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
9c3abba
·
verified ·
1 Parent(s): b72612f

Add asset kitchen_supplies/utensils/75e51431688453608266514452060233

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/affordance/affordance_annot.json +249 -0
  3. dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7446,3 +7446,4 @@ dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/affordance/me
7446
  dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7447
  dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7448
  dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7446
  dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7447
  dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7448
  dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7449
+ dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/affordance/affordance_annot.json ADDED
@@ -0,0 +1,249 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "shaker cap",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to twist and remove it for refilling or cleaning",
10
+ "confidence": 0.83
11
+ },
12
+ {
13
+ "scenario": "hold the cap while stabilizing or reorienting the shaker near the top",
14
+ "confidence": 0.58
15
+ },
16
+ {
17
+ "scenario": "pick up the shaker by pinching the cap from above",
18
+ "confidence": 0.42
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the container opening",
23
+ "provide dispensing holes for shaking out contents",
24
+ "retain contents while allowing controlled dispensing"
25
+ ],
26
+ "semantic_description": "Small circular silver metal top cap with a glossy reflective finish, smooth hard surface, and visible small dispensing holes on the top face of the shaker.",
27
+ "id": 2,
28
+ "grasp_group": {
29
+ "grasp_47": {
30
+ "confidence": 0.2433614581823349,
31
+ "position": [
32
+ 0.026378391485195607,
33
+ 0.037283122539520264,
34
+ 0.2039371458813548
35
+ ],
36
+ "orientation": {
37
+ "w": 0.037902642111950845,
38
+ "xyz": [
39
+ -0.32606370327053175,
40
+ -0.9284189682293593,
41
+ 0.17402318972588676
42
+ ]
43
+ }
44
+ },
45
+ "grasp_53": {
46
+ "confidence": 0.22240708768367767,
47
+ "position": [
48
+ -0.0027633081772364676,
49
+ -0.00730853108689189,
50
+ 0.20945222955197096
51
+ ],
52
+ "orientation": {
53
+ "w": 0.025074428406857887,
54
+ "xyz": [
55
+ 0.017278111254087042,
56
+ -0.9994045144557001,
57
+ -0.016228259214310637
58
+ ]
59
+ }
60
+ },
61
+ "grasp_55": {
62
+ "confidence": 0.22149322926998138,
63
+ "position": [
64
+ -0.04203282279195264,
65
+ 0.007813596166670322,
66
+ 0.19813414197415113
67
+ ],
68
+ "orientation": {
69
+ "w": 0.13362819834239154,
70
+ "xyz": [
71
+ -0.6582438540152327,
72
+ 0.7297156871415547,
73
+ -0.12795917004446358
74
+ ]
75
+ }
76
+ }
77
+ }
78
+ },
79
+ {
80
+ "part_name": "jar body",
81
+ "mask_color": "Green",
82
+ "graspable": true,
83
+ "grasp_scenarios": [
84
+ {
85
+ "scenario": "grasp the narrow middle body to pick up and carry the spice jar",
86
+ "confidence": 0.95
87
+ },
88
+ {
89
+ "scenario": "hold the body while shaking out spice",
90
+ "confidence": 0.91
91
+ },
92
+ {
93
+ "scenario": "stabilize the jar body while the other gripper manipulates the cap",
94
+ "confidence": 0.88
95
+ }
96
+ ],
97
+ "functional_labels": [
98
+ "contain spices",
99
+ "provide main grasp surface",
100
+ "support shaking for dispensing",
101
+ "connect cap and base"
102
+ ],
103
+ "semantic_description": "Tall hourglass-shaped silver metal body with a satin-to-glossy finish, hard smooth surface, and a narrow waist that forms the main central section of the jar.",
104
+ "id": 1,
105
+ "grasp_group": {
106
+ "grasp_20": {
107
+ "confidence": 0.8160676956176758,
108
+ "position": [
109
+ 0.11257458495674655,
110
+ 0.019244549795985222,
111
+ 0.029402208514511585
112
+ ],
113
+ "orientation": {
114
+ "w": 0.456995143348322,
115
+ "xyz": [
116
+ -0.4732963999810389,
117
+ -0.5274627264465284,
118
+ 0.5375211892852494
119
+ ]
120
+ }
121
+ },
122
+ "grasp_22": {
123
+ "confidence": 0.8008671998977661,
124
+ "position": [
125
+ 0.11455945688067004,
126
+ 0.018051819875836372,
127
+ 0.028907806612551212
128
+ ],
129
+ "orientation": {
130
+ "w": 0.45895296935373775,
131
+ "xyz": [
132
+ -0.46019411142853617,
133
+ -0.5254632435153026,
134
+ 0.5490645967846272
135
+ ]
136
+ }
137
+ },
138
+ "grasp_29": {
139
+ "confidence": 0.7833369374275208,
140
+ "position": [
141
+ 0.1089542658883147,
142
+ 0.046113770455121994,
143
+ 0.029101493768393993
144
+ ],
145
+ "orientation": {
146
+ "w": 0.36402607706439644,
147
+ "xyz": [
148
+ -0.4057100750835311,
149
+ -0.6018573653729488,
150
+ 0.5836540601582026
151
+ ]
152
+ }
153
+ },
154
+ "grasp_31": {
155
+ "confidence": 0.7778002619743347,
156
+ "position": [
157
+ 0.11510689574060962,
158
+ 0.01454687025398016,
159
+ 0.07822621893137693
160
+ ],
161
+ "orientation": {
162
+ "w": 0.38929989909901097,
163
+ "xyz": [
164
+ -0.5312747430669547,
165
+ -0.5739746315361505,
166
+ 0.48656536898301866
167
+ ]
168
+ }
169
+ },
170
+ "grasp_33": {
171
+ "confidence": 0.7715221643447876,
172
+ "position": [
173
+ 0.10832551884232089,
174
+ 0.04175003990530968,
175
+ 0.061546958051621914
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5915854713443193,
179
+ "xyz": [
180
+ 0.5700566377597881,
181
+ -0.4480353029568871,
182
+ -0.3525995279983442
183
+ ]
184
+ }
185
+ },
186
+ "grasp_37": {
187
+ "confidence": 0.7673695683479309,
188
+ "position": [
189
+ 0.07807703333673999,
190
+ 0.08849892020225525,
191
+ 0.06851722579449415
192
+ ],
193
+ "orientation": {
194
+ "w": 0.22660312351029,
195
+ "xyz": [
196
+ -0.24102018282006096,
197
+ -0.6673407805771456,
198
+ 0.6672455158841091
199
+ ]
200
+ }
201
+ },
202
+ "grasp_38": {
203
+ "confidence": 0.7664469480514526,
204
+ "position": [
205
+ 0.11107517051277682,
206
+ 0.020008014515042305,
207
+ 0.038841341622173786
208
+ ],
209
+ "orientation": {
210
+ "w": 0.4551830276288791,
211
+ "xyz": [
212
+ -0.4448643008834118,
213
+ -0.530015092648829,
214
+ 0.5603464702508377
215
+ ]
216
+ }
217
+ }
218
+ }
219
+ },
220
+ {
221
+ "part_name": "base",
222
+ "mask_color": "Red",
223
+ "graspable": true,
224
+ "grasp_scenarios": [
225
+ {
226
+ "scenario": "grasp the wide base to lift the jar from below or the side",
227
+ "confidence": 0.68
228
+ },
229
+ {
230
+ "scenario": "hold the base to stabilize the jar during cap manipulation",
231
+ "confidence": 0.61
232
+ }
233
+ ],
234
+ "functional_labels": [
235
+ "support upright standing",
236
+ "stabilize the container",
237
+ "protect the bottom",
238
+ "provide a lower contact surface"
239
+ ],
240
+ "semantic_description": "Wide circular silver bottom section, likely metal, with a smooth slightly reflective finish and broad flat footprint at the lower end of the spice jar.",
241
+ "id": 0,
242
+ "grasp_group": {}
243
+ }
244
+ ],
245
+ "quality_check": {
246
+ "success": true,
247
+ "message": "YES"
248
+ }
249
+ }
dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c250ad5a4c801ee9590e17ee61a713f0ff774c5c771677aa752c850a95b2cf1a
3
+ size 3780344