071,
346
+ -0.6947291573223308
347
+ ]
348
+ }
349
+ },
350
+ "grasp_42": {
351
+ "confidence": 0.7173084616661072,
352
+ "position": [
353
+ -0.12108315661316738,
354
+ -0.016865787794813514,
355
+ -0.0644127307459712
356
+ ],
357
+ "orientation": {
358
+ "w": 0.5343740865511047,
359
+ "xyz": [
360
+ -0.524796898177307,
361
+ 0.4712462811016449,
362
+ -0.46578910875418644
363
+ ]
364
+ }
365
+ },
366
+ "grasp_44": {
367
+ "confidence": 0.697771430015564,
368
+ "position": [
369
+ -0.042698857781942934,
370
+ -0.10799539065919816,
371
+ -0.05650648754090071
372
+ ],
373
+ "orientation": {
374
+ "w": 0.1308789183759909,
375
+ "xyz": [
376
+ 0.14943588065723187,
377
+ 0.7147570886979923,
378
+ 0.6705683637429514
379
+ ]
380
+ }
381
+ },
382
+ "grasp_46": {
383
+ "confidence": 0.6846243739128113,
384
+ "position": [
385
+ -0.11995675548678264,
386
+ -0.020795669173821807,
387
+ -0.054569768719375134
388
+ ],
389
+ "orientation": {
390
+ "w": 0.528278627492558,
391
+ "xyz": [
392
+ -0.5441059853213359,
393
+ 0.4774740925197538,
394
+ -0.4437216012822848
395
+ ]
396
+ }
397
+ },
398
+ "grasp_48": {
399
+ "confidence": 0.6694738268852234,
400
+ "position": [
401
+ -0.00889555219328031,
402
+ 0.12186475866474211,
403
+ -0.04370333161205053
404
+ ],
405
+ "orientation": {
406
+ "w": 0.016995999213744183,
407
+ "xyz": [
408
+ -0.028901228110628868,
409
+ 0.7123515974174814,
410
+ -0.7010214381038473
411
+ ]
412
+ }
413
+ },
414
+ "grasp_49": {
415
+ "confidence": 0.6670979261398315,
416
+ "position": [
417
+ 0.0397559316479601,
418
+ 0.10488144331611693,
419
+ -0.05974954646080732
420
+ ],
421
+ "orientation": {
422
+ "w": 0.14088554020644897,
423
+ "xyz": [
424
+ -0.13135622736292987,
425
+ -0.680920758871962,
426
+ 0.7065718125080755
427
+ ]
428
+ }
429
+ },
430
+ "grasp_50": {
431
+ "confidence": 0.664987325668335,
432
+ "position": [
433
+ -0.0010855161817744374,
434
+ 0.12188651436008513,
435
+ -0.06708138715475798
436
+ ],
437
+ "orientation": {
438
+ "w": 0.719004397737474,
439
+ "xyz": [
440
+ 0.6947849916261817,
441
+ 0.016150863740656662,
442
+ -0.0067558156880041945
443
+ ]
444
+ }
445
+ },
446
+ "grasp_52": {
447
+ "confidence": 0.66187584400177,
448
+ "position": [
449
+ -0.04403732850914821,
450
+ 0.11030632280744612,
451
+ -0.038146804086863995
452
+ ],
453
+ "orientation": {
454
+ "w": 0.12422685592860826,
455
+ "xyz": [
456
+ -0.13863314839919447,
457
+ 0.7061705839007713,
458
+ -0.683133694721805
459
+ ]
460
+ }
461
+ },
462
+ "grasp_53": {
463
+ "confidence": 0.6585749983787537,
464
+ "position": [
465
+ 0.06862366810673848,
466
+ 0.09120524697937071,
467
+ -0.06899289321154356
468
+ ],
469
+ "orientation": {
470
+ "w": 0.25771133418132136,
471
+ "xyz": [
472
+ -0.22227487759119802,
473
+ -0.6433102177226613,
474
+ 0.685806613266396
475
+ ]
476
+ }
477
+ },
478
+ "grasp_54": {
479
+ "confidence": 0.653541088104248,
480
+ "position": [
481
+ 0.10381407156819478,
482
+ 0.04665440344251692,
483
+ -0.06803056877106428
484
+ ],
485
+ "orientation": {
486
+ "w": 0.4010199034408905,
487
+ "xyz": [
488
+ -0.3838128765875351,
489
+ -0.5731443134026644,
490
+ 0.6028070245311095
491
+ ]
492
+ }
493
+ },
494
+ "grasp_57": {
495
+ "confidence": 0.649865984916687,
496
+ "position": [
497
+ -0.10723593964939937,
498
+ -0.04219584888778627,
499
+ -0.05930184852331877
500
+ ],
501
+ "orientation": {
502
+ "w": 0.5722291783539022,
503
+ "xyz": [
504
+ -0.5894773288066634,
505
+ 0.4032072381407815,
506
+ -0.40310565534889514
507
+ ]
508
+ }
509
+ },
510
+ "grasp_58": {
511
+ "confidence": 0.6493108868598938,
512
+ "position": [
513
+ -0.06059761479264125,
514
+ -0.10322378552518785,
515
+ -0.06138049345463514
516
+ ],
517
+ "orientation": {
518
+ "w": 0.7032129065156887,
519
+ "xyz": [
520
+ -0.6700710031019051,
521
+ 0.18649098294296507,
522
+ -0.14736883046537017
523
+ ]
524
+ }
525
+ }
526
+ }
527
+ },
528
+ {
529
+ "part_name": "lid ring",
530
+ "mask_color": "Yellow",
531
+ "graspable": true,
532
+ "grasp_scenarios": [
533
+ {
534
+ "scenario": "grip the ring area to steady the cup while removing or adjusting the lid",
535
+ "confidence": 0.58
536
+ },
537
+ {
538
+ "scenario": "pinch the rim region to help orient the top of the cup",
539
+ "confidence": 0.46
540
+ }
541
+ ],
542
+ "functional_labels": [
543
+ "join lid to cup body",
544
+ "retain the lid",
545
+ "provide a rim for alignment",
546
+ "form a transition edge between lid and body"
547
+ ],
548
+ "semantic_description": "Thin light gray band around the upper circumference, likely plastic, with a smooth matte surface and narrow circular shape between the lid top and cup body.",
549
+ "id": 3,
550
+ "grasp_group": {}
551
+ },
552
+ {
553
+ "part_name": "lid top",
554
+ "mask_color": "Orange",
555
+ "graspable": true,
556
+ "grasp_scenarios": [
557
+ {
558
+ "scenario": "grasp the lid top and rim area to remove or reposition the lid",
559
+ "confidence": 0.55
560
+ },
561
+ {
562
+ "scenario": "press on the lid top to help seat the lid securely",
563
+ "confidence": 0.61
564
+ }
565
+ ],
566
+ "functional_labels": [
567
+ "cover the cup opening",
568
+ "help prevent spills",
569
+ "provide drinking surface",
570
+ "reduce heat loss"
571
+ ],
572
+ "semantic_description": "Flat round light gray lid top, likely plastic, with a smooth matte hard surface and broad shallow disk shape closing the top of the cup.",
573
+ "id": 4,
574
+ "grasp_group": {
575
+ "grasp_80": {
576
+ "confidence": 0.12133601307868958,
577
+ "position": [
578
+ 0.0024541328311897814,
579
+ 0.12300448142923415,
580
+ 0.06224036682397127
581
+ ],
582
+ "orientation": {
583
+ "w": 0.5186731998806265,
584
+ "xyz": [
585
+ 0.5193996893980423,
586
+ -0.5301140674133749,
587
+ 0.4244775022415867
588
+ ]
589
+ }
590
+ },
591
+ "grasp_82": {
592
+ "confidence": 0.08584043383598328,
593
+ "position": [
594
+ -0.011066130769904703,
595
+ 0.12358386092819273,
596
+ 0.05552161578088999
597
+ ],
598
+ "orientation": {
599
+ "w": 0.47752424053046555,
600
+ "xyz": [
601
+ 0.5387306404392709,
602
+ -0.5009664586971782,
603
+ 0.48038786830862334
604
+ ]
605
+ }
606
+ }
607
+ }
608
+ }
609
+ ],
610
+ "quality_check": {
611
+ "success": true,
612
+ "message": "YES"
613
+ }
614
+ }
dataset/kitchen_supplies/ware/8769ca436951540b94c7ef7f33a42d62/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:346a91e51f3f08d36801d15dfbf99133f13e43960cc25ee2051d7d23ab8a8074
3
+ size 3782160