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
6c2effa
·
verified ·
1 Parent(s): d9c824b

Add asset kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/affordance_annot.json +384 -0
  3. dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7055,3 +7055,4 @@ dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordan
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/eba1fcfcd3e95716aa9f15e29646d04c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7057
  dataset/kitchen_supplies/cutting_tools/ef490b5b26dc507f9e55dbb53a8f2e3f/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/eba1fcfcd3e95716aa9f15e29646d04c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7057
  dataset/kitchen_supplies/cutting_tools/ef490b5b26dc507f9e55dbb53a8f2e3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7058
+ dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/affordance_annot.json ADDED
@@ -0,0 +1,384 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and manipulate the peeler",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle while peeling produce",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "grasp near the handle end to reposition or store the tool",
18
+ "confidence": 0.81
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip",
23
+ "support hand placement",
24
+ "transmit force to blade head",
25
+ "enable tool manipulation"
26
+ ],
27
+ "semantic_description": "Long white plastic handle with a smooth matte finish, slightly tapered and rounded, forming the largest part of the peeler and ending in an oval hanging hole.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9581199288368225,
32
+ "position": [
33
+ -0.12566885259002447,
34
+ 0.053172718893620186,
35
+ -0.0024422277929261327
36
+ ],
37
+ "orientation": {
38
+ "w": 0.685161855171721,
39
+ "xyz": [
40
+ 0.1575556902116443,
41
+ 0.6759687546697497,
42
+ -0.22089744093086652
43
+ ]
44
+ }
45
+ },
46
+ "grasp_4": {
47
+ "confidence": 0.9519362449645996,
48
+ "position": [
49
+ -0.12605261709541082,
50
+ 0.05041817964229267,
51
+ 0.0037936627632007003
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6789015889303386,
55
+ "xyz": [
56
+ 0.19445929319930436,
57
+ 0.6892353412657919,
58
+ -0.16196561421028793
59
+ ]
60
+ }
61
+ },
62
+ "grasp_9": {
63
+ "confidence": 0.9339064359664917,
64
+ "position": [
65
+ -0.14131671097129583,
66
+ -0.004032792363432236,
67
+ -0.001811427646316588
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7040415296520114,
71
+ "xyz": [
72
+ 0.03302711101284881,
73
+ 0.7085056313887077,
74
+ 0.03541898860624619
75
+ ]
76
+ }
77
+ },
78
+ "grasp_10": {
79
+ "confidence": 0.9304651618003845,
80
+ "position": [
81
+ -0.12210339214652777,
82
+ -0.04117333500471432,
83
+ 0.03027544275391847
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6059745918461342,
87
+ "xyz": [
88
+ -0.35613295223470887,
89
+ 0.7112054369116916,
90
+ 0.012285799801030573
91
+ ]
92
+ }
93
+ },
94
+ "grasp_11": {
95
+ "confidence": 0.9249466061592102,
96
+ "position": [
97
+ -0.13479722943156958,
98
+ 0.0035844071971951053,
99
+ 0.0031043022172525525
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6985892599444385,
103
+ "xyz": [
104
+ 0.05510520228146079,
105
+ 0.7102721157557886,
106
+ 0.06670820153171664
107
+ ]
108
+ }
109
+ },
110
+ "grasp_13": {
111
+ "confidence": 0.9121008515357971,
112
+ "position": [
113
+ -0.1377733638510108,
114
+ -0.010858309295144863,
115
+ 0.00717843568418175
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7027063316200776,
119
+ "xyz": [
120
+ -0.021487983832311035,
121
+ 0.7105250708107138,
122
+ 0.029936629758643463
123
+ ]
124
+ }
125
+ },
126
+ "grasp_19": {
127
+ "confidence": 0.8659833073616028,
128
+ "position": [
129
+ -0.1170681705698371,
130
+ -0.021080721009639092,
131
+ -0.05076936155091971
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6534064725372689,
135
+ "xyz": [
136
+ 0.2543345688377574,
137
+ 0.4160352469540257,
138
+ 0.5790410883801066
139
+ ]
140
+ }
141
+ }
142
+ }
143
+ },
144
+ {
145
+ "part_name": "yoke frame",
146
+ "mask_color": "Green",
147
+ "graspable": true,
148
+ "grasp_scenarios": [
149
+ {
150
+ "scenario": "pinch the frame to reorient the peeler during bin picking or handoff",
151
+ "confidence": 0.52
152
+ },
153
+ {
154
+ "scenario": "grasp the neck/frame briefly to stabilize the tool during close manipulation",
155
+ "confidence": 0.47
156
+ }
157
+ ],
158
+ "functional_labels": [
159
+ "support blade assembly",
160
+ "connect handle to blade",
161
+ "maintain blade position",
162
+ "provide structural rigidity"
163
+ ],
164
+ "semantic_description": "White plastic fork-shaped head frame with a smooth matte finish, medium-sized and located between the handle and blade, curving around the cutting head.",
165
+ "id": 1,
166
+ "grasp_group": {
167
+ "grasp_20": {
168
+ "confidence": 0.9855483174324036,
169
+ "position": [
170
+ 0.024320215918123722,
171
+ 0.09922429935249966,
172
+ 0.0009558881865814328
173
+ ],
174
+ "orientation": {
175
+ "w": 0.48692084891249626,
176
+ "xyz": [
177
+ 0.5064686474806248,
178
+ -0.4947873063328311,
179
+ 0.5114519698909976
180
+ ]
181
+ }
182
+ },
183
+ "grasp_22": {
184
+ "confidence": 0.9752383232116699,
185
+ "position": [
186
+ -9.429454803466797e-05,
187
+ -0.0880067197867902,
188
+ -0.028845527092926204
189
+ ],
190
+ "orientation": {
191
+ "w": 0.4933279496860355,
192
+ "xyz": [
193
+ -0.4686984834218132,
194
+ -0.3363909382025564,
195
+ -0.6509918604651435
196
+ ]
197
+ }
198
+ },
199
+ "grasp_23": {
200
+ "confidence": 0.9746007323265076,
201
+ "position": [
202
+ 0.021638089790940285,
203
+ -0.09890212102618534,
204
+ -0.005445644143037498
205
+ ],
206
+ "orientation": {
207
+ "w": 0.5294802553885152,
208
+ "xyz": [
209
+ -0.4731608927971041,
210
+ 0.49780545955381295,
211
+ 0.49795497097586766
212
+ ]
213
+ }
214
+ },
215
+ "grasp_24": {
216
+ "confidence": 0.9222978353500366,
217
+ "position": [
218
+ 0.035536293871700764,
219
+ 0.09580048189673107,
220
+ -0.0002704138169065118
221
+ ],
222
+ "orientation": {
223
+ "w": 0.46534819107570496,
224
+ "xyz": [
225
+ 0.40826224802890765,
226
+ -0.5638657294237153,
227
+ 0.5466520255870395
228
+ ]
229
+ }
230
+ },
231
+ "grasp_25": {
232
+ "confidence": 0.9155228137969971,
233
+ "position": [
234
+ 0.055898734368383884,
235
+ -0.08887324466195423,
236
+ 0.038093765382654965
237
+ ],
238
+ "orientation": {
239
+ "w": 0.4586258679448652,
240
+ "xyz": [
241
+ -0.5415569954534808,
242
+ -0.6431986015215957,
243
+ -0.2875306817156755
244
+ ]
245
+ }
246
+ },
247
+ "grasp_28": {
248
+ "confidence": 0.8404165506362915,
249
+ "position": [
250
+ -0.03137894254177809,
251
+ -0.07891509665932972,
252
+ -0.0033349095610901713
253
+ ],
254
+ "orientation": {
255
+ "w": 0.6284558965956121,
256
+ "xyz": [
257
+ -0.3119368489287426,
258
+ 0.6220678877748367,
259
+ 0.347519972539659
260
+ ]
261
+ }
262
+ },
263
+ "grasp_30": {
264
+ "confidence": 0.8159986138343811,
265
+ "position": [
266
+ 0.07390887383371592,
267
+ -0.09498006834473927,
268
+ -0.0064717455534264445
269
+ ],
270
+ "orientation": {
271
+ "w": 0.3959494325600162,
272
+ "xyz": [
273
+ -0.5915492773133998,
274
+ 0.34645964455131095,
275
+ 0.6109494365843834
276
+ ]
277
+ }
278
+ },
279
+ "grasp_31": {
280
+ "confidence": 0.7913117408752441,
281
+ "position": [
282
+ 0.07424250338226557,
283
+ -0.09510720505204517,
284
+ -0.0006026128539815545
285
+ ],
286
+ "orientation": {
287
+ "w": 0.6104179838548721,
288
+ "xyz": [
289
+ -0.3712448361472154,
290
+ -0.5975863616308037,
291
+ -0.3639473822044049
292
+ ]
293
+ }
294
+ }
295
+ }
296
+ },
297
+ {
298
+ "part_name": "blade body",
299
+ "mask_color": "Orange",
300
+ "graspable": false,
301
+ "grasp_scenarios": [],
302
+ "functional_labels": [
303
+ "support cutting edge",
304
+ "contact produce surface",
305
+ "carry the swiveling blade assembly"
306
+ ],
307
+ "semantic_description": "Short horizontal metal blade assembly with a satin reflective finish, spanning the head of the peeler as the main working strip.",
308
+ "id": 4,
309
+ "grasp_group": {}
310
+ },
311
+ {
312
+ "part_name": "blade edge / slot",
313
+ "mask_color": "Pink",
314
+ "graspable": false,
315
+ "grasp_scenarios": [],
316
+ "functional_labels": [
317
+ "cut peel",
318
+ "form sharpened cutting region",
319
+ "guide peel through the blade opening"
320
+ ],
321
+ "semantic_description": "Thin narrow light metallic strip/open slot area along the blade assembly, reflective and sharp-looking, positioned within the horizontal blade where cutting occurs.",
322
+ "id": 8,
323
+ "grasp_group": {}
324
+ },
325
+ {
326
+ "part_name": "left blade cap",
327
+ "mask_color": "Yellow",
328
+ "graspable": false,
329
+ "grasp_scenarios": [],
330
+ "functional_labels": [
331
+ "retain blade axle",
332
+ "cap blade end",
333
+ "help stabilize blade rotation"
334
+ ],
335
+ "semantic_description": "Tiny rounded end cap at one side of the blade assembly, appearing as a small light-colored terminal piece.",
336
+ "id": 3,
337
+ "grasp_group": {}
338
+ },
339
+ {
340
+ "part_name": "right blade cap",
341
+ "mask_color": "Blue",
342
+ "graspable": false,
343
+ "grasp_scenarios": [],
344
+ "functional_labels": [
345
+ "retain blade axle",
346
+ "cap blade end",
347
+ "help stabilize blade rotation"
348
+ ],
349
+ "semantic_description": "Tiny rounded end cap at the opposite side of the blade assembly, appearing as a small light-colored terminal piece.",
350
+ "id": 2,
351
+ "grasp_group": {}
352
+ },
353
+ {
354
+ "part_name": "hanging hole opening",
355
+ "mask_color": "Cyan",
356
+ "graspable": false,
357
+ "grasp_scenarios": [],
358
+ "functional_labels": [
359
+ "allow hanging storage",
360
+ "provide hanging point"
361
+ ],
362
+ "semantic_description": "Small dark oval opening at the tip of the handle, recessed through the white plastic.",
363
+ "id": 6,
364
+ "grasp_group": {}
365
+ },
366
+ {
367
+ "part_name": "hanging hole rim",
368
+ "mask_color": "Lime Green",
369
+ "graspable": false,
370
+ "grasp_scenarios": [],
371
+ "functional_labels": [
372
+ "outline hanging hole",
373
+ "form edge of storage opening"
374
+ ],
375
+ "semantic_description": "Thin light-colored oval rim surrounding the hanging hole at the handle tip, smooth and integrated into the handle.",
376
+ "id": 9,
377
+ "grasp_group": {}
378
+ }
379
+ ],
380
+ "quality_check": {
381
+ "success": true,
382
+ "message": "YES"
383
+ }
384
+ }
dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3eef9883e116a5b98710e20178e073584a4ee1554ff6ae135ce315b400f2cda4
3
+ size 3788348