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
f4889d2
·
verified ·
1 Parent(s): f085126

Add asset kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/affordance/affordance_annot.json +387 -0
  3. dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7034,3 +7034,4 @@ dataset/kitchen_supplies/cutting_tools/ac41faffb401535dbf8985828c110688/affordan
7034
  dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7035
  dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7036
  dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7034
  dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7035
  dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7036
  dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7037
+ dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "right handle grip",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp this handle together with the opposite handle to hold and operate the cutter",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "grasp this handle area to pick up and reposition the tool",
14
+ "confidence": 0.86
15
+ },
16
+ {
17
+ "scenario": "stabilize the tool by holding this handle while orienting the jaws toward a wire",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary gripping surface",
23
+ "provide leverage for closing",
24
+ "support tool handling",
25
+ "improve hand traction"
26
+ ],
27
+ "semantic_description": "An elongated orange rubber-coated handle with a matte slightly textured surface, curved and medium-sized, located on one side of the cutter behind the metal head.",
28
+ "id": 5,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.9803670644760132,
32
+ "position": [
33
+ -0.0940825764228066,
34
+ 0.05466479167807847,
35
+ 0.0035775096475845203
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2043896706589106,
39
+ "xyz": [
40
+ 0.6800337943530174,
41
+ -0.17690772125343468,
42
+ 0.6815295732590751
43
+ ]
44
+ }
45
+ },
46
+ "grasp_41": {
47
+ "confidence": 0.9109988808631897,
48
+ "position": [
49
+ -0.01519242414724431,
50
+ -0.12402096285950392,
51
+ -0.003282836187281646
52
+ ],
53
+ "orientation": {
54
+ "w": 0.4767544033579949,
55
+ "xyz": [
56
+ -0.4984364206155871,
57
+ -0.48727989870218635,
58
+ -0.5355601495662944
59
+ ]
60
+ }
61
+ },
62
+ "grasp_46": {
63
+ "confidence": 0.7881641387939453,
64
+ "position": [
65
+ -0.06721326449405751,
66
+ -0.11520597978960723,
67
+ -0.002750901985564269
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6558707982565295,
71
+ "xyz": [
72
+ -0.3697176338899742,
73
+ 0.5881851733045295,
74
+ 0.29526355868928733
75
+ ]
76
+ }
77
+ }
78
+ }
79
+ },
80
+ {
81
+ "part_name": "left handle grip",
82
+ "mask_color": "Blue",
83
+ "graspable": true,
84
+ "grasp_scenarios": [
85
+ {
86
+ "scenario": "grasp this handle together with the opposite handle to hold and operate the cutter",
87
+ "confidence": 0.94
88
+ },
89
+ {
90
+ "scenario": "grasp this handle area to pick up and reposition the tool",
91
+ "confidence": 0.86
92
+ },
93
+ {
94
+ "scenario": "stabilize the tool by holding this handle while orienting the jaws toward a wire",
95
+ "confidence": 0.74
96
+ }
97
+ ],
98
+ "functional_labels": [
99
+ "primary gripping surface",
100
+ "provide leverage for closing",
101
+ "support tool handling",
102
+ "improve hand traction"
103
+ ],
104
+ "semantic_description": "An elongated orange rubber-coated handle with a matte slightly textured surface, curved and medium-sized, located opposite the other handle behind the metal head.",
105
+ "id": 2,
106
+ "grasp_group": {
107
+ "grasp_24": {
108
+ "confidence": 0.874909520149231,
109
+ "position": [
110
+ 0.06338442376363673,
111
+ -0.11034485592972487,
112
+ -0.0039003915298962966
113
+ ],
114
+ "orientation": {
115
+ "w": 0.3663787505524121,
116
+ "xyz": [
117
+ -0.6179681163527887,
118
+ 0.3341518511080467,
119
+ 0.610102088765565
120
+ ]
121
+ }
122
+ },
123
+ "grasp_30": {
124
+ "confidence": 0.8695316314697266,
125
+ "position": [
126
+ 0.004968004101101542,
127
+ -0.13340623572003096,
128
+ -0.004397421391331591
129
+ ],
130
+ "orientation": {
131
+ "w": 0.5120738447069972,
132
+ "xyz": [
133
+ -0.4746641672390415,
134
+ 0.5081402947567588,
135
+ 0.5042496869119266
136
+ ]
137
+ }
138
+ },
139
+ "grasp_31": {
140
+ "confidence": 0.864652156829834,
141
+ "position": [
142
+ 0.011578640700463438,
143
+ -0.1285347481025383,
144
+ -0.004523598836385645
145
+ ],
146
+ "orientation": {
147
+ "w": 0.5209040907138938,
148
+ "xyz": [
149
+ -0.505042839710009,
150
+ 0.4808145169480672,
151
+ 0.4923495289194234
152
+ ]
153
+ }
154
+ },
155
+ "grasp_34": {
156
+ "confidence": 0.8568275570869446,
157
+ "position": [
158
+ 0.01661686858642497,
159
+ -0.11869433417450637,
160
+ 5.3745374316349626e-05
161
+ ],
162
+ "orientation": {
163
+ "w": 0.49596764409148714,
164
+ "xyz": [
165
+ -0.525965030368234,
166
+ 0.4741685009519572,
167
+ 0.5025346908911432
168
+ ]
169
+ }
170
+ },
171
+ "grasp_36": {
172
+ "confidence": 0.8465800881385803,
173
+ "position": [
174
+ 0.062454814822558546,
175
+ -0.09817236557137221,
176
+ 0.0030190381075954065
177
+ ],
178
+ "orientation": {
179
+ "w": 0.37952850169640523,
180
+ "xyz": [
181
+ -0.637642084740028,
182
+ 0.3140592751748733,
183
+ 0.5922309176707222
184
+ ]
185
+ }
186
+ }
187
+ }
188
+ },
189
+ {
190
+ "part_name": "upper cutting jaw",
191
+ "mask_color": "Red",
192
+ "graspable": false,
193
+ "grasp_scenarios": [],
194
+ "functional_labels": [
195
+ "cut wire",
196
+ "shear material",
197
+ "contact workpiece",
198
+ "form one cutting edge"
199
+ ],
200
+ "semantic_description": "A compact silver metal jaw with a smooth reflective finish and darker cutting edge area, forming the upper side of the cutter head in the shown mask views.",
201
+ "id": 0,
202
+ "grasp_group": {}
203
+ },
204
+ {
205
+ "part_name": "lower cutting jaw",
206
+ "mask_color": "Yellow",
207
+ "graspable": false,
208
+ "grasp_scenarios": [],
209
+ "functional_labels": [
210
+ "cut wire",
211
+ "shear material",
212
+ "contact workpiece",
213
+ "form one cutting edge"
214
+ ],
215
+ "semantic_description": "A compact silver metal jaw with a smooth reflective finish and darker cutting edge area, forming the lower side of the cutter head in the shown mask views.",
216
+ "id": 3,
217
+ "grasp_group": {}
218
+ },
219
+ {
220
+ "part_name": "head body",
221
+ "mask_color": "Green",
222
+ "graspable": true,
223
+ "grasp_scenarios": [
224
+ {
225
+ "scenario": "grasp the metal head to stabilize the tool during precise placement near a wire",
226
+ "confidence": 0.41
227
+ },
228
+ {
229
+ "scenario": "pick up the tool by the head in a constrained bin-picking situation",
230
+ "confidence": 0.3
231
+ }
232
+ ],
233
+ "functional_labels": [
234
+ "support jaw assembly",
235
+ "transmit force from handles",
236
+ "house pivot interface",
237
+ "align cutting edges"
238
+ ],
239
+ "semantic_description": "A compact silver metal central body with a smooth reflective hard surface, located between the jaws and handles and surrounding the joint area.",
240
+ "id": 1,
241
+ "grasp_group": {
242
+ "grasp_1": {
243
+ "confidence": 0.654900848865509,
244
+ "position": [
245
+ -0.05870341250192723,
246
+ 0.09363559738267213,
247
+ 0.005176953724003397
248
+ ],
249
+ "orientation": {
250
+ "w": 0.6006374558080735,
251
+ "xyz": [
252
+ 0.35343864172327916,
253
+ 0.627342695787348,
254
+ -0.34750095720655305
255
+ ]
256
+ }
257
+ },
258
+ "grasp_6": {
259
+ "confidence": 0.2471456229686737,
260
+ "position": [
261
+ -0.05187833422314725,
262
+ 0.0963013629661873,
263
+ -0.0025877496373141184
264
+ ],
265
+ "orientation": {
266
+ "w": 0.36444272171628556,
267
+ "xyz": [
268
+ 0.5834839517888059,
269
+ -0.3643332670764834,
270
+ 0.6276856307852835
271
+ ]
272
+ }
273
+ },
274
+ "grasp_8": {
275
+ "confidence": 0.9211935997009277,
276
+ "position": [
277
+ -0.058436424671526765,
278
+ 0.08362741128075868,
279
+ 0.036380866295075975
280
+ ],
281
+ "orientation": {
282
+ "w": 0.3525515344468934,
283
+ "xyz": [
284
+ 0.7836316269950115,
285
+ -0.24016884249765502,
286
+ 0.45160581907857256
287
+ ]
288
+ }
289
+ },
290
+ "grasp_12": {
291
+ "confidence": 0.9857257604598999,
292
+ "position": [
293
+ -0.10164454319965444,
294
+ 0.013609258574433625,
295
+ -0.00036682198697235435
296
+ ],
297
+ "orientation": {
298
+ "w": 0.6996678996686424,
299
+ "xyz": [
300
+ 0.010738416516691832,
301
+ 0.7143738778230068,
302
+ -0.004413532383959908
303
+ ]
304
+ }
305
+ },
306
+ "grasp_15": {
307
+ "confidence": 0.9824581742286682,
308
+ "position": [
309
+ -0.09497333058607182,
310
+ 0.06235271051991731,
311
+ -0.004055119832628407
312
+ ],
313
+ "orientation": {
314
+ "w": 0.7034429280605833,
315
+ "xyz": [
316
+ 0.19036760992229246,
317
+ 0.6628268917240095,
318
+ -0.17201375428004306
319
+ ]
320
+ }
321
+ },
322
+ "grasp_17": {
323
+ "confidence": 0.98136305809021,
324
+ "position": [
325
+ -0.08880939820301137,
326
+ 0.06470058218110353,
327
+ -0.005667572157108225
328
+ ],
329
+ "orientation": {
330
+ "w": 0.6873744973236234,
331
+ "xyz": [
332
+ 0.2065485709651831,
333
+ 0.6695715884700815,
334
+ -0.19112267310549003
335
+ ]
336
+ }
337
+ }
338
+ }
339
+ },
340
+ {
341
+ "part_name": "pivot rivet",
342
+ "mask_color": "Pink",
343
+ "graspable": false,
344
+ "grasp_scenarios": [],
345
+ "functional_labels": [
346
+ "enable jaw rotation",
347
+ "join moving halves",
348
+ "maintain alignment"
349
+ ],
350
+ "semantic_description": "A small round silver fastener with a smooth reflective finish at the center joint where the two halves rotate.",
351
+ "id": 8,
352
+ "grasp_group": {}
353
+ },
354
+ {
355
+ "part_name": "return spring coil",
356
+ "mask_color": "Cyan",
357
+ "graspable": false,
358
+ "grasp_scenarios": [],
359
+ "functional_labels": [
360
+ "reopen handles",
361
+ "provide return force",
362
+ "assist repeated cutting"
363
+ ],
364
+ "semantic_description": "A small dark metallic coil spring with a slightly glossy finish and ridged texture, mounted between the handles near the pivot to push them apart.",
365
+ "id": 6,
366
+ "grasp_group": {}
367
+ },
368
+ {
369
+ "part_name": "spring mount pin",
370
+ "mask_color": "Orange",
371
+ "graspable": false,
372
+ "grasp_scenarios": [],
373
+ "functional_labels": [
374
+ "anchor spring",
375
+ "connect spring to handle assembly",
376
+ "position return mechanism"
377
+ ],
378
+ "semantic_description": "A tiny metallic post near the pivot adjacent to the spring, used as attachment hardware for the return spring.",
379
+ "id": 4,
380
+ "grasp_group": {}
381
+ }
382
+ ],
383
+ "quality_check": {
384
+ "success": true,
385
+ "message": "YES"
386
+ }
387
+ }
dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c00d70164cb0d86f1564bbb027aa785d18931eb17e3eff15c60e5fc60308ce6e
3
+ size 3784424