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
a5b9f10
·
verified ·
1 Parent(s): d7c865c

Add asset kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordance/affordance_annot.json +306 -0
  3. dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7048,3 +7048,4 @@ dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/affordan
7048
  dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7049
  dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7050
  dataset/kitchen_supplies/cutting_tools/cea111db9e0458ba967300e600c7eda5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7048
  dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7049
  dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7050
  dataset/kitchen_supplies/cutting_tools/cea111db9e0458ba967300e600c7eda5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7051
+ dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,306 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "blade of knife",
5
+ "mask_color": "Green",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "cut fruit",
10
+ "slice soft foods",
11
+ "pierce food",
12
+ "provide the cutting edge"
13
+ ],
14
+ "semantic_description": "Short silver-gray metal blade with a reflective smooth finish and hard sharp edge, located at the front of the knife and slightly tapered to a pointed tip.",
15
+ "id": 1,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "handle",
20
+ "mask_color": "Orange",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the handle to pick up and wield the fruit knife",
25
+ "confidence": 0.98
26
+ },
27
+ {
28
+ "scenario": "hold the handle to stabilize the knife while cutting fruit",
29
+ "confidence": 0.97
30
+ },
31
+ {
32
+ "scenario": "grasp the handle to reorient or place the knife safely",
33
+ "confidence": 0.95
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "provide a safe grip",
38
+ "support cutting control",
39
+ "stabilize the knife during use",
40
+ "connect the user's grip to the blade"
41
+ ],
42
+ "semantic_description": "Rounded blue plastic handle with a mostly matte smooth hard surface, medium size at the rear of the knife, with shallow molded contours and an oval hanging hole.",
43
+ "id": 4,
44
+ "grasp_group": {
45
+ "grasp_0": {
46
+ "confidence": 0.9907839298248291,
47
+ "position": [
48
+ 0.006117763929069042,
49
+ 0.09942950576078147,
50
+ 0.017909484187839553
51
+ ],
52
+ "orientation": {
53
+ "w": 0.47636130036088126,
54
+ "xyz": [
55
+ 0.5220071806985412,
56
+ 0.5563954063798829,
57
+ -0.4370498444994756
58
+ ]
59
+ }
60
+ },
61
+ "grasp_1": {
62
+ "confidence": 0.9899163842201233,
63
+ "position": [
64
+ 0.005579016171395779,
65
+ 0.10020162432920188,
66
+ 0.001494843018008396
67
+ ],
68
+ "orientation": {
69
+ "w": 0.4742283805742008,
70
+ "xyz": [
71
+ 0.5275748827352416,
72
+ -0.4798670092377707,
73
+ 0.5162362246201487
74
+ ]
75
+ }
76
+ },
77
+ "grasp_3": {
78
+ "confidence": 0.9896480441093445,
79
+ "position": [
80
+ 0.0010364046320319176,
81
+ 0.09288065403234214,
82
+ 0.025668064336059615
83
+ ],
84
+ "orientation": {
85
+ "w": 0.47701809075592216,
86
+ "xyz": [
87
+ 0.5045033806961371,
88
+ 0.6105618210644801,
89
+ -0.38097813928907903
90
+ ]
91
+ }
92
+ },
93
+ "grasp_4": {
94
+ "confidence": 0.9896078705787659,
95
+ "position": [
96
+ 0.018917548470199108,
97
+ 0.10166315257083625,
98
+ 0.005158634128747508
99
+ ],
100
+ "orientation": {
101
+ "w": 0.49630496077418323,
102
+ "xyz": [
103
+ 0.5138694366159546,
104
+ 0.5142755745067696,
105
+ -0.4744894324309755
106
+ ]
107
+ }
108
+ },
109
+ "grasp_6": {
110
+ "confidence": 0.98956698179245,
111
+ "position": [
112
+ 0.012179871089756489,
113
+ 0.10070157318841666,
114
+ -0.0026089197781402618
115
+ ],
116
+ "orientation": {
117
+ "w": 0.5176416265557817,
118
+ "xyz": [
119
+ 0.49035668655976766,
120
+ 0.5111793432734848,
121
+ -0.4798886802304251
122
+ ]
123
+ }
124
+ },
125
+ "grasp_7": {
126
+ "confidence": 0.9893597364425659,
127
+ "position": [
128
+ -0.011300444602966309,
129
+ 0.09498559206258506,
130
+ 0.004147293715504929
131
+ ],
132
+ "orientation": {
133
+ "w": 0.4166506385495992,
134
+ "xyz": [
135
+ 0.5834767155346077,
136
+ -0.42430694558708626,
137
+ 0.5531010610654398
138
+ ]
139
+ }
140
+ },
141
+ "grasp_8": {
142
+ "confidence": 0.9891741275787354,
143
+ "position": [
144
+ 0.015082894824445248,
145
+ 0.10170576989185065,
146
+ -0.009038068150402978
147
+ ],
148
+ "orientation": {
149
+ "w": 0.540203056425938,
150
+ "xyz": [
151
+ 0.4651988020969374,
152
+ 0.5026723854477094,
153
+ -0.48896953408567123
154
+ ]
155
+ }
156
+ },
157
+ "grasp_9": {
158
+ "confidence": 0.989128053188324,
159
+ "position": [
160
+ 0.01337610837072134,
161
+ 0.09837033122312278,
162
+ -0.00270118543994613
163
+ ],
164
+ "orientation": {
165
+ "w": 0.48583265159449784,
166
+ "xyz": [
167
+ 0.5116197870687916,
168
+ -0.4796884441529603,
169
+ 0.5216424298985429
170
+ ]
171
+ }
172
+ },
173
+ "grasp_10": {
174
+ "confidence": 0.9891248941421509,
175
+ "position": [
176
+ 0.008041604422032833,
177
+ 0.10051300644408911,
178
+ 0.01324061510968022
179
+ ],
180
+ "orientation": {
181
+ "w": 0.4175394948374445,
182
+ "xyz": [
183
+ 0.5296910320890276,
184
+ -0.5313974301017881,
185
+ 0.5125475119991975
186
+ ]
187
+ }
188
+ },
189
+ "grasp_11": {
190
+ "confidence": 0.988375186920166,
191
+ "position": [
192
+ -0.020837809424847364,
193
+ 0.09396396845113486,
194
+ -0.007212916185380891
195
+ ],
196
+ "orientation": {
197
+ "w": 0.5904852433548851,
198
+ "xyz": [
199
+ 0.3984347113457731,
200
+ 0.5629143980473191,
201
+ -0.41917101360418063
202
+ ]
203
+ }
204
+ },
205
+ "grasp_12": {
206
+ "confidence": 0.9883525967597961,
207
+ "position": [
208
+ -0.00033741164952516556,
209
+ 0.10013443499337882,
210
+ -0.006826909055234864
211
+ ],
212
+ "orientation": {
213
+ "w": 0.523833033815321,
214
+ "xyz": [
215
+ 0.47466900165369486,
216
+ 0.50526082548537,
217
+ -0.4949745344790618
218
+ ]
219
+ }
220
+ },
221
+ "grasp_13": {
222
+ "confidence": 0.9878756403923035,
223
+ "position": [
224
+ 0.020889691077172756,
225
+ 0.10209917544852942,
226
+ -0.0007403978670481592
227
+ ],
228
+ "orientation": {
229
+ "w": 0.5193692829417734,
230
+ "xyz": [
231
+ 0.48766947756716666,
232
+ 0.5191513576722774,
233
+ -0.4721397001025711
234
+ ]
235
+ }
236
+ },
237
+ "grasp_15": {
238
+ "confidence": 0.9878336191177368,
239
+ "position": [
240
+ -0.01705919182859361,
241
+ 0.08354420482646674,
242
+ 0.04449348172056489
243
+ ],
244
+ "orientation": {
245
+ "w": 0.4735691674144323,
246
+ "xyz": [
247
+ 0.5081942687710133,
248
+ 0.6740850677442817,
249
+ -0.25115762044358414
250
+ ]
251
+ }
252
+ },
253
+ "grasp_16": {
254
+ "confidence": 0.9878302216529846,
255
+ "position": [
256
+ 0.01817132066935301,
257
+ 0.1028897863579914,
258
+ -0.0068338879209477454
259
+ ],
260
+ "orientation": {
261
+ "w": 0.5229193288493039,
262
+ "xyz": [
263
+ 0.48353075080686386,
264
+ 0.5018393161198974,
265
+ -0.49082653691121614
266
+ ]
267
+ }
268
+ },
269
+ "grasp_18": {
270
+ "confidence": 0.9875167012214661,
271
+ "position": [
272
+ 0.0007650163024663925,
273
+ 0.1012401384068653,
274
+ -0.008380364422919229
275
+ ],
276
+ "orientation": {
277
+ "w": 0.5269643641416232,
278
+ "xyz": [
279
+ 0.4805450976717751,
280
+ 0.4950029778115175,
281
+ -0.4963436510988826
282
+ ]
283
+ }
284
+ }
285
+ }
286
+ },
287
+ {
288
+ "part_name": "handle inlay",
289
+ "mask_color": "Cyan",
290
+ "graspable": false,
291
+ "grasp_scenarios": [],
292
+ "functional_labels": [
293
+ "improve grip traction",
294
+ "provide ergonomic finger contact",
295
+ "add handle contour detail"
296
+ ],
297
+ "semantic_description": "Small lighter blue inset sections on the handle, likely rubber or softer plastic, with a smoother slightly grippy texture set into the larger blue handle near the center and butt end.",
298
+ "id": 6,
299
+ "grasp_group": {}
300
+ }
301
+ ],
302
+ "quality_check": {
303
+ "success": true,
304
+ "message": "YES"
305
+ }
306
+ }
dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2611b78ae94490bf72ae46eb0aaede0e70331126e5d7f0e1e3913738d9929ac7
3
+ size 3783096