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
1
xinjjj commited on
Commit
15b48f8
·
verified ·
1 Parent(s): 4e5e392

Add asset kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordance/affordance_annot.json +269 -0
  3. dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6995,3 +6995,4 @@ dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/affordan
6995
  dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6996
  dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6997
  dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6995
  dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6996
  dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6997
  dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6998
+ dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordance/affordance_annot.json ADDED
@@ -0,0 +1,269 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife blade",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "avoid grasping the sharp blade during normal pickup; contact only incidentally if no alternative exists",
10
+ "confidence": 0.08
11
+ },
12
+ {
13
+ "scenario": "lightly stabilize near the dull spine or base only in constrained handling, not as a primary grasp",
14
+ "confidence": 0.12
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide the cutting edge",
19
+ "slice fruit",
20
+ "cut soft food",
21
+ "pierce food surfaces"
22
+ ],
23
+ "semantic_description": "Short silver metal blade with a smooth reflective finish, narrowing to a pointed tip, attached at the front of the knife and showing small printed branding near the base.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "handle",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the handle to pick up and use the fruit knife safely",
34
+ "confidence": 0.97
35
+ },
36
+ {
37
+ "scenario": "hold the handle to orient the blade for cutting",
38
+ "confidence": 0.95
39
+ },
40
+ {
41
+ "scenario": "grip the handle to place or retrieve the knife from storage",
42
+ "confidence": 0.9
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "provide a safe grip",
47
+ "control blade orientation",
48
+ "transfer cutting force",
49
+ "keep hand away from edge"
50
+ ],
51
+ "semantic_description": "Curved black handle, likely plastic or rubber-coated, with a mostly matte finish, smooth slightly grippy texture, and a thicker ergonomic shape at the rear with a light-colored end cap.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_0": {
55
+ "confidence": 0.9809126257896423,
56
+ "position": [
57
+ -0.03986736573278904,
58
+ 0.08840570531901903,
59
+ -0.007336636612308212
60
+ ],
61
+ "orientation": {
62
+ "w": 0.39233905593916135,
63
+ "xyz": [
64
+ 0.5821028924346942,
65
+ -0.3461777727149986,
66
+ 0.6224044002752652
67
+ ]
68
+ }
69
+ },
70
+ "grasp_3": {
71
+ "confidence": 0.9788680076599121,
72
+ "position": [
73
+ 0.038249192759394646,
74
+ 0.09361787073430605,
75
+ -0.0052558030729414895
76
+ ],
77
+ "orientation": {
78
+ "w": 0.447134118232782,
79
+ "xyz": [
80
+ 0.5723719850221965,
81
+ 0.3951407685176038,
82
+ -0.5624279190520862
83
+ ]
84
+ }
85
+ },
86
+ "grasp_4": {
87
+ "confidence": 0.9786645174026489,
88
+ "position": [
89
+ 0.07606790773570538,
90
+ 0.08335912905749865,
91
+ -0.0024450941273244098
92
+ ],
93
+ "orientation": {
94
+ "w": 0.6186302571184421,
95
+ "xyz": [
96
+ 0.3270645734202691,
97
+ -0.6146841539289025,
98
+ 0.36399005577034194
99
+ ]
100
+ }
101
+ },
102
+ "grasp_5": {
103
+ "confidence": 0.9786061644554138,
104
+ "position": [
105
+ 0.07446050457656384,
106
+ 0.0843481712799985,
107
+ -0.003127218529698439
108
+ ],
109
+ "orientation": {
110
+ "w": 0.3630674752992795,
111
+ "xyz": [
112
+ 0.6134829727503665,
113
+ 0.34246028874609413,
114
+ -0.611998040157909
115
+ ]
116
+ }
117
+ },
118
+ "grasp_6": {
119
+ "confidence": 0.9785751104354858,
120
+ "position": [
121
+ 0.060929758474230766,
122
+ 0.08510276608285494,
123
+ -0.00982442831445951
124
+ ],
125
+ "orientation": {
126
+ "w": 0.38895453362382315,
127
+ "xyz": [
128
+ 0.5985299938241868,
129
+ 0.32388991972557957,
130
+ -0.6209440692739169
131
+ ]
132
+ }
133
+ },
134
+ "grasp_8": {
135
+ "confidence": 0.9783494472503662,
136
+ "position": [
137
+ 0.05394592694938183,
138
+ 0.08435020528850146,
139
+ 0.00959024803887587
140
+ ],
141
+ "orientation": {
142
+ "w": 0.332264203809777,
143
+ "xyz": [
144
+ 0.6362224473737537,
145
+ 0.3763475902464297,
146
+ -0.5858190741518339
147
+ ]
148
+ }
149
+ },
150
+ "grasp_10": {
151
+ "confidence": 0.977786660194397,
152
+ "position": [
153
+ 0.05602794699370861,
154
+ 0.08562170647201128,
155
+ -0.0031886818615021184
156
+ ],
157
+ "orientation": {
158
+ "w": 0.37458533156998075,
159
+ "xyz": [
160
+ 0.6096943614580601,
161
+ 0.334965443659892,
162
+ -0.6129900215603741
163
+ ]
164
+ }
165
+ },
166
+ "grasp_11": {
167
+ "confidence": 0.9775452613830566,
168
+ "position": [
169
+ 0.06826852075755596,
170
+ 0.08533172242459841,
171
+ -0.01157762722868938
172
+ ],
173
+ "orientation": {
174
+ "w": 0.3970266441292788,
175
+ "xyz": [
176
+ 0.5938692537466032,
177
+ 0.32138158951128504,
178
+ -0.6216132456995231
179
+ ]
180
+ }
181
+ },
182
+ "grasp_12": {
183
+ "confidence": 0.9775108695030212,
184
+ "position": [
185
+ 0.07252968661487103,
186
+ 0.08382830701884814,
187
+ -0.00886238420207519
188
+ ],
189
+ "orientation": {
190
+ "w": 0.3786456676123954,
191
+ "xyz": [
192
+ 0.6046324395461362,
193
+ 0.3312338360495648,
194
+ -0.6175202161085428
195
+ ]
196
+ }
197
+ },
198
+ "grasp_15": {
199
+ "confidence": 0.9768990874290466,
200
+ "position": [
201
+ 0.06558172218501568,
202
+ 0.08412796937045641,
203
+ -0.011912249567103572
204
+ ],
205
+ "orientation": {
206
+ "w": 0.38846239608208144,
207
+ "xyz": [
208
+ 0.6017890475799149,
209
+ 0.32193511587207624,
210
+ -0.6191160555271197
211
+ ]
212
+ }
213
+ },
214
+ "grasp_17": {
215
+ "confidence": 0.9766064286231995,
216
+ "position": [
217
+ 0.06430189870297909,
218
+ 0.08491086892900057,
219
+ -0.00484471170057077
220
+ ],
221
+ "orientation": {
222
+ "w": 0.6255198278012453,
223
+ "xyz": [
224
+ 0.3266254941838603,
225
+ -0.6091946241067483,
226
+ 0.3618323389860103
227
+ ]
228
+ }
229
+ },
230
+ "grasp_18": {
231
+ "confidence": 0.9765306115150452,
232
+ "position": [
233
+ 0.05385996960103512,
234
+ 0.08520231329021044,
235
+ -0.004944013970089145
236
+ ],
237
+ "orientation": {
238
+ "w": 0.3570876996942147,
239
+ "xyz": [
240
+ 0.6125758313075584,
241
+ 0.3373162493870786,
242
+ -0.6192390277787589
243
+ ]
244
+ }
245
+ },
246
+ "grasp_19": {
247
+ "confidence": 0.976150631904602,
248
+ "position": [
249
+ 0.052808573469519615,
250
+ 0.08644170992192812,
251
+ -0.00918198523868341
252
+ ],
253
+ "orientation": {
254
+ "w": 0.3879081096579376,
255
+ "xyz": [
256
+ 0.6074380708473872,
257
+ 0.3263954444574455,
258
+ -0.6115654522487654
259
+ ]
260
+ }
261
+ }
262
+ }
263
+ }
264
+ ],
265
+ "quality_check": {
266
+ "success": true,
267
+ "message": "YES"
268
+ }
269
+ }
dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2028687223cabead782296c3ad9851e71a359ebb106eb7212d9d1869f907af59
3
+ size 3780172