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
98429f2
·
verified ·
1 Parent(s): 30e0441

Add asset kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/affordance/affordance_annot.json +364 -0
  3. dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7476,3 +7476,4 @@ dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/affordance/me
7476
  dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7477
  dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7478
  dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7476
  dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7477
  dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7478
  dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7479
+ dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,364 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spatula blade and neck",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the neck near the handle for short-range repositioning when the handle is inaccessible",
10
+ "confidence": 0.46
11
+ },
12
+ {
13
+ "scenario": "pinch the blade edge lightly to stabilize the tool during handoff",
14
+ "confidence": 0.27
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "slide under food",
19
+ "lift and turn food",
20
+ "scrape cooking surfaces",
21
+ "transfer force from handle to blade"
22
+ ],
23
+ "semantic_description": "Light gray to off-white one-piece working end consisting of a broad flat spatula blade and a narrow curved neck, with a smooth matte surface and slightly flexible appearance at the front of the utensil.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.976971447467804,
28
+ "position": [
29
+ 0.022899476811289787,
30
+ -0.09971412410959601,
31
+ -0.0050058658816851676
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5120189452603148,
35
+ "xyz": [
36
+ -0.48442261860347674,
37
+ -0.5029098677044451,
38
+ -0.5002529272731581
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.976012647151947,
44
+ "position": [
45
+ 0.020342526957392693,
46
+ -0.10074139526113868,
47
+ -0.004114262119401246
48
+ ],
49
+ "orientation": {
50
+ "w": 0.500261008224412,
51
+ "xyz": [
52
+ -0.5128809085784598,
53
+ -0.48116565271392986,
54
+ -0.5051452384358449
55
+ ]
56
+ }
57
+ },
58
+ "grasp_4": {
59
+ "confidence": 0.9664251804351807,
60
+ "position": [
61
+ 0.04092360474169254,
62
+ 0.09174547949805856,
63
+ -0.004492643347475678
64
+ ],
65
+ "orientation": {
66
+ "w": 0.589986886438448,
67
+ "xyz": [
68
+ 0.4109999030501904,
69
+ -0.5507597031336541,
70
+ 0.4238611835584012
71
+ ]
72
+ }
73
+ },
74
+ "grasp_5": {
75
+ "confidence": 0.9660558700561523,
76
+ "position": [
77
+ 0.03186514414846897,
78
+ -0.09379324456676841,
79
+ -0.008237340080086142
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5949611005693053,
83
+ "xyz": [
84
+ -0.408622247795338,
85
+ -0.5473764904744709,
86
+ -0.4235895715098499
87
+ ]
88
+ }
89
+ },
90
+ "grasp_6": {
91
+ "confidence": 0.9658849239349365,
92
+ "position": [
93
+ 0.014952549710869789,
94
+ 0.09635446080937982,
95
+ -0.01083564996952191
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4943989575260314,
99
+ "xyz": [
100
+ 0.5069578119039672,
101
+ 0.4566227360531985,
102
+ -0.5385713737899613
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9650053381919861,
108
+ "position": [
109
+ 0.011740459129214287,
110
+ 0.09642395982518792,
111
+ -0.006576064100954682
112
+ ],
113
+ "orientation": {
114
+ "w": 0.535779787469326,
115
+ "xyz": [
116
+ 0.4805186070372035,
117
+ -0.48888255774220035,
118
+ 0.4929865437978948
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.9632910490036011,
124
+ "position": [
125
+ -0.004295732825994492,
126
+ -0.08845781674608588,
127
+ 0.02063226274913177
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5612250371935975,
131
+ "xyz": [
132
+ -0.43584695942085694,
133
+ 0.6412129835443651,
134
+ 0.2896718752740289
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.959281861782074,
140
+ "position": [
141
+ 0.008595449849963188,
142
+ 0.09324322501197457,
143
+ -0.001795934687834233
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5325896069197525,
147
+ "xyz": [
148
+ 0.46016820015355825,
149
+ 0.5383544062956627,
150
+ -0.46343076224021057
151
+ ]
152
+ }
153
+ },
154
+ "grasp_12": {
155
+ "confidence": 0.9523500800132751,
156
+ "position": [
157
+ 0.05059199221432209,
158
+ -0.06445796182379127,
159
+ 0.07136646978324279
160
+ ],
161
+ "orientation": {
162
+ "w": 0.15267340367124554,
163
+ "xyz": [
164
+ -0.6654683986523996,
165
+ 0.6297493091623592,
166
+ 0.3704840749829606
167
+ ]
168
+ }
169
+ },
170
+ "grasp_17": {
171
+ "confidence": 0.9165341258049011,
172
+ "position": [
173
+ -0.0743956696242094,
174
+ -0.10799698671326041,
175
+ -0.020875726419035345
176
+ ],
177
+ "orientation": {
178
+ "w": 0.40806371944178976,
179
+ "xyz": [
180
+ -0.5288406916531109,
181
+ 0.4018426562950652,
182
+ 0.6263657105149656
183
+ ]
184
+ }
185
+ },
186
+ "grasp_18": {
187
+ "confidence": 0.9156079888343811,
188
+ "position": [
189
+ -0.08081519044935703,
190
+ -0.111248844768852,
191
+ -0.012274817156139761
192
+ ],
193
+ "orientation": {
194
+ "w": 0.602116608223113,
195
+ "xyz": [
196
+ -0.46302361290597255,
197
+ -0.5083539697394971,
198
+ -0.4057597385688852
199
+ ]
200
+ }
201
+ },
202
+ "grasp_19": {
203
+ "confidence": 0.9145721793174744,
204
+ "position": [
205
+ -0.1783329900354147,
206
+ -0.11846228083595634,
207
+ 0.006502758187707514
208
+ ],
209
+ "orientation": {
210
+ "w": 0.5224885787346737,
211
+ "xyz": [
212
+ -0.4020523335169037,
213
+ 0.6171478452564088,
214
+ 0.4295208298800019
215
+ ]
216
+ }
217
+ }
218
+ }
219
+ },
220
+ {
221
+ "part_name": "handle",
222
+ "mask_color": "Green",
223
+ "graspable": true,
224
+ "grasp_scenarios": [
225
+ {
226
+ "scenario": "grasp the handle to pick up and manipulate the spatula",
227
+ "confidence": 0.98
228
+ },
229
+ {
230
+ "scenario": "hold the handle to flip or scrape food during cooking",
231
+ "confidence": 0.97
232
+ },
233
+ {
234
+ "scenario": "grasp near the handle end to retrieve or reposition the utensil",
235
+ "confidence": 0.61
236
+ }
237
+ ],
238
+ "functional_labels": [
239
+ "primary grip",
240
+ "control tool orientation",
241
+ "keep hand away from heat",
242
+ "allow hanging storage"
243
+ ],
244
+ "semantic_description": "Elongated black handle, likely plastic or rubber-coated, with a matte slightly textured surface, gently tapered form, and a small hanging hole at the distal end.",
245
+ "id": 1,
246
+ "grasp_group": {
247
+ "grasp_20": {
248
+ "confidence": 0.9814749956130981,
249
+ "position": [
250
+ 0.06728135235607624,
251
+ -0.038619284983724356,
252
+ -0.0873598498874344
253
+ ],
254
+ "orientation": {
255
+ "w": 0.7339285865990361,
256
+ "xyz": [
257
+ -0.11345562999533862,
258
+ 0.11232262233201629,
259
+ 0.6601971510901584
260
+ ]
261
+ }
262
+ },
263
+ "grasp_23": {
264
+ "confidence": 0.9797912240028381,
265
+ "position": [
266
+ 0.09745595790445805,
267
+ -0.10474585136398673,
268
+ 0.0006304045091383159
269
+ ],
270
+ "orientation": {
271
+ "w": 0.5069192892537308,
272
+ "xyz": [
273
+ -0.4740482085064106,
274
+ 0.5139373148098494,
275
+ 0.5041622423787776
276
+ ]
277
+ }
278
+ },
279
+ "grasp_27": {
280
+ "confidence": 0.9788544178009033,
281
+ "position": [
282
+ 0.08305528201162815,
283
+ -0.06691192975267768,
284
+ 0.07049243472283706
285
+ ],
286
+ "orientation": {
287
+ "w": 0.35770213622243874,
288
+ "xyz": [
289
+ -0.6285294396196245,
290
+ 0.6719166375190122,
291
+ 0.1597747085695628
292
+ ]
293
+ }
294
+ },
295
+ "grasp_28": {
296
+ "confidence": 0.9788233637809753,
297
+ "position": [
298
+ 0.1197402123361826,
299
+ -0.10047362884506583,
300
+ -0.005792429728899151
301
+ ],
302
+ "orientation": {
303
+ "w": 0.5308656445392409,
304
+ "xyz": [
305
+ -0.47695711484162756,
306
+ -0.4697970492798794,
307
+ -0.5196001448592998
308
+ ]
309
+ }
310
+ },
311
+ "grasp_38": {
312
+ "confidence": 0.9774358868598938,
313
+ "position": [
314
+ 0.10752416588366032,
315
+ 0.0827545584179461,
316
+ 0.047686278296168894
317
+ ],
318
+ "orientation": {
319
+ "w": 0.3503000804653544,
320
+ "xyz": [
321
+ 0.593007588054309,
322
+ -0.6127426884434032,
323
+ 0.3875283885022203
324
+ ]
325
+ }
326
+ },
327
+ "grasp_39": {
328
+ "confidence": 0.9772962927818298,
329
+ "position": [
330
+ 0.11329946853220463,
331
+ -0.1056977747939527,
332
+ -0.00902194861555472
333
+ ],
334
+ "orientation": {
335
+ "w": 0.5303819280111803,
336
+ "xyz": [
337
+ -0.4537610466897273,
338
+ 0.4872918913139792,
339
+ 0.5247309173336674
340
+ ]
341
+ }
342
+ }
343
+ }
344
+ },
345
+ {
346
+ "part_name": "collar",
347
+ "mask_color": "Yellow",
348
+ "graspable": false,
349
+ "grasp_scenarios": [],
350
+ "functional_labels": [
351
+ "connect handle to blade-neck piece",
352
+ "reinforce joint",
353
+ "transition between materials"
354
+ ],
355
+ "semantic_description": "Small dark collar or ferrule with a smooth finish and narrow ring shape located between the black handle and the light gray neck.",
356
+ "id": 3,
357
+ "grasp_group": {}
358
+ }
359
+ ],
360
+ "quality_check": {
361
+ "success": false,
362
+ "message": "Red part color/description is wrong; blade-neck is white/silver, not light gray, and collar is metallic silver not dark."
363
+ }
364
+ }
dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d59e55c362b2ece8f5b908cce5230ed20969ed2ad6e6a6a120697b7a15328e3b
3
+ size 3779292