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
64dc5b6
·
verified ·
1 Parent(s): bfb5269

Add asset kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/affordance/affordance_annot.json +362 -0
  3. dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7008,4 +7008,4 @@ dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordan
7008
  dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7009
  dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7010
  dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7011
- dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7008
  dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7009
  dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7010
  dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7011
+ dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/affordance/affordance_annot.json ADDED
@@ -0,0 +1,362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "hinged pressing lever",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp this lever together with the opposite handle to squeeze and press garlic",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold this lever to open the press and expose the chamber for loading or cleaning",
14
+ "confidence": 0.82
15
+ },
16
+ {
17
+ "scenario": "grasp near the end of the lever to reposition the garlic press",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "actuate the pressing mechanism",
23
+ "carry the press plate into the chamber",
24
+ "provide one handhold for squeezing",
25
+ "open the press linkage"
26
+ ],
27
+ "semantic_description": "Long curved pale pink handle attached to a white metal lever arm with a smooth slightly reflective finish, forming the moving hinged side of the garlic press opposite the other handle.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.984393298625946,
32
+ "position": [
33
+ -0.12139769946224988,
34
+ -0.005327128485077992,
35
+ 0.0021306154085323215
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7010254430684013,
39
+ "xyz": [
40
+ -0.0439270752640881,
41
+ 0.7114918478617734,
42
+ 0.020324631749033567
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9837421178817749,
48
+ "position": [
49
+ -0.1160006255377084,
50
+ -0.004684385057771578,
51
+ 0.001078372704796493
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7030725650450886,
55
+ "xyz": [
56
+ -0.03801334452967474,
57
+ 0.7096142428223784,
58
+ 0.026297914407992864
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9836239814758301,
64
+ "position": [
65
+ -0.11797205661423504,
66
+ -0.004843966249609366,
67
+ -0.0008824624237604439
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7106359495607747,
71
+ "xyz": [
72
+ -0.06982986221782896,
73
+ 0.7000824273332855,
74
+ -0.0022209172948951484
75
+ ]
76
+ }
77
+ },
78
+ "grasp_7": {
79
+ "confidence": 0.9794248342514038,
80
+ "position": [
81
+ -0.11381414835341275,
82
+ -0.0030106216727290303,
83
+ 0.001287873019464314
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6985694017849913,
87
+ "xyz": [
88
+ -0.043575249654361194,
89
+ 0.7139687580216538,
90
+ 0.018724344483501323
91
+ ]
92
+ }
93
+ },
94
+ "grasp_10": {
95
+ "confidence": 0.9743625521659851,
96
+ "position": [
97
+ -0.12016722862608731,
98
+ -0.0045094584638718516,
99
+ 0.0143908147001639
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6719293812807791,
103
+ "xyz": [
104
+ -0.06605598259402339,
105
+ 0.7376560609152105,
106
+ 0.003324083365934111
107
+ ]
108
+ }
109
+ },
110
+ "grasp_16": {
111
+ "confidence": 0.9303269982337952,
112
+ "position": [
113
+ -0.10854167793877423,
114
+ -0.006088498659664765,
115
+ 0.027855254360474646
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6342525350964906,
119
+ "xyz": [
120
+ -0.006228168491018248,
121
+ 0.7699835734981164,
122
+ 0.06935580858149777
123
+ ]
124
+ }
125
+ }
126
+ }
127
+ },
128
+ {
129
+ "part_name": "opposite handle",
130
+ "mask_color": "Lime Green",
131
+ "graspable": true,
132
+ "grasp_scenarios": [
133
+ {
134
+ "scenario": "grasp this handle together with the hinged lever to squeeze the garlic press",
135
+ "confidence": 0.89
136
+ },
137
+ {
138
+ "scenario": "hold this handle to stabilize the tool while loading garlic into the chamber",
139
+ "confidence": 0.78
140
+ },
141
+ {
142
+ "scenario": "grasp near the end to help spread the handles and open the press",
143
+ "confidence": 0.7
144
+ }
145
+ ],
146
+ "functional_labels": [
147
+ "provide opposing handhold",
148
+ "support controlled squeezing",
149
+ "stabilize the tool during use",
150
+ "help open and close the press"
151
+ ],
152
+ "semantic_description": "Long curved pale pink handle with a smooth matte-coated grip over a white metal support, positioned opposite the hinged pressing lever as the second handhold.",
153
+ "id": 9,
154
+ "grasp_group": {
155
+ "grasp_49": {
156
+ "confidence": 0.738540530204773,
157
+ "position": [
158
+ 0.12025009538047016,
159
+ -0.06816167771467008,
160
+ 0.02032883802894503
161
+ ],
162
+ "orientation": {
163
+ "w": 0.11837833306957894,
164
+ "xyz": [
165
+ -0.692929932774762,
166
+ 0.2778974085694148,
167
+ 0.6546813796304538
168
+ ]
169
+ }
170
+ },
171
+ "grasp_56": {
172
+ "confidence": 0.6747379302978516,
173
+ "position": [
174
+ 0.11622220720164478,
175
+ -0.05152839809306897,
176
+ 0.03420348616782576
177
+ ],
178
+ "orientation": {
179
+ "w": 0.5966189763936762,
180
+ "xyz": [
181
+ -0.31080650544691524,
182
+ -0.73898622235408,
183
+ -0.036667101735552
184
+ ]
185
+ }
186
+ }
187
+ }
188
+ },
189
+ {
190
+ "part_name": "press chamber",
191
+ "mask_color": "Pink",
192
+ "graspable": true,
193
+ "grasp_scenarios": [
194
+ {
195
+ "scenario": "grasp the head to lift or place the tool in storage",
196
+ "confidence": 0.42
197
+ },
198
+ {
199
+ "scenario": "hold the head to orient the perforated basket during loading or cleaning",
200
+ "confidence": 0.48
201
+ }
202
+ ],
203
+ "functional_labels": [
204
+ "contain garlic clove",
205
+ "support compression",
206
+ "guide extruded garlic through holes",
207
+ "form the pressing head"
208
+ ],
209
+ "semantic_description": "Bulky white metal cup-shaped head with a smooth slightly reflective finish and perforated front face, located at the pressing end of the garlic press.",
210
+ "id": 8,
211
+ "grasp_group": {
212
+ "grasp_21": {
213
+ "confidence": 0.9885228872299194,
214
+ "position": [
215
+ -0.08862232719548047,
216
+ -0.07163691907771863,
217
+ -0.011456222622655332
218
+ ],
219
+ "orientation": {
220
+ "w": 0.6908976400571065,
221
+ "xyz": [
222
+ -0.23027850203176095,
223
+ 0.6306854625668022,
224
+ 0.26808228172042314
225
+ ]
226
+ }
227
+ },
228
+ "grasp_24": {
229
+ "confidence": 0.9876104593276978,
230
+ "position": [
231
+ -0.0516642436850816,
232
+ -0.09418522953637876,
233
+ 0.024169429787434638
234
+ ],
235
+ "orientation": {
236
+ "w": 0.5306443052769023,
237
+ "xyz": [
238
+ -0.4250775641681325,
239
+ 0.6507028377338632,
240
+ 0.33809984129422316
241
+ ]
242
+ }
243
+ },
244
+ "grasp_29": {
245
+ "confidence": 0.9871417284011841,
246
+ "position": [
247
+ -0.0542311177123338,
248
+ -0.0952464529837016,
249
+ 0.014211193309165537
250
+ ],
251
+ "orientation": {
252
+ "w": 0.39236177505882175,
253
+ "xyz": [
254
+ -0.6482940105058898,
255
+ -0.3750808292149108,
256
+ -0.5339302248143805
257
+ ]
258
+ }
259
+ },
260
+ "grasp_30": {
261
+ "confidence": 0.9870408177375793,
262
+ "position": [
263
+ -0.05027150292880833,
264
+ -0.09383469462045468,
265
+ 0.031498329364694655
266
+ ],
267
+ "orientation": {
268
+ "w": 0.515707997059134,
269
+ "xyz": [
270
+ -0.49033872396759215,
271
+ 0.6413476162477759,
272
+ 0.2868561184294058
273
+ ]
274
+ }
275
+ },
276
+ "grasp_32": {
277
+ "confidence": 0.9868207573890686,
278
+ "position": [
279
+ -0.05238155950792134,
280
+ -0.0974797943199519,
281
+ -0.017918041325174272
282
+ ],
283
+ "orientation": {
284
+ "w": 0.6449093811620683,
285
+ "xyz": [
286
+ -0.3755658211233269,
287
+ 0.5302618062792387,
288
+ 0.40232402475442425
289
+ ]
290
+ }
291
+ },
292
+ "grasp_33": {
293
+ "confidence": 0.9867808222770691,
294
+ "position": [
295
+ -0.09030202333815396,
296
+ -0.06907826304086484,
297
+ 0.006230416358448565
298
+ ],
299
+ "orientation": {
300
+ "w": 0.6549057005247091,
301
+ "xyz": [
302
+ -0.24813317257175166,
303
+ 0.6763562831230193,
304
+ 0.2281898997978029
305
+ ]
306
+ }
307
+ },
308
+ "grasp_37": {
309
+ "confidence": 0.9865761995315552,
310
+ "position": [
311
+ -0.08810892258770764,
312
+ -0.07010403662570752,
313
+ -0.009008204913698137
314
+ ],
315
+ "orientation": {
316
+ "w": 0.6903110839535074,
317
+ "xyz": [
318
+ -0.24297127097706223,
319
+ 0.6402335256071828,
320
+ 0.23353072932554464
321
+ ]
322
+ }
323
+ },
324
+ "grasp_38": {
325
+ "confidence": 0.9865634441375732,
326
+ "position": [
327
+ -0.1185488507617265,
328
+ -0.013361481163883582,
329
+ 0.001649624784477055
330
+ ],
331
+ "orientation": {
332
+ "w": 0.7000495459529679,
333
+ "xyz": [
334
+ -0.09050160357950253,
335
+ 0.7083289360759748,
336
+ 0.003195509045539111
337
+ ]
338
+ }
339
+ }
340
+ }
341
+ },
342
+ {
343
+ "part_name": "press plate",
344
+ "mask_color": "Cyan",
345
+ "graspable": false,
346
+ "grasp_scenarios": [],
347
+ "functional_labels": [
348
+ "compress garlic into the chamber",
349
+ "force garlic through perforations",
350
+ "mate with the chamber interior",
351
+ "transmit leverage from the hinged lever to the garlic"
352
+ ],
353
+ "semantic_description": "White metal hinged pressing plate assembly with a smooth slightly reflective hard surface, slim and compact, positioned beneath and in front of the chamber when open.",
354
+ "id": 6,
355
+ "grasp_group": {}
356
+ }
357
+ ],
358
+ "quality_check": {
359
+ "success": true,
360
+ "message": "YES"
361
+ }
362
+ }
dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8cbef636b0fe56b94c6ba5603bc8c86acc131bd3a4d409f2d0d48b26eac7ba93
3
+ size 3781588