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
628b0da
·
verified ·
1 Parent(s): db550a7

Add asset kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/affordance/affordance_annot.json +426 -0
  3. dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7380,3 +7380,4 @@ dataset/kitchen_supplies/tableware/bdff2a5ca4b5593e9e8f645b77e3d5d7/affordance/m
7380
  dataset/kitchen_supplies/tableware/c136edbbcc3154d1a828a887e7a33ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7381
  dataset/kitchen_supplies/tableware/c167e83ea3f352fa832fab4acd9c0ea2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7382
  dataset/kitchen_supplies/tableware/c0769bb884ac56bf86f474812bc12c93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7380
  dataset/kitchen_supplies/tableware/c136edbbcc3154d1a828a887e7a33ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7381
  dataset/kitchen_supplies/tableware/c167e83ea3f352fa832fab4acd9c0ea2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7382
  dataset/kitchen_supplies/tableware/c0769bb884ac56bf86f474812bc12c93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7383
+ dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/affordance/affordance_annot.json ADDED
@@ -0,0 +1,426 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top tray with raised rim",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grip the upper outer rim from the sides to lift the coaster from a table",
10
+ "confidence": 0.82
11
+ },
12
+ {
13
+ "scenario": "hold the top section to stabilize the coaster while placing or removing a cup",
14
+ "confidence": 0.68
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support a cup or glass",
19
+ "provide a shallow recessed resting surface",
20
+ "help contain small amounts of condensation within the rim",
21
+ "provide an upper edge for handling"
22
+ ],
23
+ "semantic_description": "Shallow circular brown wooden top section with visible wood grain, a smooth satin finish, hard texture, and a slightly recessed center bordered by a raised rounded rim.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.5909138321876526,
28
+ "position": [
29
+ -0.023460054530005436,
30
+ -0.08504963642917573,
31
+ 0.056311833061045036
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4826942165606485,
35
+ "xyz": [
36
+ -0.868383116462203,
37
+ 0.05588863050366727,
38
+ -0.09896220148480177
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.5897876620292664,
44
+ "position": [
45
+ 0.08177397796680452,
46
+ -0.05400639004074037,
47
+ 0.02029177764779888
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5935281005590853,
51
+ "xyz": [
52
+ -0.6380619354948786,
53
+ -0.40660847460397287,
54
+ 0.2743554422632881
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.5550897717475891,
60
+ "position": [
61
+ 0.0997023845629883,
62
+ 0.01669489429332316,
63
+ 0.03955919141299091
64
+ ],
65
+ "orientation": {
66
+ "w": 0.3817552156256316,
67
+ "xyz": [
68
+ -0.504527059459793,
69
+ -0.6559320993357911,
70
+ 0.4116654985257128
71
+ ]
72
+ }
73
+ },
74
+ "grasp_4": {
75
+ "confidence": 0.5268300175666809,
76
+ "position": [
77
+ -0.08567486306856154,
78
+ 0.02509512030519545,
79
+ 0.04958038995391689
80
+ ],
81
+ "orientation": {
82
+ "w": 0.35152467557177924,
83
+ "xyz": [
84
+ -0.4491580717398614,
85
+ 0.7210788971990444,
86
+ -0.39336071622531654
87
+ ]
88
+ }
89
+ },
90
+ "grasp_5": {
91
+ "confidence": 0.49784010648727417,
92
+ "position": [
93
+ 0.07199103036691668,
94
+ 0.07603962742723525,
95
+ -0.01148717911564745
96
+ ],
97
+ "orientation": {
98
+ "w": 0.7245729427999217,
99
+ "xyz": [
100
+ 0.5879388310790438,
101
+ -0.28032070470730486,
102
+ -0.22526048029796344
103
+ ]
104
+ }
105
+ },
106
+ "grasp_6": {
107
+ "confidence": 0.47414758801460266,
108
+ "position": [
109
+ 0.028644049780268688,
110
+ 0.08192215138114989,
111
+ 0.053002400643890724
112
+ ],
113
+ "orientation": {
114
+ "w": 0.06598343560830763,
115
+ "xyz": [
116
+ -0.19703343322056566,
117
+ -0.8394540567014159,
118
+ 0.5021363351781841
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.45506608486175537,
124
+ "position": [
125
+ -0.011787587536673527,
126
+ 0.09930121176876128,
127
+ -0.004104804393136874
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7333117708930879,
131
+ "xyz": [
132
+ 0.6749815393944121,
133
+ 0.06127783909291007,
134
+ 0.05384045488753229
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.4136102795600891,
140
+ "position": [
141
+ 0.06701938459445955,
142
+ -0.03119624382816255,
143
+ 0.06536824101931415
144
+ ],
145
+ "orientation": {
146
+ "w": 0.24631457455943495,
147
+ "xyz": [
148
+ 0.3940469623963069,
149
+ -0.8087901490922831,
150
+ -0.36043670251117665
151
+ ]
152
+ }
153
+ },
154
+ "grasp_11": {
155
+ "confidence": 0.3959527909755707,
156
+ "position": [
157
+ -0.08076930394599913,
158
+ 0.018800640711560845,
159
+ 0.059383916057413444
160
+ ],
161
+ "orientation": {
162
+ "w": 0.39497264773891355,
163
+ "xyz": [
164
+ 0.6136308812088423,
165
+ 0.6278346630317296,
166
+ 0.27069795909981736
167
+ ]
168
+ }
169
+ },
170
+ "grasp_13": {
171
+ "confidence": 0.3364916145801544,
172
+ "position": [
173
+ -0.1034451534433174,
174
+ 0.02745980047620833,
175
+ 0.032101245917147025
176
+ ],
177
+ "orientation": {
178
+ "w": 0.39597754348461695,
179
+ "xyz": [
180
+ -0.4908578511945393,
181
+ 0.6341665642697157,
182
+ -0.44731769888851153
183
+ ]
184
+ }
185
+ },
186
+ "grasp_14": {
187
+ "confidence": 0.33218318223953247,
188
+ "position": [
189
+ -0.08480806252191542,
190
+ 0.010106733301654458,
191
+ 0.052390178985660896
192
+ ],
193
+ "orientation": {
194
+ "w": 0.3493862909794929,
195
+ "xyz": [
196
+ -0.5328269619480197,
197
+ 0.677144490876646,
198
+ -0.36810322841866516
199
+ ]
200
+ }
201
+ },
202
+ "grasp_15": {
203
+ "confidence": 0.32815760374069214,
204
+ "position": [
205
+ 0.08499494591524126,
206
+ 0.026896666968241334,
207
+ 0.03737101922160946
208
+ ],
209
+ "orientation": {
210
+ "w": 0.44109028495834274,
211
+ "xyz": [
212
+ 0.6976760472287395,
213
+ -0.4138998529855872,
214
+ -0.38389374224798156
215
+ ]
216
+ }
217
+ },
218
+ "grasp_17": {
219
+ "confidence": 0.3186984956264496,
220
+ "position": [
221
+ 0.07598854997922899,
222
+ -0.0010746167972683907,
223
+ 0.06538513893610798
224
+ ],
225
+ "orientation": {
226
+ "w": 0.27976746108373873,
227
+ "xyz": [
228
+ -0.6925551385954943,
229
+ -0.5601908710519038,
230
+ 0.35816718961100247
231
+ ]
232
+ }
233
+ }
234
+ }
235
+ },
236
+ {
237
+ "part_name": "bottom base",
238
+ "mask_color": "Green",
239
+ "graspable": true,
240
+ "grasp_scenarios": [
241
+ {
242
+ "scenario": "pinch the coaster by its lower side and bottom edge to pick it up from a table",
243
+ "confidence": 0.8
244
+ },
245
+ {
246
+ "scenario": "hold the lower sidewall to reposition or stack the coaster",
247
+ "confidence": 0.73
248
+ }
249
+ ],
250
+ "functional_labels": [
251
+ "support the coaster on a table",
252
+ "provide a lower grasp edge",
253
+ "elevate the tray surface slightly",
254
+ "stabilize contact with the tabletop"
255
+ ],
256
+ "semantic_description": "Round brown wooden base section with visible wood grain, a smooth hard finish, and a flat circular underside forming the coaster's lower body and outer sidewall.",
257
+ "id": 1,
258
+ "grasp_group": {
259
+ "grasp_20": {
260
+ "confidence": 0.36886245012283325,
261
+ "position": [
262
+ 0.06563575962354662,
263
+ 0.044565156335011125,
264
+ -0.05367893507354893
265
+ ],
266
+ "orientation": {
267
+ "w": 0.3442757501597948,
268
+ "xyz": [
269
+ -0.24761662121442518,
270
+ -0.4343224270441808,
271
+ 0.7946849980443287
272
+ ]
273
+ }
274
+ },
275
+ "grasp_23": {
276
+ "confidence": 0.39962613582611084,
277
+ "position": [
278
+ 0.07529037097265245,
279
+ 0.05594607465900481,
280
+ -0.05678135310881771
281
+ ],
282
+ "orientation": {
283
+ "w": 0.24836675463620442,
284
+ "xyz": [
285
+ -0.2743814312682321,
286
+ -0.4117836904539196,
287
+ 0.8327442450373502
288
+ ]
289
+ }
290
+ },
291
+ "grasp_24": {
292
+ "confidence": 0.3612794280052185,
293
+ "position": [
294
+ -0.03906363224814413,
295
+ 0.05237033241428435,
296
+ -0.06906388854258694
297
+ ],
298
+ "orientation": {
299
+ "w": 0.8335188853427572,
300
+ "xyz": [
301
+ 0.4008950626556884,
302
+ 0.10375430902905847,
303
+ 0.3657382395555074
304
+ ]
305
+ }
306
+ },
307
+ "grasp_25": {
308
+ "confidence": 0.3502578139305115,
309
+ "position": [
310
+ -0.005577203111897688,
311
+ -0.09013171470724046,
312
+ -0.05090933819883503
313
+ ],
314
+ "orientation": {
315
+ "w": 0.13150394314812244,
316
+ "xyz": [
317
+ -0.003910568352035374,
318
+ 0.5129993390999833,
319
+ 0.848247073955837
320
+ ]
321
+ }
322
+ },
323
+ "grasp_26": {
324
+ "confidence": 0.298134446144104,
325
+ "position": [
326
+ -0.0033193367926287465,
327
+ -0.083688780432567,
328
+ -0.05168279414647259
329
+ ],
330
+ "orientation": {
331
+ "w": 0.8481097472412691,
332
+ "xyz": [
333
+ -0.5131875708137387,
334
+ -0.0299670331151074,
335
+ -0.12825892063682515
336
+ ]
337
+ }
338
+ },
339
+ "grasp_31": {
340
+ "confidence": 0.593670129776001,
341
+ "position": [
342
+ 0.005426910945971031,
343
+ 0.09487147652544081,
344
+ -0.05555448090308346
345
+ ],
346
+ "orientation": {
347
+ "w": 0.8617823187095387,
348
+ "xyz": [
349
+ 0.4944727900297533,
350
+ 0.04050366748521317,
351
+ -0.10577026047075054
352
+ ]
353
+ }
354
+ },
355
+ "grasp_34": {
356
+ "confidence": 0.5053685307502747,
357
+ "position": [
358
+ -0.004451982902537566,
359
+ 0.06644959026016295,
360
+ -0.0724691242503468
361
+ ],
362
+ "orientation": {
363
+ "w": 0.9139781296059014,
364
+ "xyz": [
365
+ 0.3902494418110041,
366
+ 0.06475275636294153,
367
+ -0.09031296867947126
368
+ ]
369
+ }
370
+ },
371
+ "grasp_35": {
372
+ "confidence": 0.4998835623264313,
373
+ "position": [
374
+ -0.08187765976617811,
375
+ 0.02003264077939093,
376
+ -0.05993885701172985
377
+ ],
378
+ "orientation": {
379
+ "w": 0.6299170206967368,
380
+ "xyz": [
381
+ -0.2525141265002377,
382
+ 0.3920530951360588,
383
+ -0.621076109304331
384
+ ]
385
+ }
386
+ },
387
+ "grasp_37": {
388
+ "confidence": 0.47275787591934204,
389
+ "position": [
390
+ -0.03805209672282217,
391
+ 0.07087665819562972,
392
+ -0.05557806199067272
393
+ ],
394
+ "orientation": {
395
+ "w": 0.8566825478250619,
396
+ "xyz": [
397
+ 0.47140714862273686,
398
+ 0.14413550225823835,
399
+ 0.15197127843150612
400
+ ]
401
+ }
402
+ },
403
+ "grasp_38": {
404
+ "confidence": 0.46847379207611084,
405
+ "position": [
406
+ 0.07934356877376558,
407
+ 0.013509453507140279,
408
+ -0.06656385367386974
409
+ ],
410
+ "orientation": {
411
+ "w": 0.7529450496147341,
412
+ "xyz": [
413
+ 0.30099937748434763,
414
+ -0.30584827045165086,
415
+ -0.49892881503921477
416
+ ]
417
+ }
418
+ }
419
+ }
420
+ }
421
+ ],
422
+ "quality_check": {
423
+ "success": true,
424
+ "message": "YES"
425
+ }
426
+ }
dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e45594e0da46d178e06d5964b8ebede4e352fafb19c8e1085837caede9ec47b0
3
+ size 111287380