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
fedf947
·
verified ·
1 Parent(s): 164a906

Add asset kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/affordance/affordance_annot.json +460 -0
  3. dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7019,4 +7019,4 @@ dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/affordan
7019
  dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7020
  dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7021
  dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7022
- dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/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
7020
  dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7021
  dataset/kitchen_supplies/cutting_tools/8c159efea30850d8bedefc1dd3eeac54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7022
+ dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,460 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and reposition the peeler",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize the peeler during peeling",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp near the handle end to hang or retrieve the tool by orientation",
18
+ "confidence": 0.58
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip",
23
+ "support controlled peeling motion",
24
+ "provide leverage",
25
+ "orient the tool",
26
+ "allow hanging storage"
27
+ ],
28
+ "semantic_description": "Long off-white plastic handle with a matte smooth hard surface, slightly rounded rectangular shape, medium size, located at the rear, with an oval hanging hole near the end and small printed markings near the neck.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9700259566307068,
33
+ "position": [
34
+ -0.022231437091249973,
35
+ -0.1452956390567124,
36
+ -0.005319255229551345
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5593191015291541,
40
+ "xyz": [
41
+ -0.4423016604902691,
42
+ 0.5320398785009914,
43
+ 0.45657962227504234
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9692776799201965,
49
+ "position": [
50
+ -0.026552848343271762,
51
+ -0.14774424256756902,
52
+ -0.0027079773717559874
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5706807364157195,
56
+ "xyz": [
57
+ -0.44620821117587917,
58
+ 0.5403142930118904,
59
+ 0.4281146974004681
60
+ ]
61
+ }
62
+ },
63
+ "grasp_23": {
64
+ "confidence": 0.9673645496368408,
65
+ "position": [
66
+ -0.0212080625933595,
67
+ -0.14927363814786077,
68
+ 0.005424774426501244
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5559101016265726,
72
+ "xyz": [
73
+ -0.4977656583932638,
74
+ 0.5211104033500491,
75
+ 0.4142912692227572
76
+ ]
77
+ }
78
+ },
79
+ "grasp_24": {
80
+ "confidence": 0.9671947956085205,
81
+ "position": [
82
+ -0.009081724856514484,
83
+ -0.15035055996850133,
84
+ -0.00679214094998315
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5413035424804462,
88
+ "xyz": [
89
+ -0.4839492348958473,
90
+ 0.49220189127933567,
91
+ 0.480125932608195
92
+ ]
93
+ }
94
+ },
95
+ "grasp_25": {
96
+ "confidence": 0.9669695496559143,
97
+ "position": [
98
+ -0.027456978161353618,
99
+ -0.14422852220013738,
100
+ -0.0027543060132302344
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5878531181613204,
104
+ "xyz": [
105
+ -0.4518428207686051,
106
+ 0.5257329697292052,
107
+ 0.41697916174263855
108
+ ]
109
+ }
110
+ },
111
+ "grasp_27": {
112
+ "confidence": 0.965753436088562,
113
+ "position": [
114
+ 0.04447732324479148,
115
+ -0.1339709055610001,
116
+ -0.011439867608714849
117
+ ],
118
+ "orientation": {
119
+ "w": 0.3813585510487702,
120
+ "xyz": [
121
+ -0.5652631063605558,
122
+ 0.36020191209293717,
123
+ 0.6366300799162646
124
+ ]
125
+ }
126
+ },
127
+ "grasp_30": {
128
+ "confidence": 0.9641011953353882,
129
+ "position": [
130
+ -0.0123151566949673,
131
+ -0.14083734573796391,
132
+ -0.003931052575353533
133
+ ],
134
+ "orientation": {
135
+ "w": 0.47269036522426766,
136
+ "xyz": [
137
+ -0.5128411363341325,
138
+ -0.47344246586687455,
139
+ -0.5379684182380574
140
+ ]
141
+ }
142
+ },
143
+ "grasp_31": {
144
+ "confidence": 0.9640880227088928,
145
+ "position": [
146
+ -0.028999283735174686,
147
+ -0.14677252294495702,
148
+ -0.0003314646746730432
149
+ ],
150
+ "orientation": {
151
+ "w": 0.3860853240438343,
152
+ "xyz": [
153
+ -0.5211050218379734,
154
+ -0.4662491360458565,
155
+ -0.6016638778501712
156
+ ]
157
+ }
158
+ },
159
+ "grasp_32": {
160
+ "confidence": 0.9634033441543579,
161
+ "position": [
162
+ 0.08023433963535354,
163
+ -0.10454746754840016,
164
+ -0.0031934541766531765
165
+ ],
166
+ "orientation": {
167
+ "w": 0.23830062567892524,
168
+ "xyz": [
169
+ -0.6769864278326897,
170
+ 0.19476515542798134,
171
+ 0.6685571946830589
172
+ ]
173
+ }
174
+ },
175
+ "grasp_33": {
176
+ "confidence": 0.9626391530036926,
177
+ "position": [
178
+ 0.07032520900247619,
179
+ -0.1178019386716187,
180
+ -0.0031811365042813122
181
+ ],
182
+ "orientation": {
183
+ "w": 0.2822122177911533,
184
+ "xyz": [
185
+ -0.6530133477342414,
186
+ 0.25885373572978965,
187
+ 0.6533946550967872
188
+ ]
189
+ }
190
+ },
191
+ "grasp_34": {
192
+ "confidence": 0.9619174599647522,
193
+ "position": [
194
+ 0.026750160555820912,
195
+ -0.1407058578915894,
196
+ 0.010840314149390906
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4991508681059977,
200
+ "xyz": [
201
+ -0.3975172237171605,
202
+ -0.6252956288454788,
203
+ -0.4492592172276128
204
+ ]
205
+ }
206
+ },
207
+ "grasp_35": {
208
+ "confidence": 0.9617920517921448,
209
+ "position": [
210
+ 0.04777362401364371,
211
+ -0.13360758544877172,
212
+ -0.006472174834925681
213
+ ],
214
+ "orientation": {
215
+ "w": 0.3754926147571679,
216
+ "xyz": [
217
+ -0.5993650662202414,
218
+ 0.35036741078731226,
219
+ 0.6140109861523856
220
+ ]
221
+ }
222
+ },
223
+ "grasp_36": {
224
+ "confidence": 0.9616690278053284,
225
+ "position": [
226
+ -0.019323976535815746,
227
+ -0.13863203348591924,
228
+ -0.0023071508039720356
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5434818607501839,
232
+ "xyz": [
233
+ -0.4372851339025043,
234
+ 0.5436993306944369,
235
+ 0.4666907075417379
236
+ ]
237
+ }
238
+ },
239
+ "grasp_38": {
240
+ "confidence": 0.9599438905715942,
241
+ "position": [
242
+ 0.046101691375952214,
243
+ -0.1334978980012238,
244
+ 0.014098790183197707
245
+ ],
246
+ "orientation": {
247
+ "w": 0.39027267446929115,
248
+ "xyz": [
249
+ -0.6877184162453756,
250
+ 0.32143043169778307,
251
+ 0.5209732210950152
252
+ ]
253
+ }
254
+ },
255
+ "grasp_39": {
256
+ "confidence": 0.9598163962364197,
257
+ "position": [
258
+ 0.046742459933739156,
259
+ -0.1362808239646256,
260
+ -0.005962947208900005
261
+ ],
262
+ "orientation": {
263
+ "w": 0.6109652197824422,
264
+ "xyz": [
265
+ -0.3547765016095313,
266
+ -0.5907227193017766,
267
+ -0.38974581847995304
268
+ ]
269
+ }
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "part_name": "frame of peeler",
275
+ "mask_color": "Red",
276
+ "graspable": true,
277
+ "grasp_scenarios": [
278
+ {
279
+ "scenario": "grasp the head frame to briefly reposition or present the tool",
280
+ "confidence": 0.42
281
+ },
282
+ {
283
+ "scenario": "hold the neck and frame to stabilize the peeler during close manipulation",
284
+ "confidence": 0.38
285
+ }
286
+ ],
287
+ "functional_labels": [
288
+ "support the blade",
289
+ "connect blade to handle",
290
+ "maintain cutting geometry",
291
+ "protect blade edges slightly"
292
+ ],
293
+ "semantic_description": "Off-white plastic head frame with a matte smooth hard finish, forming a curved Y-shaped support at the front of the tool around the blade, with a moderately thick rigid structure.",
294
+ "id": 0,
295
+ "grasp_group": {
296
+ "grasp_1": {
297
+ "confidence": 0.9495292901992798,
298
+ "position": [
299
+ -0.1003494577598758,
300
+ 0.014706903602927923,
301
+ -0.0054209407535381615
302
+ ],
303
+ "orientation": {
304
+ "w": 0.7197818422637502,
305
+ "xyz": [
306
+ 0.0449616576755652,
307
+ 0.6911371896385333,
308
+ 0.04713739476273007
309
+ ]
310
+ }
311
+ },
312
+ "grasp_2": {
313
+ "confidence": 0.9012037515640259,
314
+ "position": [
315
+ 0.08935694227693602,
316
+ 0.042522873263806105,
317
+ 0.044539436406921595
318
+ ],
319
+ "orientation": {
320
+ "w": 0.5396024902374091,
321
+ "xyz": [
322
+ 0.1714167457464799,
323
+ -0.8218779299373706,
324
+ 0.06294537385015635
325
+ ]
326
+ }
327
+ },
328
+ "grasp_3": {
329
+ "confidence": 0.899956226348877,
330
+ "position": [
331
+ -0.09392663260223344,
332
+ 0.06253575859591365,
333
+ -0.01037615939276293
334
+ ],
335
+ "orientation": {
336
+ "w": 0.16470120017221884,
337
+ "xyz": [
338
+ 0.6403129971176473,
339
+ -0.17978562924527042,
340
+ 0.7283885693096286
341
+ ]
342
+ }
343
+ },
344
+ "grasp_4": {
345
+ "confidence": 0.8988677859306335,
346
+ "position": [
347
+ 0.08716837893007323,
348
+ 0.05407280055806041,
349
+ 0.047958835668396205
350
+ ],
351
+ "orientation": {
352
+ "w": 0.14108440984021908,
353
+ "xyz": [
354
+ 0.8423487607362914,
355
+ 0.1449766988720098,
356
+ -0.49952528601687995
357
+ ]
358
+ }
359
+ },
360
+ "grasp_5": {
361
+ "confidence": 0.8882809281349182,
362
+ "position": [
363
+ -0.09451775421621278,
364
+ 0.05505609465762973,
365
+ -0.0025169517030008137
366
+ ],
367
+ "orientation": {
368
+ "w": 0.7052594523521881,
369
+ "xyz": [
370
+ 0.17058908311057072,
371
+ 0.6749047107938009,
372
+ -0.13420916861274082
373
+ ]
374
+ }
375
+ },
376
+ "grasp_8": {
377
+ "confidence": 0.8411073684692383,
378
+ "position": [
379
+ -0.09093073924304917,
380
+ 0.06290539680048823,
381
+ -0.002363851817790419
382
+ ],
383
+ "orientation": {
384
+ "w": 0.6911009229563904,
385
+ "xyz": [
386
+ 0.18323490047613722,
387
+ 0.675244999173189,
388
+ -0.18124203879874418
389
+ ]
390
+ }
391
+ },
392
+ "grasp_11": {
393
+ "confidence": 0.8032082915306091,
394
+ "position": [
395
+ -0.08742202242137864,
396
+ 0.06458966014906764,
397
+ -0.013857168436516076
398
+ ],
399
+ "orientation": {
400
+ "w": 0.7332917448606298,
401
+ "xyz": [
402
+ 0.19160053546241895,
403
+ 0.6254337990399904,
404
+ -0.18548588827232282
405
+ ]
406
+ }
407
+ }
408
+ }
409
+ },
410
+ {
411
+ "part_name": "peeling blade",
412
+ "mask_color": "Blue",
413
+ "graspable": false,
414
+ "grasp_scenarios": [],
415
+ "functional_labels": [
416
+ "peel skin",
417
+ "cut thin strips",
418
+ "scrape vegetable surface",
419
+ "perform the primary cutting action"
420
+ ],
421
+ "semantic_description": "Short silver metal blade with a reflective smooth hard finish, straight elongated shape across the peeler head, positioned between the frame arms with a narrow sharpened slot.",
422
+ "id": 2,
423
+ "grasp_group": {}
424
+ },
425
+ {
426
+ "part_name": "blade pivot cap",
427
+ "mask_color": "Yellow",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "secure blade axle",
432
+ "allow blade rotation",
433
+ "connect blade to frame",
434
+ "maintain blade alignment"
435
+ ],
436
+ "semantic_description": "Tiny silver metal end cap with a smooth reflective finish and rounded nub shape, located at one end of the blade axle on the outer side of the head.",
437
+ "id": 3,
438
+ "grasp_group": {}
439
+ },
440
+ {
441
+ "part_name": "blade pivot cap",
442
+ "mask_color": "Orange",
443
+ "graspable": false,
444
+ "grasp_scenarios": [],
445
+ "functional_labels": [
446
+ "secure blade axle",
447
+ "allow blade rotation",
448
+ "connect blade to frame",
449
+ "maintain blade alignment"
450
+ ],
451
+ "semantic_description": "Tiny silver metal end cap with a smooth reflective finish and rounded nub shape, located at the opposite end of the blade axle on the outer side of the head.",
452
+ "id": 4,
453
+ "grasp_group": {}
454
+ }
455
+ ],
456
+ "quality_check": {
457
+ "success": true,
458
+ "message": "YES"
459
+ }
460
+ }
dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07d412db375639107fa1f74f0e8d645d67a179c09633e246fc0a7293b7d6ce18
3
+ size 3780944