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
ae2e07d
·
verified ·
1 Parent(s): 3ab9a36

Add asset kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/affordance_annot.json +506 -0
  3. dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8660,3 +8660,4 @@ dataset/kitchen_supplies/utensils/3e9ac10fb5d45bc1bbe36729036d09ac/affordance/me
8660
  dataset/kitchen_supplies/utensils/3ec550e386a856d4a21b7e80f69f750b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8661
  dataset/kitchen_supplies/utensils/3fa814c7d32d51a1ad02d4ae3f9044f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8662
  dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8660
  dataset/kitchen_supplies/utensils/3ec550e386a856d4a21b7e80f69f750b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8661
  dataset/kitchen_supplies/utensils/3fa814c7d32d51a1ad02d4ae3f9044f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8662
  dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8663
+ dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/affordance_annot.json ADDED
@@ -0,0 +1,506 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spatula head",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "lightly pinch the broad head to reposition the spatula when the handle is obstructed",
10
+ "confidence": 0.26
11
+ },
12
+ {
13
+ "scenario": "stabilize the head with a secondary gripper while another gripper manipulates the handle",
14
+ "confidence": 0.31
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "slide under food",
19
+ "lift and flip food",
20
+ "scrape cooking surfaces",
21
+ "provide the main contact surface"
22
+ ],
23
+ "semantic_description": "Broad off-white to light gray spatula head with a smooth matte silicone-like surface and thin slightly flexible profile, roughly rectangular with rounded corners, located at the working end of the utensil.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9683231711387634,
28
+ "position": [
29
+ -0.21366621181368828,
30
+ -0.004858957196120173,
31
+ 0.043850651709362864
32
+ ],
33
+ "orientation": {
34
+ "w": 0.05677871061215907,
35
+ "xyz": [
36
+ 0.8238130870753568,
37
+ -0.018419474637554112,
38
+ 0.5637099418483482
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9676781296730042,
44
+ "position": [
45
+ -0.2162770740687847,
46
+ -0.02518860303098336,
47
+ 0.02736647496931255
48
+ ],
49
+ "orientation": {
50
+ "w": 0.04548894103748942,
51
+ "xyz": [
52
+ 0.779135406721979,
53
+ 0.02168219571400476,
54
+ 0.6248269013290672
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9674910306930542,
60
+ "position": [
61
+ -0.21324866637587547,
62
+ -0.011555281991604716,
63
+ 0.03837692248634994
64
+ ],
65
+ "orientation": {
66
+ "w": 0.06376273238453145,
67
+ "xyz": [
68
+ 0.8089828089107776,
69
+ -0.009274020610871125,
70
+ 0.584290271515277
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9667150378227234,
76
+ "position": [
77
+ -0.06147853098809719,
78
+ -0.12527726456755772,
79
+ -0.009253768483176827
80
+ ],
81
+ "orientation": {
82
+ "w": 0.6677177692135495,
83
+ "xyz": [
84
+ -0.4574680439985253,
85
+ -0.5052006643171482,
86
+ -0.29941318970639164
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9663633704185486,
92
+ "position": [
93
+ -0.17389943823218346,
94
+ -0.10578393802279606,
95
+ 0.026016474468633533
96
+ ],
97
+ "orientation": {
98
+ "w": 0.525047864009771,
99
+ "xyz": [
100
+ -0.27476247679715093,
101
+ 0.7298465352013283,
102
+ 0.340814255713707
103
+ ]
104
+ }
105
+ },
106
+ "grasp_6": {
107
+ "confidence": 0.9661969542503357,
108
+ "position": [
109
+ -0.16979814693331718,
110
+ -0.10851376369828358,
111
+ 0.02810201491229236
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5177261890946895,
115
+ "xyz": [
116
+ -0.3039288430764549,
117
+ 0.7268770701969893,
118
+ 0.33352147800934606
119
+ ]
120
+ }
121
+ },
122
+ "grasp_7": {
123
+ "confidence": 0.9660068154335022,
124
+ "position": [
125
+ -0.1753539852797985,
126
+ -0.10952921077841893,
127
+ 0.028269315836951137
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5229126909243572,
131
+ "xyz": [
132
+ -0.2815434873759561,
133
+ 0.7355431739942596,
134
+ 0.32599359131259376
135
+ ]
136
+ }
137
+ },
138
+ "grasp_8": {
139
+ "confidence": 0.9654942750930786,
140
+ "position": [
141
+ -0.07876237481832504,
142
+ -0.13180726632708684,
143
+ -0.006731986766681075
144
+ ],
145
+ "orientation": {
146
+ "w": 0.39125597448998745,
147
+ "xyz": [
148
+ -0.4610792679094336,
149
+ 0.5112402093383868,
150
+ 0.6107029715709867
151
+ ]
152
+ }
153
+ },
154
+ "grasp_9": {
155
+ "confidence": 0.9651889801025391,
156
+ "position": [
157
+ -0.16880600526928902,
158
+ -0.10945741698378697,
159
+ 0.025291853351518512
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5185858544619311,
163
+ "xyz": [
164
+ -0.2902308576690571,
165
+ 0.723346807795062,
166
+ 0.35157382789588626
167
+ ]
168
+ }
169
+ },
170
+ "grasp_10": {
171
+ "confidence": 0.9649173021316528,
172
+ "position": [
173
+ -0.16671929880976677,
174
+ -0.11549806460971013,
175
+ 0.02164129796437919
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5268235151979562,
179
+ "xyz": [
180
+ -0.30740873756332693,
181
+ 0.709215981922267,
182
+ 0.35351031511149095
183
+ ]
184
+ }
185
+ },
186
+ "grasp_12": {
187
+ "confidence": 0.9642770886421204,
188
+ "position": [
189
+ -0.07169921509921551,
190
+ -0.1275993423187174,
191
+ -0.004112145397812128
192
+ ],
193
+ "orientation": {
194
+ "w": 0.6374692356941016,
195
+ "xyz": [
196
+ -0.4991163245346478,
197
+ -0.48506772133994036,
198
+ -0.3304923203959195
199
+ ]
200
+ }
201
+ },
202
+ "grasp_13": {
203
+ "confidence": 0.9641934037208557,
204
+ "position": [
205
+ -0.16703438386321068,
206
+ -0.11094681784743443,
207
+ 0.02362843113951385
208
+ ],
209
+ "orientation": {
210
+ "w": 0.516685421591562,
211
+ "xyz": [
212
+ -0.2934605185713097,
213
+ 0.7120995614162682,
214
+ 0.37394025429922134
215
+ ]
216
+ }
217
+ },
218
+ "grasp_14": {
219
+ "confidence": 0.9640018343925476,
220
+ "position": [
221
+ -0.17793146893382072,
222
+ -0.1060442240559496,
223
+ 0.02497331309132278
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5424611137242132,
227
+ "xyz": [
228
+ -0.2661050194750205,
229
+ 0.7272602293877164,
230
+ 0.3256019309804719
231
+ ]
232
+ }
233
+ },
234
+ "grasp_15": {
235
+ "confidence": 0.9639312624931335,
236
+ "position": [
237
+ -0.21096832677721977,
238
+ -0.006837308465037495,
239
+ 0.04339635628275573
240
+ ],
241
+ "orientation": {
242
+ "w": 0.08459846066134853,
243
+ "xyz": [
244
+ 0.8251990503739273,
245
+ -0.026494632745082458,
246
+ 0.5578419687970798
247
+ ]
248
+ }
249
+ },
250
+ "grasp_16": {
251
+ "confidence": 0.963930070400238,
252
+ "position": [
253
+ -0.18182223662734032,
254
+ -0.09802266076439992,
255
+ 0.03135035443119705
256
+ ],
257
+ "orientation": {
258
+ "w": 0.5323745749767224,
259
+ "xyz": [
260
+ -0.22748066349526713,
261
+ 0.761124199427373,
262
+ 0.2924377073842356
263
+ ]
264
+ }
265
+ },
266
+ "grasp_17": {
267
+ "confidence": 0.9638875126838684,
268
+ "position": [
269
+ -0.07219807431101799,
270
+ -0.1265469478094019,
271
+ -0.003081302158534527
272
+ ],
273
+ "orientation": {
274
+ "w": 0.6645353563435266,
275
+ "xyz": [
276
+ -0.4701009532185033,
277
+ -0.5065987021509772,
278
+ -0.2841753137261957
279
+ ]
280
+ }
281
+ },
282
+ "grasp_18": {
283
+ "confidence": 0.9638007879257202,
284
+ "position": [
285
+ -0.20938582345843315,
286
+ -0.010620220156852156,
287
+ 0.041753968922421336
288
+ ],
289
+ "orientation": {
290
+ "w": 0.056623386949612275,
291
+ "xyz": [
292
+ 0.8202959606998756,
293
+ -0.015283319617020896,
294
+ 0.5689242032567313
295
+ ]
296
+ }
297
+ },
298
+ "grasp_19": {
299
+ "confidence": 0.9637821912765503,
300
+ "position": [
301
+ -0.10683533921837807,
302
+ -0.13218505546683446,
303
+ 0.006080492166802287
304
+ ],
305
+ "orientation": {
306
+ "w": 0.5621674685381575,
307
+ "xyz": [
308
+ -0.5874317939137627,
309
+ -0.42563713782091006,
310
+ -0.3971456303728918
311
+ ]
312
+ }
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "part_name": "handle",
318
+ "mask_color": "Green",
319
+ "graspable": true,
320
+ "grasp_scenarios": [
321
+ {
322
+ "scenario": "grasp the handle to pick up and manipulate the spatula during cooking",
323
+ "confidence": 0.97
324
+ },
325
+ {
326
+ "scenario": "hold the handle to orient the spatula head for flipping or scraping",
327
+ "confidence": 0.95
328
+ },
329
+ {
330
+ "scenario": "grasp the handle to place or remove the tool from hanging storage",
331
+ "confidence": 0.64
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "provide primary grip",
336
+ "control tool orientation",
337
+ "keep hand away from hot surface",
338
+ "support hanging storage"
339
+ ],
340
+ "semantic_description": "Long off-white to light gray handle with a smooth matte finish, slim rectangular form with slightly rounded edges, black printed text near one side, and an oval hanging hole at the far end.",
341
+ "id": 1,
342
+ "grasp_group": {
343
+ "grasp_20": {
344
+ "confidence": 0.9893488883972168,
345
+ "position": [
346
+ 0.007540445774793625,
347
+ 0.07497760787373409,
348
+ 0.055962881771847606
349
+ ],
350
+ "orientation": {
351
+ "w": 0.1884875491978138,
352
+ "xyz": [
353
+ 0.6428142154041817,
354
+ -0.5972368604422771,
355
+ 0.44110141781767215
356
+ ]
357
+ }
358
+ },
359
+ "grasp_22": {
360
+ "confidence": 0.9821824431419373,
361
+ "position": [
362
+ 0.049726422876119614,
363
+ 0.08385738119250163,
364
+ 0.053975875256583095
365
+ ],
366
+ "orientation": {
367
+ "w": 0.3038539978936544,
368
+ "xyz": [
369
+ 0.6296272794198645,
370
+ -0.6149786662020463,
371
+ 0.36475125372058026
372
+ ]
373
+ }
374
+ },
375
+ "grasp_23": {
376
+ "confidence": 0.9818761944770813,
377
+ "position": [
378
+ 0.010757088661193848,
379
+ 0.027853717503603548,
380
+ 0.08461748692207038
381
+ ],
382
+ "orientation": {
383
+ "w": 0.28038163940290256,
384
+ "xyz": [
385
+ 0.6858547077559934,
386
+ 0.6699262000710949,
387
+ 0.04677972416533117
388
+ ]
389
+ }
390
+ },
391
+ "grasp_24": {
392
+ "confidence": 0.9813584685325623,
393
+ "position": [
394
+ 0.03212583437561989,
395
+ -0.019695053400937468,
396
+ -0.09230621275492013
397
+ ],
398
+ "orientation": {
399
+ "w": 0.7237794727322099,
400
+ "xyz": [
401
+ 0.01619250186233239,
402
+ 0.14654969575099452,
403
+ 0.6740951449240781
404
+ ]
405
+ }
406
+ },
407
+ "grasp_25": {
408
+ "confidence": 0.9811607003211975,
409
+ "position": [
410
+ 0.045204196125268936,
411
+ 0.05795472994213924,
412
+ 0.07884335401467979
413
+ ],
414
+ "orientation": {
415
+ "w": 0.20008701102604212,
416
+ "xyz": [
417
+ 0.6572161385126748,
418
+ -0.6745910774879121,
419
+ 0.27010926209749087
420
+ ]
421
+ }
422
+ },
423
+ "grasp_27": {
424
+ "confidence": 0.9808667898178101,
425
+ "position": [
426
+ 0.04833978787064552,
427
+ 0.07807457580929622,
428
+ 0.0552704359870404
429
+ ],
430
+ "orientation": {
431
+ "w": 0.3958628754666243,
432
+ "xyz": [
433
+ 0.611372047525727,
434
+ 0.6332977940751816,
435
+ -0.2616308608536176
436
+ ]
437
+ }
438
+ },
439
+ "grasp_32": {
440
+ "confidence": 0.9769819974899292,
441
+ "position": [
442
+ 0.03685755655169487,
443
+ 0.04092373087769374,
444
+ 0.0886614981573075
445
+ ],
446
+ "orientation": {
447
+ "w": 0.2440747058340875,
448
+ "xyz": [
449
+ 0.6960514715693537,
450
+ 0.6709976239200443,
451
+ -0.07551208904404295
452
+ ]
453
+ }
454
+ },
455
+ "grasp_36": {
456
+ "confidence": 0.9764423966407776,
457
+ "position": [
458
+ 0.04775417223572731,
459
+ 0.08775953337317333,
460
+ 0.038571688113734126
461
+ ],
462
+ "orientation": {
463
+ "w": 0.3568435069977023,
464
+ "xyz": [
465
+ 0.6106499136263128,
466
+ -0.5851923668145161,
467
+ 0.39663495600335424
468
+ ]
469
+ }
470
+ }
471
+ }
472
+ },
473
+ {
474
+ "part_name": "collar",
475
+ "mask_color": "Blue",
476
+ "graspable": false,
477
+ "grasp_scenarios": [],
478
+ "functional_labels": [
479
+ "connect handle to head",
480
+ "reinforce the joint",
481
+ "stabilize the utensil structure"
482
+ ],
483
+ "semantic_description": "Small narrow light gray collar at the junction between handle and head, appearing as a hard smooth connector band around the transition area.",
484
+ "id": 2,
485
+ "grasp_group": {}
486
+ },
487
+ {
488
+ "part_name": "hanging hole",
489
+ "mask_color": "Yellow",
490
+ "graspable": false,
491
+ "grasp_scenarios": [],
492
+ "functional_labels": [
493
+ "enable hanging storage",
494
+ "provide end opening",
495
+ "reduce material at handle tip"
496
+ ],
497
+ "semantic_description": "Small oval opening at the tip of the handle, visible as a dark through-hole at the handle end.",
498
+ "id": 3,
499
+ "grasp_group": {}
500
+ }
501
+ ],
502
+ "quality_check": {
503
+ "success": false,
504
+ "message": "Head and handle colors/materials are wrong; neck mislabeled as collar and handle description shape is inaccurate."
505
+ }
506
+ }
dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a608afb5273ab2a393abc500f9eade61e102e1871f9aca2c2366ebb51a42fbf
3
+ size 3780832