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
2
xinjjj commited on
Commit
fae42dc
·
verified ·
1 Parent(s): 5b8417f

Add asset kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/affordance/affordance_annot.json +479 -0
  3. dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8653,3 +8653,4 @@ dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/affordance/me
8653
  dataset/kitchen_supplies/utensils/339dda4e77fa56c7b3f406ea7ac37566/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8654
  dataset/kitchen_supplies/utensils/39fd8b64d75a54b2a24e2f37a9d1d1b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8655
  dataset/kitchen_supplies/utensils/3d22a7e38f1851f2a224649bc3a5acd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8653
  dataset/kitchen_supplies/utensils/339dda4e77fa56c7b3f406ea7ac37566/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8654
  dataset/kitchen_supplies/utensils/39fd8b64d75a54b2a24e2f37a9d1d1b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8655
  dataset/kitchen_supplies/utensils/3d22a7e38f1851f2a224649bc3a5acd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8656
+ dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/affordance/affordance_annot.json ADDED
@@ -0,0 +1,479 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spatula blade",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "lightly grasp the blade to stabilize the utensil during handoff or repositioning",
10
+ "confidence": 0.35
11
+ },
12
+ {
13
+ "scenario": "pinch the blade edge/body to lift the utensil from a flat surface",
14
+ "confidence": 0.29
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "slide under food",
19
+ "lift food",
20
+ "turn food",
21
+ "transfer food",
22
+ "scrape cooking surface"
23
+ ],
24
+ "semantic_description": "Broad silver metal spatula blade with a smooth slightly reflective finish, shallow curved shape and squared top edge, wider at the front and narrowing toward the neck, with faint printed markings near the junction.",
25
+ "id": 0,
26
+ "grasp_group": {
27
+ "grasp_0": {
28
+ "confidence": 0.9425422549247742,
29
+ "position": [
30
+ -0.10499215498566628,
31
+ 0.12498385083017638,
32
+ 0.034696938237175345
33
+ ],
34
+ "orientation": {
35
+ "w": 0.608213960237964,
36
+ "xyz": [
37
+ 0.66202858460702,
38
+ -0.36052300933358505,
39
+ 0.24863043151620387
40
+ ]
41
+ }
42
+ },
43
+ "grasp_1": {
44
+ "confidence": 0.9406461715698242,
45
+ "position": [
46
+ -0.11528054252266884,
47
+ 0.12733210247097304,
48
+ 0.02228666073642671
49
+ ],
50
+ "orientation": {
51
+ "w": 0.6250482529409427,
52
+ "xyz": [
53
+ 0.6388148329169819,
54
+ -0.3314889365140451,
55
+ 0.3022339751078813
56
+ ]
57
+ }
58
+ },
59
+ "grasp_2": {
60
+ "confidence": 0.9402563571929932,
61
+ "position": [
62
+ -0.10422570258378983,
63
+ 0.11905915659008315,
64
+ 0.049841793021187186
65
+ ],
66
+ "orientation": {
67
+ "w": 0.5338166379454526,
68
+ "xyz": [
69
+ 0.6937986387619677,
70
+ -0.4218010157368631,
71
+ 0.2361506913561855
72
+ ]
73
+ }
74
+ },
75
+ "grasp_3": {
76
+ "confidence": 0.9392977356910706,
77
+ "position": [
78
+ -0.14551020041108131,
79
+ 0.11964846771297744,
80
+ 0.040181917836889625
81
+ ],
82
+ "orientation": {
83
+ "w": 0.5458499479279367,
84
+ "xyz": [
85
+ 0.7168694722821322,
86
+ -0.26965228500116134,
87
+ 0.3397552637571029
88
+ ]
89
+ }
90
+ },
91
+ "grasp_4": {
92
+ "confidence": 0.9391006827354431,
93
+ "position": [
94
+ -0.13138655945658684,
95
+ 0.12394397329626372,
96
+ 0.022096505155786872
97
+ ],
98
+ "orientation": {
99
+ "w": 0.3687504693496325,
100
+ "xyz": [
101
+ 0.33584502261526616,
102
+ 0.6370490229461884,
103
+ -0.5877072013360767
104
+ ]
105
+ }
106
+ },
107
+ "grasp_5": {
108
+ "confidence": 0.9389562606811523,
109
+ "position": [
110
+ -0.10028821602463722,
111
+ 0.12373540919361403,
112
+ 0.03624591021798551
113
+ ],
114
+ "orientation": {
115
+ "w": 0.5850829420535322,
116
+ "xyz": [
117
+ 0.6508105866424894,
118
+ -0.4112062946435019,
119
+ 0.2550155181113572
120
+ ]
121
+ }
122
+ },
123
+ "grasp_6": {
124
+ "confidence": 0.93779456615448,
125
+ "position": [
126
+ -0.12214750424027443,
127
+ 0.12640049677429488,
128
+ 0.025648358976468444
129
+ ],
130
+ "orientation": {
131
+ "w": 0.605218645389001,
132
+ "xyz": [
133
+ 0.6555406957888381,
134
+ -0.3198552767044177,
135
+ 0.3188563773904003
136
+ ]
137
+ }
138
+ },
139
+ "grasp_7": {
140
+ "confidence": 0.9348740577697754,
141
+ "position": [
142
+ -0.1280469037592411,
143
+ 0.12637295942840865,
144
+ 0.026641314616426826
145
+ ],
146
+ "orientation": {
147
+ "w": 0.3681554977275505,
148
+ "xyz": [
149
+ 0.343181351293769,
150
+ 0.6324627553654787,
151
+ -0.5887944910515632
152
+ ]
153
+ }
154
+ },
155
+ "grasp_9": {
156
+ "confidence": 0.9335789084434509,
157
+ "position": [
158
+ -0.17927194014191628,
159
+ 0.10251859199343016,
160
+ 0.05819550692103803
161
+ ],
162
+ "orientation": {
163
+ "w": 0.37855363433423583,
164
+ "xyz": [
165
+ 0.8004389049146218,
166
+ -0.18900321745193227,
167
+ 0.4245850788996718
168
+ ]
169
+ }
170
+ },
171
+ "grasp_10": {
172
+ "confidence": 0.9326701760292053,
173
+ "position": [
174
+ -0.17047356441617012,
175
+ -0.10604134578170488,
176
+ 0.043196668615564704
177
+ ],
178
+ "orientation": {
179
+ "w": 0.4085052071792493,
180
+ "xyz": [
181
+ -0.7647277873145891,
182
+ -0.24524059085035577,
183
+ -0.4337879200896901
184
+ ]
185
+ }
186
+ },
187
+ "grasp_11": {
188
+ "confidence": 0.9324051141738892,
189
+ "position": [
190
+ -0.13775182142853737,
191
+ 0.12389372658071807,
192
+ 0.040938945254310966
193
+ ],
194
+ "orientation": {
195
+ "w": 0.5507801069011695,
196
+ "xyz": [
197
+ 0.7095734321758971,
198
+ -0.28971517651571943,
199
+ 0.3304722903490089
200
+ ]
201
+ }
202
+ },
203
+ "grasp_12": {
204
+ "confidence": 0.9319861531257629,
205
+ "position": [
206
+ -0.17431612685322762,
207
+ 0.10250359397468856,
208
+ 0.06025419174693525
209
+ ],
210
+ "orientation": {
211
+ "w": 0.3890874623523045,
212
+ "xyz": [
213
+ 0.8051786565028464,
214
+ -0.1927161494696904,
215
+ 0.40392915651892564
216
+ ]
217
+ }
218
+ },
219
+ "grasp_13": {
220
+ "confidence": 0.930921196937561,
221
+ "position": [
222
+ -0.08069300651550293,
223
+ -0.1214793213075609,
224
+ -0.0148984978441149
225
+ ],
226
+ "orientation": {
227
+ "w": 0.7386146667295541,
228
+ "xyz": [
229
+ -0.4896104673488018,
230
+ -0.38175475637052647,
231
+ -0.2626657007356651
232
+ ]
233
+ }
234
+ },
235
+ "grasp_14": {
236
+ "confidence": 0.9307522773742676,
237
+ "position": [
238
+ -0.1720799244940281,
239
+ 0.10239261757669738,
240
+ 0.05753042339347303
241
+ ],
242
+ "orientation": {
243
+ "w": 0.39085551090929305,
244
+ "xyz": [
245
+ 0.7996850291414028,
246
+ -0.20081402702068618,
247
+ 0.4091571217890317
248
+ ]
249
+ }
250
+ },
251
+ "grasp_15": {
252
+ "confidence": 0.9306772351264954,
253
+ "position": [
254
+ -0.12825669720768929,
255
+ 0.12527244906959822,
256
+ 0.02779041021130979
257
+ ],
258
+ "orientation": {
259
+ "w": 0.3769082175891259,
260
+ "xyz": [
261
+ 0.35245101711467663,
262
+ 0.6342993400586063,
263
+ -0.5756585995621314
264
+ ]
265
+ }
266
+ },
267
+ "grasp_16": {
268
+ "confidence": 0.9290065765380859,
269
+ "position": [
270
+ -0.12149755284190178,
271
+ 0.12187335264025023,
272
+ 0.04490588023327291
273
+ ],
274
+ "orientation": {
275
+ "w": 0.5336971947840846,
276
+ "xyz": [
277
+ 0.7080561595791461,
278
+ -0.35170801600734436,
279
+ 0.30020867848516203
280
+ ]
281
+ }
282
+ },
283
+ "grasp_17": {
284
+ "confidence": 0.9289116263389587,
285
+ "position": [
286
+ -0.134229626506567,
287
+ 0.12309324365196517,
288
+ 0.029059612890705466
289
+ ],
290
+ "orientation": {
291
+ "w": 0.5742581504552782,
292
+ "xyz": [
293
+ 0.672926230476555,
294
+ -0.29987187398750303,
295
+ 0.3570360264224328
296
+ ]
297
+ }
298
+ }
299
+ }
300
+ },
301
+ {
302
+ "part_name": "neck",
303
+ "mask_color": "Green",
304
+ "graspable": false,
305
+ "grasp_scenarios": [],
306
+ "functional_labels": [
307
+ "connect handle to blade",
308
+ "transmit force",
309
+ "provide offset reach",
310
+ "support blade orientation"
311
+ ],
312
+ "semantic_description": "Small narrow silver metal connector with a smooth reflective hard surface, linking the handle to the spatula blade at the center junction.",
313
+ "id": 1,
314
+ "grasp_group": {}
315
+ },
316
+ {
317
+ "part_name": "handle",
318
+ "mask_color": "Blue",
319
+ "graspable": true,
320
+ "grasp_scenarios": [
321
+ {
322
+ "scenario": "grasp the handle to pick up and manipulate the utensil during cooking or serving",
323
+ "confidence": 0.98
324
+ },
325
+ {
326
+ "scenario": "hold the handle to orient the blade for lifting, turning, or transferring food",
327
+ "confidence": 0.97
328
+ },
329
+ {
330
+ "scenario": "grasp the handle end to retrieve or hang the utensil by its hole",
331
+ "confidence": 0.73
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "primary grip",
336
+ "control orientation",
337
+ "keep hand away from hot contents",
338
+ "enable lifting and turning",
339
+ "provide hanging point"
340
+ ],
341
+ "semantic_description": "Elongated silver handle, likely metal with a smooth hard finish, slightly rounded and slim with a hanging hole at the end and dark printed text near the upper section.",
342
+ "id": 2,
343
+ "grasp_group": {
344
+ "grasp_20": {
345
+ "confidence": 0.9898108243942261,
346
+ "position": [
347
+ 0.0150584876537323,
348
+ 0.038950741254666355,
349
+ 0.08620399772189558
350
+ ],
351
+ "orientation": {
352
+ "w": 0.0926398886285305,
353
+ "xyz": [
354
+ 0.6909295976377412,
355
+ -0.6717202476877261,
356
+ 0.2506512537159592
357
+ ]
358
+ }
359
+ },
360
+ "grasp_25": {
361
+ "confidence": 0.9873484373092651,
362
+ "position": [
363
+ 0.010771390050649643,
364
+ -0.007062583732476924,
365
+ 0.0895630621816963
366
+ ],
367
+ "orientation": {
368
+ "w": 0.10946866227757157,
369
+ "xyz": [
370
+ 0.7076645041648952,
371
+ 0.6829356275974996,
372
+ 0.14431385963316695
373
+ ]
374
+ }
375
+ },
376
+ "grasp_28": {
377
+ "confidence": 0.9854991436004639,
378
+ "position": [
379
+ 0.04888778552412987,
380
+ 0.05485012006101897,
381
+ 0.07680458365939558
382
+ ],
383
+ "orientation": {
384
+ "w": 0.24163296495358286,
385
+ "xyz": [
386
+ 0.6768395408905987,
387
+ 0.6677334928653278,
388
+ -0.19399414589263617
389
+ ]
390
+ }
391
+ },
392
+ "grasp_30": {
393
+ "confidence": 0.9845608472824097,
394
+ "position": [
395
+ 0.001100640743970871,
396
+ 0.05896598842082312,
397
+ 0.06412270455621183
398
+ ],
399
+ "orientation": {
400
+ "w": 0.4059418036297548,
401
+ "xyz": [
402
+ 0.573207168352575,
403
+ 0.7013381899097757,
404
+ -0.12152998637835527
405
+ ]
406
+ }
407
+ },
408
+ "grasp_31": {
409
+ "confidence": 0.9844582080841064,
410
+ "position": [
411
+ 0.0196746326982975,
412
+ 0.027672963180521037,
413
+ 0.09041732340119779
414
+ ],
415
+ "orientation": {
416
+ "w": 0.06817540344716255,
417
+ "xyz": [
418
+ 0.6823207247441886,
419
+ -0.7077063814854411,
420
+ 0.17012413278005528
421
+ ]
422
+ }
423
+ },
424
+ "grasp_33": {
425
+ "confidence": 0.9844298362731934,
426
+ "position": [
427
+ 0.037845876067876816,
428
+ -0.04064930979075143,
429
+ -0.08950831950642169
430
+ ],
431
+ "orientation": {
432
+ "w": 0.6980599374357631,
433
+ "xyz": [
434
+ -0.17977315642915664,
435
+ -0.08802827480545683,
436
+ -0.6874917881760128
437
+ ]
438
+ }
439
+ },
440
+ "grasp_34": {
441
+ "confidence": 0.9843015074729919,
442
+ "position": [
443
+ 0.04134649410843849,
444
+ 0.0559309981399565,
445
+ 0.07945888279937208
446
+ ],
447
+ "orientation": {
448
+ "w": 0.23409066617674673,
449
+ "xyz": [
450
+ 0.6817399731139269,
451
+ 0.6617239175548221,
452
+ -0.20628530244166363
453
+ ]
454
+ }
455
+ },
456
+ "grasp_37": {
457
+ "confidence": 0.9834848046302795,
458
+ "position": [
459
+ 0.008736371994018555,
460
+ 0.005265295934805181,
461
+ -0.09520483971573412
462
+ ],
463
+ "orientation": {
464
+ "w": 0.7183361498323634,
465
+ "xyz": [
466
+ -0.0706397316329397,
467
+ 0.1390614477243297,
468
+ -0.6779860750160401
469
+ ]
470
+ }
471
+ }
472
+ }
473
+ }
474
+ ],
475
+ "quality_check": {
476
+ "success": false,
477
+ "message": "Blade description and labels mismatch actual wok spatula shape; blade graspability overstated."
478
+ }
479
+ }
dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30410d4c3d16bc1da951e90ceb08aab26816237df639c7a93c77f069509aa067
3
+ size 3779544