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
f69f331
·
verified ·
1 Parent(s): 0724faa

Add asset kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/affordance/affordance_annot.json +426 -0
  3. dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7016,3 +7016,4 @@ dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/affordan
7016
  dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7017
  dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7018
  dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7016
  dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7017
  dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7018
  dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7019
+ dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,426 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "moving handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and reposition the garlic press",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "squeeze this handle against the opposite handle to press garlic",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "hold this handle to open the press for loading or cleaning",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main grip",
23
+ "apply pressing force",
24
+ "open and close the press",
25
+ "support manipulation around the hinge"
26
+ ],
27
+ "semantic_description": "Long cylindrical silver metal handle with a smooth reflective finish and hard texture, forming one side of the hinged garlic press and extending from the head.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_3": {
31
+ "confidence": 0.9583289623260498,
32
+ "position": [
33
+ -0.0524150391574949,
34
+ 0.09573715273290873,
35
+ -0.030443890012975316
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6884533938641046,
39
+ "xyz": [
40
+ 0.30785756627420363,
41
+ 0.5251690030177198,
42
+ -0.3942754895172844
43
+ ]
44
+ }
45
+ },
46
+ "grasp_5": {
47
+ "confidence": 0.9538635611534119,
48
+ "position": [
49
+ -0.12050742260180414,
50
+ 0.031590928323566914,
51
+ 0.005953583873633761
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6975157982667594,
55
+ "xyz": [
56
+ 0.04210951505720912,
57
+ 0.711084297097367,
58
+ -0.07783072870965678
59
+ ]
60
+ }
61
+ },
62
+ "grasp_15": {
63
+ "confidence": 0.8953191041946411,
64
+ "position": [
65
+ 0.13271567621268332,
66
+ 0.07081594411283731,
67
+ 0.0001698168707662262
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6779799003648832,
71
+ "xyz": [
72
+ 0.1662769056101219,
73
+ -0.6725346633115891,
74
+ 0.24574859512581884
75
+ ]
76
+ }
77
+ }
78
+ }
79
+ },
80
+ {
81
+ "part_name": "opposite handle",
82
+ "mask_color": "Green",
83
+ "graspable": true,
84
+ "grasp_scenarios": [
85
+ {
86
+ "scenario": "grasp the handle to pick up and reposition the garlic press",
87
+ "confidence": 0.93
88
+ },
89
+ {
90
+ "scenario": "hold this handle while the other handle is squeezed for pressing garlic",
91
+ "confidence": 0.89
92
+ },
93
+ {
94
+ "scenario": "stabilize the tool by gripping this handle during loading or cleaning",
95
+ "confidence": 0.82
96
+ }
97
+ ],
98
+ "functional_labels": [
99
+ "provide counter grip",
100
+ "apply opposing pressing force",
101
+ "stabilize the tool",
102
+ "support opening and closing motion"
103
+ ],
104
+ "semantic_description": "Long cylindrical silver metal handle with a smooth reflective finish and hard texture, attached to the pressing cup side and sized similarly to the other handle.",
105
+ "id": 1,
106
+ "grasp_group": {
107
+ "grasp_20": {
108
+ "confidence": 0.8968210816383362,
109
+ "position": [
110
+ 0.10349446930922568,
111
+ -0.10291581507772207,
112
+ 0.012358156971458811
113
+ ],
114
+ "orientation": {
115
+ "w": 0.5887482287879802,
116
+ "xyz": [
117
+ -0.3981130050216224,
118
+ -0.6231539779787493,
119
+ -0.3264363307919785
120
+ ]
121
+ }
122
+ },
123
+ "grasp_22": {
124
+ "confidence": 0.88592129945755,
125
+ "position": [
126
+ 0.1399692336563021,
127
+ -0.06651509460061789,
128
+ 0.004543741706584115
129
+ ],
130
+ "orientation": {
131
+ "w": 0.1757226082766992,
132
+ "xyz": [
133
+ -0.6795721391808464,
134
+ 0.2171880788574001,
135
+ 0.6783307533879278
136
+ ]
137
+ }
138
+ },
139
+ "grasp_28": {
140
+ "confidence": 0.828547477722168,
141
+ "position": [
142
+ 0.1559507290367037,
143
+ -0.018513801507651806,
144
+ 0.006514124113891739
145
+ ],
146
+ "orientation": {
147
+ "w": 0.7045262020385622,
148
+ "xyz": [
149
+ -0.06504578056196018,
150
+ -0.7066168836985343,
151
+ 0.010220408229403975
152
+ ]
153
+ }
154
+ },
155
+ "grasp_30": {
156
+ "confidence": 0.8264583349227905,
157
+ "position": [
158
+ 0.1250354463700205,
159
+ -0.07612393703311682,
160
+ -0.0012659346612053923
161
+ ],
162
+ "orientation": {
163
+ "w": 0.22215638922665978,
164
+ "xyz": [
165
+ -0.666026474155798,
166
+ 0.2312798393498131,
167
+ 0.6734722788353605
168
+ ]
169
+ }
170
+ },
171
+ "grasp_32": {
172
+ "confidence": 0.7926110625267029,
173
+ "position": [
174
+ 0.12900513806380332,
175
+ -0.07157511170953512,
176
+ 0.0044820951370638795
177
+ ],
178
+ "orientation": {
179
+ "w": 0.6708714866226911,
180
+ "xyz": [
181
+ -0.23689287649164634,
182
+ -0.6772160917639896,
183
+ -0.18759418583762646
184
+ ]
185
+ }
186
+ },
187
+ "grasp_36": {
188
+ "confidence": 0.7030432224273682,
189
+ "position": [
190
+ 0.12248657294549048,
191
+ -0.059030129574239254,
192
+ 0.03973218799364986
193
+ ],
194
+ "orientation": {
195
+ "w": 0.10807766858094918,
196
+ "xyz": [
197
+ -0.7630536805794029,
198
+ 0.2825633806307737,
199
+ 0.571162178400182
200
+ ]
201
+ }
202
+ }
203
+ }
204
+ },
205
+ {
206
+ "part_name": "pressing cup",
207
+ "mask_color": "Blue",
208
+ "graspable": true,
209
+ "grasp_scenarios": [
210
+ {
211
+ "scenario": "grasp the head to orient the garlic press for placement or storage",
212
+ "confidence": 0.42
213
+ },
214
+ {
215
+ "scenario": "hold the head to stabilize the tool during cleaning",
216
+ "confidence": 0.38
217
+ }
218
+ ],
219
+ "functional_labels": [
220
+ "contain garlic clove",
221
+ "extrude garlic through holes",
222
+ "form the pressing chamber",
223
+ "guide pressing alignment"
224
+ ],
225
+ "semantic_description": "Compact rounded rectangular silver metal head with a smooth reflective hard surface, positioned at the front of the tool and featuring a perforated pressing face.",
226
+ "id": 2,
227
+ "grasp_group": {
228
+ "grasp_40": {
229
+ "confidence": 0.9825365543365479,
230
+ "position": [
231
+ -0.10990979871712625,
232
+ -0.05379065778106451,
233
+ -0.0015599906837451272
234
+ ],
235
+ "orientation": {
236
+ "w": 0.6842404264082745,
237
+ "xyz": [
238
+ -0.17938433100472734,
239
+ 0.6841504798294018,
240
+ 0.1776919289326582
241
+ ]
242
+ }
243
+ },
244
+ "grasp_42": {
245
+ "confidence": 0.9809245467185974,
246
+ "position": [
247
+ -0.10567279509268701,
248
+ -0.05581544991582632,
249
+ -0.0007256288008647971
250
+ ],
251
+ "orientation": {
252
+ "w": 0.6795685041423252,
253
+ "xyz": [
254
+ -0.20048866819917313,
255
+ 0.6817202783119033,
256
+ 0.18234144959340906
257
+ ]
258
+ }
259
+ },
260
+ "grasp_43": {
261
+ "confidence": 0.9802220463752747,
262
+ "position": [
263
+ -0.11612917087040842,
264
+ -0.035339212976396084,
265
+ -0.0057323961445945315
266
+ ],
267
+ "orientation": {
268
+ "w": 0.7113156332166262,
269
+ "xyz": [
270
+ -0.13590361761540035,
271
+ 0.6791404330659008,
272
+ 0.11970191659174945
273
+ ]
274
+ }
275
+ },
276
+ "grasp_45": {
277
+ "confidence": 0.9798234105110168,
278
+ "position": [
279
+ 0.010884606512263417,
280
+ -0.09977469500154257,
281
+ 0.018276063732628245
282
+ ],
283
+ "orientation": {
284
+ "w": 0.5263329483809169,
285
+ "xyz": [
286
+ -0.4699517036104043,
287
+ -0.6064179630273184,
288
+ -0.36657370042070325
289
+ ]
290
+ }
291
+ },
292
+ "grasp_50": {
293
+ "confidence": 0.9788371324539185,
294
+ "position": [
295
+ -0.11038216552697122,
296
+ -0.0547033017501235,
297
+ 0.0024198566170525737
298
+ ],
299
+ "orientation": {
300
+ "w": 0.6802258136609615,
301
+ "xyz": [
302
+ -0.18993008327313107,
303
+ 0.6855584718857132,
304
+ 0.17671725304245367
305
+ ]
306
+ }
307
+ },
308
+ "grasp_51": {
309
+ "confidence": 0.978769063949585,
310
+ "position": [
311
+ -0.11097001633606851,
312
+ -0.04466767143458128,
313
+ -0.0015338699959102087
314
+ ],
315
+ "orientation": {
316
+ "w": 0.6892435168260976,
317
+ "xyz": [
318
+ -0.1770658950903325,
319
+ 0.6811269036111582,
320
+ 0.17221261418992817
321
+ ]
322
+ }
323
+ },
324
+ "grasp_53": {
325
+ "confidence": 0.9786698818206787,
326
+ "position": [
327
+ -0.10508258990012109,
328
+ -0.05400203075259924,
329
+ -0.0005885899226996116
330
+ ],
331
+ "orientation": {
332
+ "w": 0.6795302299787586,
333
+ "xyz": [
334
+ -0.19933931029469262,
335
+ 0.6819267479782581,
336
+ 0.1829710805238061
337
+ ]
338
+ }
339
+ },
340
+ "grasp_54": {
341
+ "confidence": 0.9785836338996887,
342
+ "position": [
343
+ -0.08045667759142816,
344
+ -0.0907520791515708,
345
+ -0.005603491787042003
346
+ ],
347
+ "orientation": {
348
+ "w": 0.6250310756764424,
349
+ "xyz": [
350
+ -0.3306005871430678,
351
+ 0.6115264672883932,
352
+ 0.3550701142382816
353
+ ]
354
+ }
355
+ },
356
+ "grasp_55": {
357
+ "confidence": 0.9784876704216003,
358
+ "position": [
359
+ 0.009967952268198133,
360
+ -0.10101047065109015,
361
+ 0.015738818801764864
362
+ ],
363
+ "orientation": {
364
+ "w": 0.5141430243698613,
365
+ "xyz": [
366
+ -0.47205993290191905,
367
+ -0.5850817692243163,
368
+ -0.412911241747899
369
+ ]
370
+ }
371
+ },
372
+ "grasp_56": {
373
+ "confidence": 0.9784464836120605,
374
+ "position": [
375
+ -0.024392142659053206,
376
+ -0.1095140790566802,
377
+ 0.003855750437651295
378
+ ],
379
+ "orientation": {
380
+ "w": 0.503423103480744,
381
+ "xyz": [
382
+ -0.502786910450625,
383
+ 0.5141922572031488,
384
+ 0.47893300595559624
385
+ ]
386
+ }
387
+ },
388
+ "grasp_58": {
389
+ "confidence": 0.9784325361251831,
390
+ "position": [
391
+ -0.10915383300743997,
392
+ -0.05359452497214079,
393
+ -0.0016082019938039593
394
+ ],
395
+ "orientation": {
396
+ "w": 0.6936609312068912,
397
+ "xyz": [
398
+ -0.17397715719689907,
399
+ 0.6745900483908208,
400
+ 0.18301564933891273
401
+ ]
402
+ }
403
+ }
404
+ }
405
+ },
406
+ {
407
+ "part_name": "hinge pin",
408
+ "mask_color": "Yellow",
409
+ "graspable": false,
410
+ "grasp_scenarios": [],
411
+ "functional_labels": [
412
+ "act as pivot",
413
+ "connect moving arms",
414
+ "enable opening motion",
415
+ "maintain alignment at the joint"
416
+ ],
417
+ "semantic_description": "Small circular silver metal pivot fastener with a smooth reflective finish, located at the side joint near the head and much smaller than the handles.",
418
+ "id": 3,
419
+ "grasp_group": {}
420
+ }
421
+ ],
422
+ "quality_check": {
423
+ "success": true,
424
+ "message": "YES"
425
+ }
426
+ }
dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba24e701827b8ff9be0caebdcb9d27a3fdb4271b9b8a25a148fe7c0adc246b27
3
+ size 3780908