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
36209a2
·
verified ·
1 Parent(s): 03ee38c

Add asset kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/affordance/affordance_annot.json +276 -0
  3. dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/affordance/mesh_part_seg.glb +3 -0
  4. dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.urdf +3 -2
.gitattributes CHANGED
@@ -7053,3 +7053,4 @@ dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordan
7053
  dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7054
  dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7055
  dataset/kitchen_supplies/cutting_tools/e2b7bbd670bc5533969440f1afcb397b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7053
  dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7054
  dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7055
  dataset/kitchen_supplies/cutting_tools/e2b7bbd670bc5533969440f1afcb397b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7056
+ dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,276 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle and frame",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main handle to pick up and reposition the peeler",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize and guide the peeler during peeling",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to place the peeler into storage or hang it by the hole",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support controlled peeling motion",
24
+ "connect cutting head to handhold",
25
+ "provide leverage and orientation"
26
+ ],
27
+ "semantic_description": "Large plastic body forming the handle and U-shaped frame of the peeler, with a smooth matte surface, rounded contours, and a hanging hole near the end; it appears cyan to blue with a gradient finish.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9785526990890503,
32
+ "position": [
33
+ 0.016232119873166084,
34
+ -0.09793757201987319,
35
+ 0.0036413203561096452
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5277849930986098,
39
+ "xyz": [
40
+ -0.4738564668692143,
41
+ -0.5392612034513841,
42
+ -0.4539828238141732
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9779303073883057,
48
+ "position": [
49
+ 0.004598839208483696,
50
+ -0.0984604686673265,
51
+ 0.0025778545168577693
52
+ ],
53
+ "orientation": {
54
+ "w": 0.505184929860582,
55
+ "xyz": [
56
+ -0.500783491604776,
57
+ -0.5136883024672895,
58
+ -0.4797170093775726
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9769529104232788,
64
+ "position": [
65
+ 0.006633283570408821,
66
+ -0.0973673865373712,
67
+ -0.020308857820054982
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4924815285455639,
71
+ "xyz": [
72
+ -0.3512930598307171,
73
+ -0.513309041948043,
74
+ -0.6087437536522072
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9759231805801392,
80
+ "position": [
81
+ 0.021125849336385727,
82
+ -0.09540053011733107,
83
+ 0.002599860272312071
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5568366576766208,
87
+ "xyz": [
88
+ -0.4500422026416371,
89
+ -0.5585566363777841,
90
+ -0.41881909754371166
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.975195586681366,
96
+ "position": [
97
+ 0.1213871855288744,
98
+ 0.00446570132044144,
99
+ -0.0046925912974984385
100
+ ],
101
+ "orientation": {
102
+ "w": 0.011777324544463647,
103
+ "xyz": [
104
+ 0.701758926787474,
105
+ -0.013084210730194501,
106
+ -0.7121969578215249
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9727705717086792,
112
+ "position": [
113
+ -0.008961229119449854,
114
+ -0.10027162285405211,
115
+ -0.00068102477962384
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4947052232958106,
119
+ "xyz": [
120
+ -0.5123126905627939,
121
+ 0.4840966321021891,
122
+ 0.5083826314101132
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.9727007150650024,
128
+ "position": [
129
+ -0.014419682323932648,
130
+ -0.09839682580786757,
131
+ -0.00043332135101081803
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5058607580783424,
135
+ "xyz": [
136
+ -0.5140166325344685,
137
+ -0.4850278191784527,
138
+ -0.49461076569088586
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.9726858139038086,
144
+ "position": [
145
+ 0.05175694264471531,
146
+ -0.08582149745780043,
147
+ 0.02282359447417548
148
+ ],
149
+ "orientation": {
150
+ "w": 0.28467548957430916,
151
+ "xyz": [
152
+ -0.6720498684924344,
153
+ 0.4168207739679005,
154
+ 0.541820341334403
155
+ ]
156
+ }
157
+ },
158
+ "grasp_11": {
159
+ "confidence": 0.9723973870277405,
160
+ "position": [
161
+ 0.012078182771801949,
162
+ -0.09551742972689681,
163
+ 0.002330112001800444
164
+ ],
165
+ "orientation": {
166
+ "w": 0.44325804318832374,
167
+ "xyz": [
168
+ -0.5463334348968663,
169
+ 0.46016349784443533,
170
+ 0.5415640685221131
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.9722471833229065,
176
+ "position": [
177
+ 0.02347700297832489,
178
+ -0.10048661680775695,
179
+ -0.005813812407723162
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5310602473157044,
183
+ "xyz": [
184
+ -0.47584088108360323,
185
+ -0.49803202471582364,
186
+ -0.49347195661761883
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.972140908241272,
192
+ "position": [
193
+ -0.0018986170180141926,
194
+ -0.09692678900319152,
195
+ 0.0011762777212425135
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4885265194444679,
199
+ "xyz": [
200
+ -0.5165449491773547,
201
+ 0.48849239283595336,
202
+ 0.5058639514931283
203
+ ]
204
+ }
205
+ },
206
+ "grasp_16": {
207
+ "confidence": 0.9719827771186829,
208
+ "position": [
209
+ -0.011744622141122818,
210
+ -0.10030971767264418,
211
+ -0.0035924525363952853
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5086780500765021,
215
+ "xyz": [
216
+ -0.4929194422078312,
217
+ 0.4926003821319518,
218
+ 0.5055906727653732
219
+ ]
220
+ }
221
+ },
222
+ "grasp_17": {
223
+ "confidence": 0.9718976616859436,
224
+ "position": [
225
+ 0.06593902595341206,
226
+ 0.0868001252238173,
227
+ -0.007407547476759646
228
+ ],
229
+ "orientation": {
230
+ "w": 0.38345443375513055,
231
+ "xyz": [
232
+ 0.5940205120719346,
233
+ 0.3409988919451449,
234
+ -0.6195337635379623
235
+ ]
236
+ }
237
+ },
238
+ "grasp_19": {
239
+ "confidence": 0.9713384509086609,
240
+ "position": [
241
+ 0.12386907823383808,
242
+ 0.007803330925526097,
243
+ -0.004130005407205317
244
+ ],
245
+ "orientation": {
246
+ "w": 0.037966497028514214,
247
+ "xyz": [
248
+ 0.6999160928852983,
249
+ -0.005631693497982093,
250
+ -0.7131930258015059
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "blade assembly",
258
+ "mask_color": "Yellow",
259
+ "graspable": false,
260
+ "grasp_scenarios": [],
261
+ "functional_labels": [
262
+ "peel produce skin",
263
+ "cut thin surface layers",
264
+ "perform the primary cutting action",
265
+ "mount across the frame as the working edge"
266
+ ],
267
+ "semantic_description": "Small transverse metal blade assembly at the front of the peeler, appearing silver and reflective in the RGB image, spanning between the blue frame arms; the segmented region also includes the small end supports around the blade.",
268
+ "id": 3,
269
+ "grasp_group": {}
270
+ }
271
+ ],
272
+ "quality_check": {
273
+ "success": false,
274
+ "message": "Yellow mask includes extra features beyond blade; blue handle description color/finish inaccurate and blade part name too narrow."
275
+ }
276
+ }
dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:08e7e4ec48df7a7b68793c070c50cc837cf920cc4453e8b59afb49e9b96664a0
3
+ size 3780216
dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.urdf CHANGED
@@ -51,16 +51,17 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>2</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
- <PartSegChecker>NO: {"summary":"Purple mixes blade/axle with small handle patches; functional parts are not cleanly separated and merge cannot fix fully.","merge_groups":[]}</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>3</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
+ <PartSegChecker>NO: {"summary":"Blade and small handle accents are merged into one color; distinct functional parts cannot be separated by merging.","merge_groups":[]}</PartSegChecker>
65
  </quality>
66
  </custom_data>
67
  </robot>