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
2e985e0
·
verified ·
1 Parent(s): f3596ba

Add asset kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/affordance_annot.json +365 -0
  3. dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/mesh_part_seg.glb +3 -0
  4. dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/wire_cutters_006.urdf +1 -0
.gitattributes CHANGED
@@ -7060,3 +7060,4 @@ dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/affordan
7060
  dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7061
  dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7062
  dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7060
  dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7061
  dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7062
  dataset/kitchen_supplies/cutting_tools/f1bb99024a5a565cb72d063643a70f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7063
+ dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 reposition the utility knife",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to orient the blade toward a cutting target",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the tool by clamping the handle during manipulation",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip surface",
23
+ "hold and maneuver the tool",
24
+ "provide user control",
25
+ "stabilize during use"
26
+ ],
27
+ "semantic_description": "A large beige plastic handle with a smooth matte surface and a rounded, slightly tapered shape, forming the main grip area at the rear of the knife.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9885510802268982,
32
+ "position": [
33
+ 0.0017236981948371977,
34
+ -0.0942145886074286,
35
+ -0.016924272262258455
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5984699762708452,
39
+ "xyz": [
40
+ -0.3885103856833274,
41
+ -0.5096458989730019,
42
+ -0.4807852175125243
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9885045886039734,
48
+ "position": [
49
+ -0.021673921728506684,
50
+ -0.09472858926164918,
51
+ -0.0071405544586014
52
+ ],
53
+ "orientation": {
54
+ "w": 0.49707101113599905,
55
+ "xyz": [
56
+ -0.4964522478978448,
57
+ -0.4698327011359862,
58
+ -0.5345211019114918
59
+ ]
60
+ }
61
+ },
62
+ "grasp_5": {
63
+ "confidence": 0.9881580471992493,
64
+ "position": [
65
+ -0.026517976308241487,
66
+ -0.0971270652662497,
67
+ -0.005923581280512735
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5293135778541546,
71
+ "xyz": [
72
+ -0.4835545322381651,
73
+ 0.49359584979790627,
74
+ 0.49230609148521237
75
+ ]
76
+ }
77
+ },
78
+ "grasp_6": {
79
+ "confidence": 0.9881027340888977,
80
+ "position": [
81
+ -0.02305207052268088,
82
+ -0.09700588157284074,
83
+ -0.013561061554355547
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5412523903609294,
87
+ "xyz": [
88
+ -0.46015094196485196,
89
+ 0.4797996177132905,
90
+ 0.514877934446233
91
+ ]
92
+ }
93
+ },
94
+ "grasp_8": {
95
+ "confidence": 0.9877225160598755,
96
+ "position": [
97
+ 0.05072786076925695,
98
+ 0.08711389431846328,
99
+ 0.019261871493654326
100
+ ],
101
+ "orientation": {
102
+ "w": 0.3074826881017514,
103
+ "xyz": [
104
+ 0.6585743286264668,
105
+ 0.40547522140483605,
106
+ -0.5543681944507813
107
+ ]
108
+ }
109
+ },
110
+ "grasp_9": {
111
+ "confidence": 0.987602174282074,
112
+ "position": [
113
+ -0.02222622954286635,
114
+ -0.09822080304729752,
115
+ -0.007023608748568222
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5307430329272894,
119
+ "xyz": [
120
+ -0.4737868037417634,
121
+ 0.4990044013755045,
122
+ 0.4948055224097445
123
+ ]
124
+ }
125
+ },
126
+ "grasp_10": {
127
+ "confidence": 0.9873186945915222,
128
+ "position": [
129
+ -0.017858052859082818,
130
+ -0.09717413058388047,
131
+ -0.01622206621686928
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5283456009888787,
135
+ "xyz": [
136
+ -0.4780372958218294,
137
+ -0.4407500046308057,
138
+ -0.5459585177804247
139
+ ]
140
+ }
141
+ },
142
+ "grasp_14": {
143
+ "confidence": 0.9870638847351074,
144
+ "position": [
145
+ 0.05367119028232992,
146
+ 0.08576484749210067,
147
+ 0.017939231387572363
148
+ ],
149
+ "orientation": {
150
+ "w": 0.29906913234454846,
151
+ "xyz": [
152
+ 0.6564963719836843,
153
+ 0.40515878602270794,
154
+ -0.5616195560693592
155
+ ]
156
+ }
157
+ },
158
+ "grasp_15": {
159
+ "confidence": 0.9870012998580933,
160
+ "position": [
161
+ -0.02318186708725989,
162
+ -0.09591230770456605,
163
+ -0.005167476338101551
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5239113998446926,
167
+ "xyz": [
168
+ -0.4845149766046396,
169
+ 0.49290019270315133,
170
+ 0.49780667190363803
171
+ ]
172
+ }
173
+ }
174
+ }
175
+ },
176
+ {
177
+ "part_name": "blade",
178
+ "mask_color": "Blue",
179
+ "graspable": false,
180
+ "grasp_scenarios": [],
181
+ "functional_labels": [
182
+ "cut material",
183
+ "slice workpiece",
184
+ "provide cutting edge",
185
+ "penetrate surface"
186
+ ],
187
+ "semantic_description": "A small dark gray metal blade with a reflective smooth surface and a short pointed curved shape at the front of the tool.",
188
+ "id": 2,
189
+ "grasp_group": {}
190
+ },
191
+ {
192
+ "part_name": "blade holder and pivot area",
193
+ "mask_color": "Purple",
194
+ "graspable": true,
195
+ "grasp_scenarios": [
196
+ {
197
+ "scenario": "pinch the holder near the blade base for careful short-range repositioning",
198
+ "confidence": 0.42
199
+ },
200
+ {
201
+ "scenario": "grasp the holder area lightly to stabilize the knife while another manipulator interacts with the handle",
202
+ "confidence": 0.36
203
+ }
204
+ ],
205
+ "functional_labels": [
206
+ "support the blade",
207
+ "connect blade to handle",
208
+ "provide structural transition",
209
+ "house the blade base"
210
+ ],
211
+ "semantic_description": "A small light blue metal holder area near the front, with a smooth hard surface, rounded polygonal shape, and a visible circular beige fastener where it meets the handle.",
212
+ "id": 5,
213
+ "grasp_group": {
214
+ "grasp_21": {
215
+ "confidence": 0.9920982122421265,
216
+ "position": [
217
+ 0.029253624146804214,
218
+ 0.0986858231772203,
219
+ 0.0120195793278981
220
+ ],
221
+ "orientation": {
222
+ "w": 0.4545415573700646,
223
+ "xyz": [
224
+ 0.5490301322941799,
225
+ 0.5127282588644854,
226
+ -0.47861009080296785
227
+ ]
228
+ }
229
+ },
230
+ "grasp_23": {
231
+ "confidence": 0.9917795062065125,
232
+ "position": [
233
+ 0.024357920279726386,
234
+ 0.0968998147000093,
235
+ 0.004494111082749441
236
+ ],
237
+ "orientation": {
238
+ "w": 0.4900427743306641,
239
+ "xyz": [
240
+ 0.49276536286627665,
241
+ -0.5321563075530951,
242
+ 0.483580438827946
243
+ ]
244
+ }
245
+ },
246
+ "grasp_28": {
247
+ "confidence": 0.9906896352767944,
248
+ "position": [
249
+ 0.024898478528484702,
250
+ 0.10224974880111404,
251
+ 0.008699336118297651
252
+ ],
253
+ "orientation": {
254
+ "w": 0.4569425785301496,
255
+ "xyz": [
256
+ 0.5408232706700894,
257
+ 0.507179081973256,
258
+ -0.4914092476100653
259
+ ]
260
+ }
261
+ },
262
+ "grasp_29": {
263
+ "confidence": 0.990635335445404,
264
+ "position": [
265
+ 0.028380088275298476,
266
+ 0.09842122325790115,
267
+ 0.02368617898900993
268
+ ],
269
+ "orientation": {
270
+ "w": 0.4247222788088634,
271
+ "xyz": [
272
+ 0.5388005233798517,
273
+ -0.5766276763393469,
274
+ 0.4436276645662321
275
+ ]
276
+ }
277
+ },
278
+ "grasp_30": {
279
+ "confidence": 0.9906066656112671,
280
+ "position": [
281
+ 0.019388206070289016,
282
+ -0.0992649795662146,
283
+ -0.002995005779666826
284
+ ],
285
+ "orientation": {
286
+ "w": 0.4896222104214725,
287
+ "xyz": [
288
+ -0.4952088343621683,
289
+ -0.4929568997222069,
290
+ -0.521566674978304
291
+ ]
292
+ }
293
+ },
294
+ "grasp_33": {
295
+ "confidence": 0.9904786348342896,
296
+ "position": [
297
+ 0.03681424423120916,
298
+ 0.09779515842092223,
299
+ 0.0165623361535836
300
+ ],
301
+ "orientation": {
302
+ "w": 0.4573283988638507,
303
+ "xyz": [
304
+ 0.5209980132905726,
305
+ -0.5658809190432659,
306
+ 0.4463077315066939
307
+ ]
308
+ }
309
+ },
310
+ "grasp_34": {
311
+ "confidence": 0.990431010723114,
312
+ "position": [
313
+ 0.018840385368093848,
314
+ 0.09610749760759063,
315
+ 0.022776241443352774
316
+ ],
317
+ "orientation": {
318
+ "w": 0.38768936483459787,
319
+ "xyz": [
320
+ 0.5043721854132865,
321
+ -0.6010530441507651,
322
+ 0.4837777310838827
323
+ ]
324
+ }
325
+ },
326
+ "grasp_36": {
327
+ "confidence": 0.9902779459953308,
328
+ "position": [
329
+ 0.039016214897856116,
330
+ 0.09745073298108764,
331
+ 0.013562400854425505
332
+ ],
333
+ "orientation": {
334
+ "w": 0.450254082184857,
335
+ "xyz": [
336
+ 0.5523456035328365,
337
+ 0.5157437031352534,
338
+ -0.4755986000927199
339
+ ]
340
+ }
341
+ },
342
+ "grasp_39": {
343
+ "confidence": 0.9902411699295044,
344
+ "position": [
345
+ 0.03345701633952558,
346
+ 0.0986548287619371,
347
+ 0.004906663700239733
348
+ ],
349
+ "orientation": {
350
+ "w": 0.4808189010808105,
351
+ "xyz": [
352
+ 0.49959903145823115,
353
+ -0.5317031040269983,
354
+ 0.48631862117082636
355
+ ]
356
+ }
357
+ }
358
+ }
359
+ }
360
+ ],
361
+ "quality_check": {
362
+ "success": true,
363
+ "message": "YES"
364
+ }
365
+ }
dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8891d519b9e4c56e3da84d1af3aed01407ba6ee18bb88ca43d6fbb884da90e63
3
+ size 3780376
dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/wire_cutters_006.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>YES</PartSegChecker>