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
b243d04
·
verified ·
1 Parent(s): 918189e

Add asset kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/affordance/affordance_annot.json +382 -0
  3. dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/affordance/mesh_part_seg.glb +3 -0
  4. dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.urdf +1 -0
.gitattributes CHANGED
@@ -8387,3 +8387,4 @@ dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordan
8387
  dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8388
  dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8389
  dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8387
  dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8388
  dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8389
  dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8390
+ dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/affordance/affordance_annot.json ADDED
@@ -0,0 +1,382 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife blade",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "carefully pinch the blunt spine near the base to reorient the knife during manipulation",
10
+ "confidence": 0.24
11
+ },
12
+ {
13
+ "scenario": "grasp the blade with a protected or specialized gripper for tool pickup",
14
+ "confidence": 0.18
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cut fruit",
19
+ "slice food",
20
+ "pierce soft items",
21
+ "provide cutting edge"
22
+ ],
23
+ "semantic_description": "Short silver metal blade with a reflective smooth finish and hard surface, tapering to a pointed tip at the front of the knife and showing small printed markings near the handle.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9869847893714905,
28
+ "position": [
29
+ -0.07151186466217041,
30
+ -0.09895988134667277,
31
+ -0.004207722100545652
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5621216599339351,
35
+ "xyz": [
36
+ -0.42969309629068064,
37
+ 0.536684001313404,
38
+ 0.4597318404977837
39
+ ]
40
+ }
41
+ },
42
+ "grasp_3": {
43
+ "confidence": 0.9867505431175232,
44
+ "position": [
45
+ -0.059760551899671555,
46
+ -0.09898963896557689,
47
+ -0.0033811691246228293
48
+ ],
49
+ "orientation": {
50
+ "w": 0.525908027952899,
51
+ "xyz": [
52
+ -0.4784044614181801,
53
+ 0.5095142204842927,
54
+ 0.48471143637648706
55
+ ]
56
+ }
57
+ },
58
+ "grasp_5": {
59
+ "confidence": 0.9865903854370117,
60
+ "position": [
61
+ -0.05739995837211609,
62
+ -0.10105469403788447,
63
+ -0.0007719429704593495
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5172340437206595,
67
+ "xyz": [
68
+ -0.487891554134077,
69
+ 0.5132605878086898,
70
+ 0.4806187100220796
71
+ ]
72
+ }
73
+ },
74
+ "grasp_8": {
75
+ "confidence": 0.9864077568054199,
76
+ "position": [
77
+ -0.049522995948791504,
78
+ -0.09827948687598109,
79
+ -0.006870955883641727
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5026205204252682,
83
+ "xyz": [
84
+ -0.500470944731407,
85
+ -0.4744348437720588,
86
+ -0.521356907446394
87
+ ]
88
+ }
89
+ },
90
+ "grasp_9": {
91
+ "confidence": 0.9863302707672119,
92
+ "position": [
93
+ -0.054230403155088425,
94
+ -0.10063132969662547,
95
+ -0.0032068155269371346
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4911062160354811,
99
+ "xyz": [
100
+ -0.5092542362414493,
101
+ -0.4806986227237201,
102
+ -0.518076868382451
103
+ ]
104
+ }
105
+ },
106
+ "grasp_10": {
107
+ "confidence": 0.9862885475158691,
108
+ "position": [
109
+ -0.07924813032150269,
110
+ -0.09466437576338649,
111
+ -0.002783820455078967
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6012565389161971,
115
+ "xyz": [
116
+ -0.38618503419581046,
117
+ 0.5761389408391945,
118
+ 0.39675636683283017
119
+ ]
120
+ }
121
+ },
122
+ "grasp_12": {
123
+ "confidence": 0.986260712146759,
124
+ "position": [
125
+ -0.055408913642168045,
126
+ -0.09786706743761897,
127
+ 0.000657741489703767
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5273999266943078,
131
+ "xyz": [
132
+ -0.47303906290708914,
133
+ 0.5226780849791526,
134
+ 0.47422671979692144
135
+ ]
136
+ }
137
+ },
138
+ "grasp_13": {
139
+ "confidence": 0.9861977696418762,
140
+ "position": [
141
+ -0.038303978741168976,
142
+ -0.09792889980599284,
143
+ -0.005952061343123205
144
+ ],
145
+ "orientation": {
146
+ "w": 0.49741960132444546,
147
+ "xyz": [
148
+ -0.5027025792357256,
149
+ 0.4783412999454698,
150
+ 0.5206279456718179
151
+ ]
152
+ }
153
+ },
154
+ "grasp_14": {
155
+ "confidence": 0.9860965609550476,
156
+ "position": [
157
+ -0.03985174372792244,
158
+ -0.10044370917603374,
159
+ -0.006362779255141504
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5593608437676084,
163
+ "xyz": [
164
+ -0.45089562553279333,
165
+ -0.5172565475691535,
166
+ -0.4650314455301057
167
+ ]
168
+ }
169
+ },
170
+ "grasp_15": {
171
+ "confidence": 0.9860246777534485,
172
+ "position": [
173
+ -0.0703325867652893,
174
+ -0.09943565307185054,
175
+ -0.005261772501398809
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5552240437036079,
179
+ "xyz": [
180
+ -0.4477991003356797,
181
+ 0.5279251273707392,
182
+ 0.4609742801095944
183
+ ]
184
+ }
185
+ },
186
+ "grasp_16": {
187
+ "confidence": 0.9860110282897949,
188
+ "position": [
189
+ -0.07007169350981712,
190
+ -0.09689941583201289,
191
+ -0.008608979827840813
192
+ ],
193
+ "orientation": {
194
+ "w": 0.5893216076921955,
195
+ "xyz": [
196
+ -0.3894079457609588,
197
+ 0.5591421967724876,
198
+ 0.434075452281919
199
+ ]
200
+ }
201
+ },
202
+ "grasp_17": {
203
+ "confidence": 0.9859798550605774,
204
+ "position": [
205
+ -0.08002829551696777,
206
+ -0.09476369945332408,
207
+ -0.003308400700916536
208
+ ],
209
+ "orientation": {
210
+ "w": 0.5674736351051398,
211
+ "xyz": [
212
+ -0.4174733202760613,
213
+ 0.5558803368318604,
214
+ 0.44123321661218623
215
+ ]
216
+ }
217
+ },
218
+ "grasp_19": {
219
+ "confidence": 0.9856168627738953,
220
+ "position": [
221
+ -0.059921249747276306,
222
+ -0.09919817326590419,
223
+ 0.001729285970213823
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5419594819496814,
227
+ "xyz": [
228
+ -0.44690512781227587,
229
+ 0.5471325174715188,
230
+ 0.4551941728374874
231
+ ]
232
+ }
233
+ }
234
+ }
235
+ },
236
+ {
237
+ "part_name": "knife handle",
238
+ "mask_color": "Purple",
239
+ "graspable": true,
240
+ "grasp_scenarios": [
241
+ {
242
+ "scenario": "grasp the handle to pick up and carry the fruit knife safely",
243
+ "confidence": 0.98
244
+ },
245
+ {
246
+ "scenario": "hold the handle to orient the blade for cutting or slicing",
247
+ "confidence": 0.97
248
+ },
249
+ {
250
+ "scenario": "grip the handle to stabilize the knife while placing it down",
251
+ "confidence": 0.9
252
+ }
253
+ ],
254
+ "functional_labels": [
255
+ "provide safe grip",
256
+ "control blade orientation",
257
+ "support cutting motion",
258
+ "house display and controls"
259
+ ],
260
+ "semantic_description": "Curved light gray plastic handle with a mostly matte smooth hard surface, medium-sized at the rear of the knife, featuring a prominent black digital display/control panel inset on one side, rounded contours, and a slightly thicker ergonomic grip shape.",
261
+ "id": 5,
262
+ "grasp_group": {
263
+ "grasp_20": {
264
+ "confidence": 0.988678514957428,
265
+ "position": [
266
+ -0.012247077189385891,
267
+ -0.09890812216326594,
268
+ -0.003034316425328143
269
+ ],
270
+ "orientation": {
271
+ "w": 0.4693502091805359,
272
+ "xyz": [
273
+ -0.530779001725807,
274
+ -0.45879563896996634,
275
+ -0.5361814936486368
276
+ ]
277
+ }
278
+ },
279
+ "grasp_21": {
280
+ "confidence": 0.9886242151260376,
281
+ "position": [
282
+ 0.008738145232200623,
283
+ 0.09635818423703313,
284
+ 0.016359194458345883
285
+ ],
286
+ "orientation": {
287
+ "w": 0.4663842511934408,
288
+ "xyz": [
289
+ 0.527575011075916,
290
+ -0.5381063196557956,
291
+ 0.4632406789925469
292
+ ]
293
+ }
294
+ },
295
+ "grasp_26": {
296
+ "confidence": 0.9878756403923035,
297
+ "position": [
298
+ -0.039308762177824974,
299
+ 0.09270719112828374,
300
+ -0.002079168290947564
301
+ ],
302
+ "orientation": {
303
+ "w": 0.6062544166912079,
304
+ "xyz": [
305
+ 0.3827469635853346,
306
+ 0.59803170237944,
307
+ -0.3582156153181477
308
+ ]
309
+ }
310
+ },
311
+ "grasp_32": {
312
+ "confidence": 0.9869868159294128,
313
+ "position": [
314
+ -0.011525721289217472,
315
+ -0.09603074518963695,
316
+ -0.008941474094172008
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5797406074557815,
320
+ "xyz": [
321
+ -0.41539039048678833,
322
+ 0.5396505565752043,
323
+ 0.44735771854982825
324
+ ]
325
+ }
326
+ },
327
+ "grasp_34": {
328
+ "confidence": 0.9868342280387878,
329
+ "position": [
330
+ -0.034375740215182304,
331
+ -0.09335540561005473,
332
+ -0.007942966840346344
333
+ ],
334
+ "orientation": {
335
+ "w": 0.4292338651241642,
336
+ "xyz": [
337
+ -0.5577139644218411,
338
+ -0.3896860618684167,
339
+ -0.5940186832961815
340
+ ]
341
+ }
342
+ },
343
+ "grasp_35": {
344
+ "confidence": 0.9867525100708008,
345
+ "position": [
346
+ 0.003015182912349701,
347
+ 0.09781578602269292,
348
+ 0.0008608462376287207
349
+ ],
350
+ "orientation": {
351
+ "w": 0.4828564227951436,
352
+ "xyz": [
353
+ 0.5114897502570923,
354
+ 0.5053850543724148,
355
+ -0.4998138225023457
356
+ ]
357
+ }
358
+ },
359
+ "grasp_36": {
360
+ "confidence": 0.9867421984672546,
361
+ "position": [
362
+ -0.042256852611899376,
363
+ 0.08996224077418447,
364
+ -0.0034253671328769997
365
+ ],
366
+ "orientation": {
367
+ "w": 0.3851995701291835,
368
+ "xyz": [
369
+ 0.5918666057021258,
370
+ -0.3723517304944626,
371
+ 0.6022203924019145
372
+ ]
373
+ }
374
+ }
375
+ }
376
+ }
377
+ ],
378
+ "quality_check": {
379
+ "success": false,
380
+ "message": "Handle description/functions incorrect; no display or controls visible, just a simple handle."
381
+ }
382
+ }
dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a889c3e61dd447a350f3abb09c240ffe91055756dd93691731221c65842a55b
3
+ size 3778876
dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>