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
9939418
·
verified ·
1 Parent(s): f278dca

Add asset kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/affordance_annot.json +289 -0
  3. dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/mesh_part_seg.glb +3 -0
  4. dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/fruit_knife_034.urdf +1 -0
.gitattributes CHANGED
@@ -8390,3 +8390,4 @@ dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordan
8390
  dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8391
  dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8392
  dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8390
  dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8391
  dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8392
  dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8393
+ dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/affordance_annot.json ADDED
@@ -0,0 +1,289 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "paring knife",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle end of the knife to pick it up and orient it for use or relocation",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "grasp the knife around its center carefully for coarse pickup when safe handle access is limited",
14
+ "confidence": 0.32
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cut fruit",
19
+ "slice small or soft foods",
20
+ "peel or pare produce",
21
+ "kitchen food preparation tool"
22
+ ],
23
+ "semantic_description": "A small paring knife consisting of a silver metal blade and a black-and-white plastic handle with smooth surfaces, a pointed slender blade, and visible printed markings/logos on the blade and handle.",
24
+ "id": 3,
25
+ "grasp_group": {
26
+ "grasp_1": {
27
+ "confidence": 0.9893752336502075,
28
+ "position": [
29
+ 0.0454709418118,
30
+ 0.09986880506039597,
31
+ 0.0029027749551460147
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4909610581888598,
35
+ "xyz": [
36
+ 0.498238571030218,
37
+ -0.509124773165376,
38
+ 0.5015052652058057
39
+ ]
40
+ }
41
+ },
42
+ "grasp_2": {
43
+ "confidence": 0.9893725514411926,
44
+ "position": [
45
+ -0.15889304503798485,
46
+ -0.09865700369118713,
47
+ 0.0026490784948691726
48
+ ],
49
+ "orientation": {
50
+ "w": 0.4796748863773864,
51
+ "xyz": [
52
+ -0.5446236166338746,
53
+ -0.4644123914492986,
54
+ -0.5075610803162746
55
+ ]
56
+ }
57
+ },
58
+ "grasp_4": {
59
+ "confidence": 0.988808810710907,
60
+ "position": [
61
+ 0.045116785913705826,
62
+ 0.10125828618765809,
63
+ 0.005520086619071662
64
+ ],
65
+ "orientation": {
66
+ "w": 0.47969651446029865,
67
+ "xyz": [
68
+ 0.5052675245833539,
69
+ -0.5163663667776498,
70
+ 0.4979575864236831
71
+ ]
72
+ }
73
+ },
74
+ "grasp_5": {
75
+ "confidence": 0.9885349869728088,
76
+ "position": [
77
+ -0.1273903213441372,
78
+ 0.09788711453438736,
79
+ -0.005479848594404757
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5036549787623797,
83
+ "xyz": [
84
+ 0.49471647896623205,
85
+ -0.47800511649886346,
86
+ 0.5225881518060168
87
+ ]
88
+ }
89
+ },
90
+ "grasp_6": {
91
+ "confidence": 0.9884752035140991,
92
+ "position": [
93
+ 0.049826931208372116,
94
+ 0.10061025703907944,
95
+ 0.00925847643520683
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4802872125621135,
99
+ "xyz": [
100
+ 0.5279460049087136,
101
+ 0.5135936795572826,
102
+ -0.4762549124881078
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9884358644485474,
108
+ "position": [
109
+ -0.14133815094828606,
110
+ -0.09871645932435058,
111
+ -0.0002825703995767981
112
+ ],
113
+ "orientation": {
114
+ "w": 0.4887864003305017,
115
+ "xyz": [
116
+ -0.5228073835585094,
117
+ -0.47451885779766,
118
+ -0.5124374577868593
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.9882633090019226,
124
+ "position": [
125
+ 0.05508771911263466,
126
+ 0.09912718916893937,
127
+ 0.0015665112296119332
128
+ ],
129
+ "orientation": {
130
+ "w": 0.4968504852743961,
131
+ "xyz": [
132
+ 0.5096602678107907,
133
+ 0.4943609210921124,
134
+ -0.4989922708766022
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.9882627129554749,
140
+ "position": [
141
+ 0.0527174212038517,
142
+ 0.09643209064961411,
143
+ 0.01215218415018171
144
+ ],
145
+ "orientation": {
146
+ "w": 0.47651181858693126,
147
+ "xyz": [
148
+ 0.5367722479864039,
149
+ 0.5111403863286412,
150
+ -0.4728081492554935
151
+ ]
152
+ }
153
+ },
154
+ "grasp_10": {
155
+ "confidence": 0.9881828427314758,
156
+ "position": [
157
+ 0.05241173133254051,
158
+ 0.09505618448019959,
159
+ 0.008169421344064176
160
+ ],
161
+ "orientation": {
162
+ "w": 0.49692931349482555,
163
+ "xyz": [
164
+ 0.49737313218946205,
165
+ -0.5299907709118549,
166
+ 0.47412130042201567
167
+ ]
168
+ }
169
+ },
170
+ "grasp_11": {
171
+ "confidence": 0.9880785346031189,
172
+ "position": [
173
+ 0.04841821268200874,
174
+ 0.09892299855710007,
175
+ 0.004038424580357969
176
+ ],
177
+ "orientation": {
178
+ "w": 0.494318583730092,
179
+ "xyz": [
180
+ 0.5128220218005313,
181
+ 0.5008884409065859,
182
+ -0.49170466898501314
183
+ ]
184
+ }
185
+ },
186
+ "grasp_13": {
187
+ "confidence": 0.987798810005188,
188
+ "position": [
189
+ 0.05689169839024544,
190
+ 0.09785030121565796,
191
+ 0.005349968443624675
192
+ ],
193
+ "orientation": {
194
+ "w": 0.4799293965560892,
195
+ "xyz": [
196
+ 0.504084817987458,
197
+ 0.5277754471992504,
198
+ -0.48684632886516777
199
+ ]
200
+ }
201
+ },
202
+ "grasp_15": {
203
+ "confidence": 0.9877009987831116,
204
+ "position": [
205
+ 0.06430074945092201,
206
+ 0.09785363907576539,
207
+ -0.0013865993823856115
208
+ ],
209
+ "orientation": {
210
+ "w": 0.49631911617926516,
211
+ "xyz": [
212
+ 0.4860270769766155,
213
+ -0.5068018876150399,
214
+ 0.5104868872659053
215
+ ]
216
+ }
217
+ },
218
+ "grasp_16": {
219
+ "confidence": 0.9876449704170227,
220
+ "position": [
221
+ 0.047673989087343216,
222
+ 0.09780810857773758,
223
+ 0.01123516948428005
224
+ ],
225
+ "orientation": {
226
+ "w": 0.46926474168335164,
227
+ "xyz": [
228
+ 0.5415938845201977,
229
+ 0.4975701918736123,
230
+ -0.48876433034954264
231
+ ]
232
+ }
233
+ },
234
+ "grasp_17": {
235
+ "confidence": 0.9875327944755554,
236
+ "position": [
237
+ -0.13798293843865395,
238
+ -0.09790317629813217,
239
+ 0.0034621021477505565
240
+ ],
241
+ "orientation": {
242
+ "w": 0.46771121794006,
243
+ "xyz": [
244
+ -0.5373070837246902,
245
+ -0.4796859930301701,
246
+ -0.5122974355615628
247
+ ]
248
+ }
249
+ },
250
+ "grasp_18": {
251
+ "confidence": 0.9872860312461853,
252
+ "position": [
253
+ -0.12462567165493965,
254
+ 0.09756691093207337,
255
+ 0.016966234310530126
256
+ ],
257
+ "orientation": {
258
+ "w": 0.4687095849297954,
259
+ "xyz": [
260
+ 0.5462862678044568,
261
+ -0.5315060877018694,
262
+ 0.4465242628783666
263
+ ]
264
+ }
265
+ },
266
+ "grasp_19": {
267
+ "confidence": 0.9871585965156555,
268
+ "position": [
269
+ -0.12060731276869774,
270
+ 0.09897869164706208,
271
+ -0.007157951244153082
272
+ ],
273
+ "orientation": {
274
+ "w": 0.532015568340651,
275
+ "xyz": [
276
+ 0.47639152012189767,
277
+ -0.501030773648139,
278
+ 0.4888544962017522
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ }
284
+ ],
285
+ "quality_check": {
286
+ "success": true,
287
+ "message": "YES"
288
+ }
289
+ }
dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8597cd35836a2fec2dcb277c9fd90dcfcfb2e536ee97a03d5434e66ab96dce0b
3
+ size 3781764
dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/fruit_knife_034.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>NO: {"summary":"All visible blade and handle regions are merged into one color; clear functional boundary is missing.","merge_groups":[]}</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>NO: {"summary":"All visible blade and handle regions are merged into one color; clear functional boundary is missing.","merge_groups":[]}</PartSegChecker>