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
a350816
·
verified ·
1 Parent(s): ca421ed

Add asset kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/affordance_annot.json +285 -0
  3. dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8382,3 +8382,4 @@ dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordan
8382
  dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8383
  dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8384
  dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8382
  dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8383
  dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8384
  dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8385
+ dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/affordance_annot.json ADDED
@@ -0,0 +1,285 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife blade",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "not recommended as a grasp point because the cutting edge and tip are hazardous",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "only possible to lightly stabilize near the dull spine or base in a controlled fixture task",
14
+ "confidence": 0.22
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cut fruit",
19
+ "slice soft food",
20
+ "pierce with the tip",
21
+ "provide the sharpened working edge"
22
+ ],
23
+ "semantic_description": "Short silver metal blade with a reflective smooth finish, tapering to a pointed tip, with small printed branding visible on the side near the base.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "knife handle",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the handle to pick up and carry the knife safely",
34
+ "confidence": 0.98
35
+ },
36
+ {
37
+ "scenario": "hold the handle to perform slicing or paring motions",
38
+ "confidence": 0.97
39
+ },
40
+ {
41
+ "scenario": "grasp the handle to place the knife into storage",
42
+ "confidence": 0.92
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "provide a safe grip",
47
+ "control cutting direction",
48
+ "support hand positioning",
49
+ "balance the knife"
50
+ ],
51
+ "semantic_description": "Compact black and dark gray handle, likely plastic or rubberized plastic, with a mostly matte finish, smooth contours, and an ergonomic curved shape at the rear of the knife.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_0": {
55
+ "confidence": 0.9884725213050842,
56
+ "position": [
57
+ -0.045239949598908424,
58
+ 0.09404395008459687,
59
+ -0.006305637346486037
60
+ ],
61
+ "orientation": {
62
+ "w": 0.5584865065586931,
63
+ "xyz": [
64
+ 0.45769327328077536,
65
+ 0.5170106036957738,
66
+ -0.4596843756878491
67
+ ]
68
+ }
69
+ },
70
+ "grasp_1": {
71
+ "confidence": 0.9883913397789001,
72
+ "position": [
73
+ -0.05382967181503773,
74
+ 0.0925427176989615,
75
+ -0.0024130207448251895
76
+ ],
77
+ "orientation": {
78
+ "w": 0.5624567005694953,
79
+ "xyz": [
80
+ 0.42943801348228894,
81
+ 0.5583065155466937,
82
+ -0.4330349723278382
83
+ ]
84
+ }
85
+ },
86
+ "grasp_6": {
87
+ "confidence": 0.9878926873207092,
88
+ "position": [
89
+ -0.04013672471046448,
90
+ 0.09417436504736543,
91
+ 0.013852217191924865
92
+ ],
93
+ "orientation": {
94
+ "w": 0.5408954565014804,
95
+ "xyz": [
96
+ 0.4363897733917566,
97
+ 0.6122040119988257,
98
+ -0.3770972268628982
99
+ ]
100
+ }
101
+ },
102
+ "grasp_7": {
103
+ "confidence": 0.9878299832344055,
104
+ "position": [
105
+ -0.05158698931336403,
106
+ 0.09490629518404603,
107
+ -0.0012408417378537706
108
+ ],
109
+ "orientation": {
110
+ "w": 0.5540598432603726,
111
+ "xyz": [
112
+ 0.4430056884829495,
113
+ 0.5546579158881191,
114
+ -0.43487727740212745
115
+ ]
116
+ }
117
+ },
118
+ "grasp_8": {
119
+ "confidence": 0.9877675771713257,
120
+ "position": [
121
+ -0.060672326013445854,
122
+ 0.08879110449925065,
123
+ -0.001923288145007973
124
+ ],
125
+ "orientation": {
126
+ "w": 0.37647379398700737,
127
+ "xyz": [
128
+ 0.5979636573038017,
129
+ -0.3588614203182965,
130
+ 0.6098568914032416
131
+ ]
132
+ }
133
+ },
134
+ "grasp_9": {
135
+ "confidence": 0.9877346158027649,
136
+ "position": [
137
+ -0.04013426788151264,
138
+ 0.09197674179449677,
139
+ -0.0034759852997012786
140
+ ],
141
+ "orientation": {
142
+ "w": 0.40314249934122837,
143
+ "xyz": [
144
+ 0.5798052610587243,
145
+ -0.38121746127183875,
146
+ 0.5966365993592637
147
+ ]
148
+ }
149
+ },
150
+ "grasp_10": {
151
+ "confidence": 0.987695574760437,
152
+ "position": [
153
+ -0.050000280141830444,
154
+ 0.08993342006579041,
155
+ -0.004114349415431207
156
+ ],
157
+ "orientation": {
158
+ "w": 0.38790373031950426,
159
+ "xyz": [
160
+ 0.5952261491839144,
161
+ -0.3607662882879801,
162
+ 0.6042219894763978
163
+ ]
164
+ }
165
+ },
166
+ "grasp_11": {
167
+ "confidence": 0.9876651763916016,
168
+ "position": [
169
+ -0.06046559847891331,
170
+ 0.08861641073599458,
171
+ -0.007425847971717303
172
+ ],
173
+ "orientation": {
174
+ "w": 0.6181258976695552,
175
+ "xyz": [
176
+ 0.3597123204138121,
177
+ 0.5899776118609681,
178
+ -0.37477171541559356
179
+ ]
180
+ }
181
+ },
182
+ "grasp_12": {
183
+ "confidence": 0.9876497387886047,
184
+ "position": [
185
+ -0.04469126835465431,
186
+ 0.09129357570782304,
187
+ -0.0027347112036295584
188
+ ],
189
+ "orientation": {
190
+ "w": 0.5921815525630792,
191
+ "xyz": [
192
+ 0.37563167135950715,
193
+ 0.6020899526657029,
194
+ -0.38171919675941884
195
+ ]
196
+ }
197
+ },
198
+ "grasp_13": {
199
+ "confidence": 0.9876405596733093,
200
+ "position": [
201
+ -0.042089127004146576,
202
+ 0.09507195884361863,
203
+ -0.010956767989227956
204
+ ],
205
+ "orientation": {
206
+ "w": 0.5698552178317227,
207
+ "xyz": [
208
+ 0.4243538175242785,
209
+ 0.5239221141988035,
210
+ -0.46978131775964305
211
+ ]
212
+ }
213
+ },
214
+ "grasp_14": {
215
+ "confidence": 0.9876148700714111,
216
+ "position": [
217
+ -0.03746515931561589,
218
+ 0.0937014170922339,
219
+ -0.007082125680426543
220
+ ],
221
+ "orientation": {
222
+ "w": 0.5368127754511,
223
+ "xyz": [
224
+ 0.464750973715715,
225
+ 0.5102802913078138,
226
+ -0.4852345833157339
227
+ ]
228
+ }
229
+ },
230
+ "grasp_17": {
231
+ "confidence": 0.9871857762336731,
232
+ "position": [
233
+ -0.05247697792947292,
234
+ 0.0876693525351584,
235
+ -0.004780367059538548
236
+ ],
237
+ "orientation": {
238
+ "w": 0.6061149923554271,
239
+ "xyz": [
240
+ 0.35747588428789373,
241
+ 0.6080735735089313,
242
+ -0.3675352192574848
243
+ ]
244
+ }
245
+ },
246
+ "grasp_18": {
247
+ "confidence": 0.9871507883071899,
248
+ "position": [
249
+ -0.0298226845334284,
250
+ 0.09762638295069337,
251
+ -0.0059012966657974175
252
+ ],
253
+ "orientation": {
254
+ "w": 0.5150694152717428,
255
+ "xyz": [
256
+ 0.49541688972827186,
257
+ -0.4779315263931778,
258
+ 0.5107318855359213
259
+ ]
260
+ }
261
+ },
262
+ "grasp_19": {
263
+ "confidence": 0.9869831800460815,
264
+ "position": [
265
+ -0.06535252556204796,
266
+ 0.08897528285160661,
267
+ -0.004637133372852986
268
+ ],
269
+ "orientation": {
270
+ "w": 0.3887990465339332,
271
+ "xyz": [
272
+ 0.5915552745818097,
273
+ -0.3569853442996652,
274
+ 0.6094744641771248
275
+ ]
276
+ }
277
+ }
278
+ }
279
+ }
280
+ ],
281
+ "quality_check": {
282
+ "success": true,
283
+ "message": "YES"
284
+ }
285
+ }
dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cffd6c5a14a9c49fdb284af888e3193cb19f14001589ed195987a7f280974858
3
+ size 3782392