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
2
xinjjj commited on
Commit
b644b40
·
verified ·
1 Parent(s): 2e8ca3d

Add asset kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7/affordance/affordance_annot.json +526 -0
  3. dataset/kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8646,3 +8646,4 @@ dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/affordance/me
8646
  dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8647
  dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8648
  dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8646
  dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8647
  dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8648
  dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8649
+ dataset/kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,526 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "slotted handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the narrow slotted end to pick up and manipulate the spatula",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the handle to turn or reposition food with the spatula head",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "grasp near the neck of the handle to stabilize the utensil during storage or placement",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main grip",
23
+ "enable manipulation of spatula head",
24
+ "keep hand away from hot cooking surface",
25
+ "connect user grip to spatula head"
26
+ ],
27
+ "semantic_description": "Long narrow dark gray to black handle with a smooth matte finish, curving slightly into a wider end that has three elongated slots.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9095661044120789,
32
+ "position": [
33
+ -0.14457016810774803,
34
+ -0.1416670253383927,
35
+ -0.008373823016881943
36
+ ],
37
+ "orientation": {
38
+ "w": 0.513978663188087,
39
+ "xyz": [
40
+ -0.47267077388684664,
41
+ 0.5066193807301927,
42
+ 0.5057124443487155
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9071572422981262,
48
+ "position": [
49
+ -0.14478450641036034,
50
+ -0.14350228215334937,
51
+ -0.001795038115233183
52
+ ],
53
+ "orientation": {
54
+ "w": 0.493955985720373,
55
+ "xyz": [
56
+ -0.522804276530039,
57
+ -0.49540145936396585,
58
+ -0.487094001885643
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9043583869934082,
64
+ "position": [
65
+ -0.19836033508181572,
66
+ 0.13056826387764886,
67
+ -0.0008914691861718893
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4957538711940685,
71
+ "xyz": [
72
+ 0.44816643524537775,
73
+ 0.5487110416463802,
74
+ -0.5022859128931356
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9042468667030334,
80
+ "position": [
81
+ -0.1469358615577221,
82
+ -0.14370425249217078,
83
+ -0.002189947757869959
84
+ ],
85
+ "orientation": {
86
+ "w": 0.48940448963038485,
87
+ "xyz": [
88
+ -0.5219190742248236,
89
+ -0.47569080546400966,
90
+ -0.5116658900952141
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9007124304771423,
96
+ "position": [
97
+ -0.18907393142580986,
98
+ 0.1374440619838424,
99
+ -0.0049155638407683
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4928131931554705,
103
+ "xyz": [
104
+ 0.4577746111711788,
105
+ 0.522521984519878,
106
+ -0.523973604022563
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9005329012870789,
112
+ "position": [
113
+ -0.14714693650603294,
114
+ -0.13997638429282233,
115
+ -0.00568327255314216
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5062115250098451,
119
+ "xyz": [
120
+ -0.4739472317429064,
121
+ 0.5238575339395308,
122
+ 0.4946687756521897
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.8982030749320984,
128
+ "position": [
129
+ -0.20286132022738457,
130
+ 0.1341067532193847,
131
+ -0.002391153248026967
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5181716002114579,
135
+ "xyz": [
136
+ 0.43808442964941297,
137
+ 0.5477546239130785,
138
+ -0.4894334451331333
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.8942071199417114,
144
+ "position": [
145
+ -0.1767275147140026,
146
+ 0.13253722881199792,
147
+ -0.0013570059090852737
148
+ ],
149
+ "orientation": {
150
+ "w": 0.49340978767579785,
151
+ "xyz": [
152
+ 0.4701771812606005,
153
+ 0.5228194721568638,
154
+ -0.5119960929354624
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.8924729228019714,
160
+ "position": [
161
+ -0.21869894489645958,
162
+ 0.13224725221516564,
163
+ 0.0005593365058302879
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5609187456720207,
167
+ "xyz": [
168
+ 0.4185712109376191,
169
+ 0.5676803727957278,
170
+ -0.4334827522179464
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.8912019729614258,
176
+ "position": [
177
+ -0.17313430830836296,
178
+ 0.13422889803769067,
179
+ -0.0014090691693127155
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4922998561317144,
183
+ "xyz": [
184
+ 0.4719011853043425,
185
+ 0.520884701003136,
186
+ -0.5134483919752051
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.890419065952301,
192
+ "position": [
193
+ -0.19243616983294487,
194
+ 0.13733470236184075,
195
+ 0.0008255238644778728
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5009611983249164,
199
+ "xyz": [
200
+ 0.5172209096007027,
201
+ -0.4760153937348889,
202
+ 0.5049056876012631
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.8842393159866333,
208
+ "position": [
209
+ -0.218120988458395,
210
+ 0.13318961655022576,
211
+ -0.0029790332773700356
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5437357697919769,
215
+ "xyz": [
216
+ 0.39078287338601914,
217
+ 0.5952825085655504,
218
+ -0.44416088696867284
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.8809105157852173,
224
+ "position": [
225
+ -0.2439025603234768,
226
+ 0.1214037070167251,
227
+ -0.00031613418832421303
228
+ ],
229
+ "orientation": {
230
+ "w": 0.3536308717982208,
231
+ "xyz": [
232
+ 0.6194475910097869,
233
+ -0.316607386917107,
234
+ 0.6252916527932576
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.8779311776161194,
240
+ "position": [
241
+ -0.2701422832906246,
242
+ 0.10712174122454599,
243
+ 0.0019009518437087536
244
+ ],
245
+ "orientation": {
246
+ "w": 0.3267713637826571,
247
+ "xyz": [
248
+ 0.646850682621901,
249
+ -0.2765477787589221,
250
+ 0.6311307283492927
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "spatula blade",
258
+ "mask_color": "Green",
259
+ "graspable": true,
260
+ "grasp_scenarios": [
261
+ {
262
+ "scenario": "grasp the broad flat blade to move or retrieve the spatula when the handle is inaccessible",
263
+ "confidence": 0.36
264
+ },
265
+ {
266
+ "scenario": "pinch the blade edge lightly to stabilize the utensil during placement or storage",
267
+ "confidence": 0.31
268
+ }
269
+ ],
270
+ "functional_labels": [
271
+ "slide under food",
272
+ "support lifted food",
273
+ "scrape cooking surface",
274
+ "spread or press food"
275
+ ],
276
+ "semantic_description": "Broad flat rectangular dark gray to black spatula head with a smooth matte surface and thin working edge, attached opposite the slotted handle.",
277
+ "id": 1,
278
+ "grasp_group": {
279
+ "grasp_20": {
280
+ "confidence": 0.9604470729827881,
281
+ "position": [
282
+ 0.1934598572552204,
283
+ 0.16642239486100152,
284
+ -0.010861626360565424
285
+ ],
286
+ "orientation": {
287
+ "w": 0.5268323079319989,
288
+ "xyz": [
289
+ 0.4885909597306307,
290
+ 0.4870284303032947,
291
+ -0.49651777557792803
292
+ ]
293
+ }
294
+ },
295
+ "grasp_22": {
296
+ "confidence": 0.9586489796638489,
297
+ "position": [
298
+ 0.175765473395586,
299
+ 0.16633249615551904,
300
+ -0.010630253236740828
301
+ ],
302
+ "orientation": {
303
+ "w": 0.5025220888332731,
304
+ "xyz": [
305
+ 0.46911751885925995,
306
+ -0.49998694947651157,
307
+ 0.5267004405609967
308
+ ]
309
+ }
310
+ },
311
+ "grasp_25": {
312
+ "confidence": 0.9556517601013184,
313
+ "position": [
314
+ 0.20291918888688087,
315
+ 0.16452207957627252,
316
+ -0.003415023675188422
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5218630749318516,
320
+ "xyz": [
321
+ 0.4678440977139939,
322
+ -0.5229162647604798,
323
+ 0.4851179354608525
324
+ ]
325
+ }
326
+ },
327
+ "grasp_26": {
328
+ "confidence": 0.9551365375518799,
329
+ "position": [
330
+ 0.11997168138623238,
331
+ -0.15979394520400092,
332
+ -0.012591959908604622
333
+ ],
334
+ "orientation": {
335
+ "w": 0.5814318387637871,
336
+ "xyz": [
337
+ -0.4008214690182995,
338
+ 0.5580272617586775,
339
+ 0.43575766428129176
340
+ ]
341
+ }
342
+ },
343
+ "grasp_27": {
344
+ "confidence": 0.9545971155166626,
345
+ "position": [
346
+ 0.19854072108864784,
347
+ 0.1654943356406875,
348
+ -0.003259013290517032
349
+ ],
350
+ "orientation": {
351
+ "w": 0.49239977547695635,
352
+ "xyz": [
353
+ 0.5021121500085938,
354
+ 0.4898850488537789,
355
+ -0.5152072290190829
356
+ ]
357
+ }
358
+ },
359
+ "grasp_28": {
360
+ "confidence": 0.95453941822052,
361
+ "position": [
362
+ 0.1965039260685444,
363
+ 0.1652395257842727,
364
+ -0.009592938236892223
365
+ ],
366
+ "orientation": {
367
+ "w": 0.5063034828160453,
368
+ "xyz": [
369
+ 0.4963562341156591,
370
+ 0.48283404018206355,
371
+ -0.5139635802119928
372
+ ]
373
+ }
374
+ },
375
+ "grasp_29": {
376
+ "confidence": 0.9538929462432861,
377
+ "position": [
378
+ 0.14885077252984047,
379
+ -0.1655959656345658,
380
+ -0.0067029803758487105
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5045499742109687,
384
+ "xyz": [
385
+ -0.5008792813709614,
386
+ -0.4968968655029855,
387
+ -0.49763719120492617
388
+ ]
389
+ }
390
+ },
391
+ "grasp_30": {
392
+ "confidence": 0.9536516666412354,
393
+ "position": [
394
+ 0.15131308510899544,
395
+ 0.164458928455133,
396
+ -0.006306210998445749
397
+ ],
398
+ "orientation": {
399
+ "w": 0.4911418791667214,
400
+ "xyz": [
401
+ 0.49704021563944856,
402
+ -0.49770328480964665,
403
+ 0.5138308270777058
404
+ ]
405
+ }
406
+ },
407
+ "grasp_31": {
408
+ "confidence": 0.9536254405975342,
409
+ "position": [
410
+ 0.1697266288101673,
411
+ 0.16652692650677636,
412
+ -0.005972070386633277
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5003474257610429,
416
+ "xyz": [
417
+ 0.4997932640520153,
418
+ 0.4879858295169873,
419
+ -0.5115945434943066
420
+ ]
421
+ }
422
+ },
423
+ "grasp_33": {
424
+ "confidence": 0.9529796242713928,
425
+ "position": [
426
+ 0.15445063635706902,
427
+ -0.16137550974963233,
428
+ -0.008393883239477873
429
+ ],
430
+ "orientation": {
431
+ "w": 0.5190868619190505,
432
+ "xyz": [
433
+ -0.4794084486560978,
434
+ 0.5106076651740445,
435
+ 0.48989405120464286
436
+ ]
437
+ }
438
+ },
439
+ "grasp_34": {
440
+ "confidence": 0.9529120922088623,
441
+ "position": [
442
+ 0.15440605953335762,
443
+ 0.16595518385292962,
444
+ -0.005758211016654968
445
+ ],
446
+ "orientation": {
447
+ "w": 0.5087982898866369,
448
+ "xyz": [
449
+ 0.4935298858690342,
450
+ 0.49804964232008764,
451
+ -0.49949885460065313
452
+ ]
453
+ }
454
+ },
455
+ "grasp_35": {
456
+ "confidence": 0.952468991279602,
457
+ "position": [
458
+ 0.15476058796048164,
459
+ -0.16493214870570228,
460
+ -0.01354509498924017
461
+ ],
462
+ "orientation": {
463
+ "w": 0.5119190523103746,
464
+ "xyz": [
465
+ -0.49206645377803687,
466
+ -0.4845770619065256,
467
+ -0.5108762668415852
468
+ ]
469
+ }
470
+ },
471
+ "grasp_36": {
472
+ "confidence": 0.9523417353630066,
473
+ "position": [
474
+ 0.18042558804154396,
475
+ 0.16377910767914727,
476
+ -0.0008211364038288593
477
+ ],
478
+ "orientation": {
479
+ "w": 0.4995750976552988,
480
+ "xyz": [
481
+ 0.500365220162671,
482
+ -0.5098694134245687,
483
+ 0.4899923973985176
484
+ ]
485
+ }
486
+ },
487
+ "grasp_38": {
488
+ "confidence": 0.9514642953872681,
489
+ "position": [
490
+ 0.14522243663668633,
491
+ -0.16169533337233588,
492
+ -0.010759779717773199
493
+ ],
494
+ "orientation": {
495
+ "w": 0.49754490654347683,
496
+ "xyz": [
497
+ -0.49626430927181475,
498
+ -0.48542546721204016,
499
+ -0.5201277891995235
500
+ ]
501
+ }
502
+ },
503
+ "grasp_39": {
504
+ "confidence": 0.9504870176315308,
505
+ "position": [
506
+ 0.14359275624155998,
507
+ -0.1626979878055863,
508
+ -0.011553759220987558
509
+ ],
510
+ "orientation": {
511
+ "w": 0.5532692817860807,
512
+ "xyz": [
513
+ -0.4741469635199153,
514
+ 0.4887454219034718,
515
+ 0.47979753165804817
516
+ ]
517
+ }
518
+ }
519
+ }
520
+ }
521
+ ],
522
+ "quality_check": {
523
+ "success": false,
524
+ "message": "Red part is the slotted turner head plus neck, not the handle; part names and functions are swapped."
525
+ }
526
+ }
dataset/kitchen_supplies/utensils/2c68e63527fa5bff96c72552156449c7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d90781b4821311121baaab3155f7d82e8605262425601f676b8a4a8fcd03879e
3
+ size 732364