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
e4bb0ce
·
verified ·
1 Parent(s): 4a01cd5

Add asset kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/affordance/affordance_annot.json +477 -0
  3. dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/affordance/mesh_part_seg.glb +3 -0
  4. dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.urdf +4 -3
.gitattributes CHANGED
@@ -7456,3 +7456,4 @@ dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/me
7456
  dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7457
  dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7458
  dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7456
  dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7457
  dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7458
  dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7459
+ dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,477 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle body",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main handle to pick up and manipulate the waiter's corkscrew",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize the tool while using the corkscrew or lever",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle while folding or unfolding the hinged tools around the pivot",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support handhold",
24
+ "stabilize the tool during opening",
25
+ "connect the hinged tools and body"
26
+ ],
27
+ "semantic_description": "Large elongated curved handle/body with silver metal side plates and black grip inlays, smooth hard surfaces, mostly matte to satin finish, forming the main central handhold of the tool.",
28
+ "id": 7,
29
+ "grasp_group": {
30
+ "grasp_21": {
31
+ "confidence": 0.98269122838974,
32
+ "position": [
33
+ -0.08326982264406979,
34
+ 0.06125906016677618,
35
+ -0.0219635643879883
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2560202772109738,
39
+ "xyz": [
40
+ 0.5673753343150082,
41
+ -0.25055376280637864,
42
+ 0.7414591422400247
43
+ ]
44
+ }
45
+ },
46
+ "grasp_22": {
47
+ "confidence": 0.9826117753982544,
48
+ "position": [
49
+ -0.08763435040600598,
50
+ 0.05327474977821112,
51
+ 0.001986354764085263
52
+ ],
53
+ "orientation": {
54
+ "w": 0.1993973703869303,
55
+ "xyz": [
56
+ 0.6740533385555602,
57
+ -0.18598687174973838,
58
+ 0.6865141433369215
59
+ ]
60
+ }
61
+ },
62
+ "grasp_23": {
63
+ "confidence": 0.9823893308639526,
64
+ "position": [
65
+ -0.09964486514218152,
66
+ 0.03215506952255964,
67
+ 0.001300607284065336
68
+ ],
69
+ "orientation": {
70
+ "w": 0.10840511513792793,
71
+ "xyz": [
72
+ 0.6941569375870662,
73
+ -0.09745564439885435,
74
+ 0.704909124913618
75
+ ]
76
+ }
77
+ },
78
+ "grasp_24": {
79
+ "confidence": 0.98236483335495,
80
+ "position": [
81
+ -0.08912048791535199,
82
+ 0.05552686657756567,
83
+ -0.0028757056570611894
84
+ ],
85
+ "orientation": {
86
+ "w": 0.18227468561451574,
87
+ "xyz": [
88
+ 0.6682154133587076,
89
+ -0.16613398891889097,
90
+ 0.7018999914944285
91
+ ]
92
+ }
93
+ },
94
+ "grasp_25": {
95
+ "confidence": 0.9822438359260559,
96
+ "position": [
97
+ -0.09472340648062527,
98
+ 0.04424476157873869,
99
+ 0.0021029344643466175
100
+ ],
101
+ "orientation": {
102
+ "w": 0.14102150218979656,
103
+ "xyz": [
104
+ 0.6916728691450607,
105
+ -0.12663265993236406,
106
+ 0.6968972287555947
107
+ ]
108
+ }
109
+ },
110
+ "grasp_26": {
111
+ "confidence": 0.9819083213806152,
112
+ "position": [
113
+ -0.08911593561060727,
114
+ 0.05538065638393164,
115
+ 0.00036916532553732395
116
+ ],
117
+ "orientation": {
118
+ "w": 0.2327658656778177,
119
+ "xyz": [
120
+ 0.6598201740309959,
121
+ -0.21949436953825208,
122
+ 0.679911473250722
123
+ ]
124
+ }
125
+ },
126
+ "grasp_28": {
127
+ "confidence": 0.9818410277366638,
128
+ "position": [
129
+ -0.10750910942442715,
130
+ 0.026136371307075024,
131
+ 0.00045030590263195336
132
+ ],
133
+ "orientation": {
134
+ "w": 0.14342888726005604,
135
+ "xyz": [
136
+ 0.6814625723022227,
137
+ -0.13542457338436797,
138
+ 0.7047674096992865
139
+ ]
140
+ }
141
+ },
142
+ "grasp_30": {
143
+ "confidence": 0.9814494252204895,
144
+ "position": [
145
+ -0.09585222904570401,
146
+ 0.045245169661939144,
147
+ -0.006129570479970425
148
+ ],
149
+ "orientation": {
150
+ "w": 0.21105737532825536,
151
+ "xyz": [
152
+ 0.6533648931741977,
153
+ -0.17489344379778227,
154
+ 0.7056779605482729
155
+ ]
156
+ }
157
+ },
158
+ "grasp_33": {
159
+ "confidence": 0.9812927842140198,
160
+ "position": [
161
+ -0.09557834570296109,
162
+ 0.04622028674930334,
163
+ 0.005691289261449128
164
+ ],
165
+ "orientation": {
166
+ "w": 0.14093227733091268,
167
+ "xyz": [
168
+ 0.6987199467255014,
169
+ -0.14875437055394403,
170
+ 0.685420065722718
171
+ ]
172
+ }
173
+ },
174
+ "grasp_34": {
175
+ "confidence": 0.9811199307441711,
176
+ "position": [
177
+ -0.08022740040905774,
178
+ 0.06772521790117025,
179
+ -0.0012159613543190062
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6685101709859047,
183
+ "xyz": [
184
+ 0.24649838545633276,
185
+ 0.6640314381485815,
186
+ -0.22670453547766586
187
+ ]
188
+ }
189
+ },
190
+ "grasp_36": {
191
+ "confidence": 0.9809302091598511,
192
+ "position": [
193
+ -0.07927633379586041,
194
+ 0.06861393805593252,
195
+ -0.0024596042349003255
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6710885433395032,
199
+ "xyz": [
200
+ 0.24312205498011727,
201
+ 0.6504751461829186,
202
+ -0.2596419025870419
203
+ ]
204
+ }
205
+ },
206
+ "grasp_37": {
207
+ "confidence": 0.9808641076087952,
208
+ "position": [
209
+ -0.08677734737284482,
210
+ 0.055249123834073544,
211
+ -0.003528830304276198
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6851875424586684,
215
+ "xyz": [
216
+ 0.19708009972304869,
217
+ 0.6727317534272496,
218
+ -0.1977611030594806
219
+ ]
220
+ }
221
+ },
222
+ "grasp_38": {
223
+ "confidence": 0.9808413982391357,
224
+ "position": [
225
+ -0.09046916966326535,
226
+ 0.059225632809102535,
227
+ -0.0024450234486721456
228
+ ],
229
+ "orientation": {
230
+ "w": 0.22834356352093574,
231
+ "xyz": [
232
+ 0.6562865358640612,
233
+ -0.2034678429750063,
234
+ 0.68974490698896
235
+ ]
236
+ }
237
+ },
238
+ "grasp_39": {
239
+ "confidence": 0.9808102250099182,
240
+ "position": [
241
+ -0.08187821810133755,
242
+ 0.0681804632768035,
243
+ -0.003601169853936881
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6764919057834556,
247
+ "xyz": [
248
+ 0.2309215667465328,
249
+ 0.6622055069599949,
250
+ -0.22476164702335458
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "foil-cutter lever",
258
+ "mask_color": "Yellow",
259
+ "graspable": true,
260
+ "grasp_scenarios": [
261
+ {
262
+ "scenario": "pinch the small hinged foil-cutter lever to unfold or fold it from the body",
263
+ "confidence": 0.79
264
+ },
265
+ {
266
+ "scenario": "hold the lever tip briefly to position it against a bottle foil capsule",
267
+ "confidence": 0.46
268
+ }
269
+ ],
270
+ "functional_labels": [
271
+ "cut bottle foil",
272
+ "score foil around the bottle neck",
273
+ "serve as a small hinged auxiliary tool",
274
+ "assist wine-bottle preparation"
275
+ ],
276
+ "semantic_description": "Small silver hinged metal lever near one end of the tool, thin and flat with a short pointed hooked blade-like profile, reflective smooth finish, compact compared with the main handle.",
277
+ "id": 3,
278
+ "grasp_group": {
279
+ "grasp_2": {
280
+ "confidence": 0.9771904349327087,
281
+ "position": [
282
+ -0.12802079622633755,
283
+ -0.04525271523743868,
284
+ -0.0002584724861662835
285
+ ],
286
+ "orientation": {
287
+ "w": 0.6961524215918816,
288
+ "xyz": [
289
+ -0.020581514505263132,
290
+ 0.7169809493504663,
291
+ 0.029774577090751323
292
+ ]
293
+ }
294
+ },
295
+ "grasp_3": {
296
+ "confidence": 0.9762686491012573,
297
+ "position": [
298
+ -0.12675704364664853,
299
+ -0.0641621770337224,
300
+ -0.001676231564488262
301
+ ],
302
+ "orientation": {
303
+ "w": 0.06677609335392186,
304
+ "xyz": [
305
+ -0.6930927469185326,
306
+ -0.08398548154322316,
307
+ -0.7128182351871091
308
+ ]
309
+ }
310
+ },
311
+ "grasp_5": {
312
+ "confidence": 0.9761204123497009,
313
+ "position": [
314
+ -0.11224682931788266,
315
+ -0.09389247838407755,
316
+ -0.0006133794086053967
317
+ ],
318
+ "orientation": {
319
+ "w": 0.6788628077780064,
320
+ "xyz": [
321
+ -0.18534521933924653,
322
+ 0.6766186824879594,
323
+ 0.21674777136594964
324
+ ]
325
+ }
326
+ },
327
+ "grasp_9": {
328
+ "confidence": 0.9749521017074585,
329
+ "position": [
330
+ -0.12456229631789029,
331
+ -0.0609752768650651,
332
+ -0.010593840561341494
333
+ ],
334
+ "orientation": {
335
+ "w": 0.06310018993829312,
336
+ "xyz": [
337
+ -0.6714232343044846,
338
+ -0.09305282500580647,
339
+ -0.7324959919510107
340
+ ]
341
+ }
342
+ },
343
+ "grasp_11": {
344
+ "confidence": 0.9747034907341003,
345
+ "position": [
346
+ -0.12652157549746335,
347
+ -0.06767926085740328,
348
+ -0.0013148850412108004
349
+ ],
350
+ "orientation": {
351
+ "w": 0.09241958118063924,
352
+ "xyz": [
353
+ -0.6934558794101662,
354
+ -0.094138841605936,
355
+ -0.7083187438060367
356
+ ]
357
+ }
358
+ },
359
+ "grasp_12": {
360
+ "confidence": 0.9743995666503906,
361
+ "position": [
362
+ -0.09178805653937161,
363
+ -0.11694003734737635,
364
+ -0.0025394062395207584
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6470290228334731,
368
+ "xyz": [
369
+ -0.29682552970878556,
370
+ 0.6396264608916509,
371
+ 0.2900448914417926
372
+ ]
373
+ }
374
+ },
375
+ "grasp_14": {
376
+ "confidence": 0.9733542203903198,
377
+ "position": [
378
+ -0.08038352732546628,
379
+ -0.1258026296272874,
380
+ 0.003332648251671344
381
+ ],
382
+ "orientation": {
383
+ "w": 0.3347362961499303,
384
+ "xyz": [
385
+ -0.621756299451023,
386
+ -0.3482931518802461,
387
+ -0.6164921706608446
388
+ ]
389
+ }
390
+ },
391
+ "grasp_15": {
392
+ "confidence": 0.9733354449272156,
393
+ "position": [
394
+ -0.1257768899668008,
395
+ -0.03823416959494352,
396
+ -0.001297301088925451
397
+ ],
398
+ "orientation": {
399
+ "w": 0.023489299341801058,
400
+ "xyz": [
401
+ 0.6996704493904191,
402
+ 0.011326742883320473,
403
+ 0.7139896497582408
404
+ ]
405
+ }
406
+ },
407
+ "grasp_16": {
408
+ "confidence": 0.9733206629753113,
409
+ "position": [
410
+ -0.07366707478649914,
411
+ -0.13017972651869059,
412
+ 0.0004984604602213949
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5984018365312106,
416
+ "xyz": [
417
+ -0.3739962357880827,
418
+ 0.613265135736859,
419
+ 0.3548914354307116
420
+ ]
421
+ }
422
+ },
423
+ "grasp_17": {
424
+ "confidence": 0.9731089472770691,
425
+ "position": [
426
+ -0.10428679292090237,
427
+ -0.10688211861997843,
428
+ -0.0032953270128928125
429
+ ],
430
+ "orientation": {
431
+ "w": 0.6749536335937291,
432
+ "xyz": [
433
+ -0.2412756134709763,
434
+ 0.6570467136624001,
435
+ 0.2334808062952206
436
+ ]
437
+ }
438
+ },
439
+ "grasp_19": {
440
+ "confidence": 0.9723860025405884,
441
+ "position": [
442
+ -0.10953653161413968,
443
+ -0.09816459659487009,
444
+ -0.003949088219087571
445
+ ],
446
+ "orientation": {
447
+ "w": 0.673516486690025,
448
+ "xyz": [
449
+ -0.2184817938576182,
450
+ 0.668847554067251,
451
+ 0.22646014511992665
452
+ ]
453
+ }
454
+ }
455
+ }
456
+ },
457
+ {
458
+ "part_name": "corkscrew spiral",
459
+ "mask_color": "Navy",
460
+ "graspable": false,
461
+ "grasp_scenarios": [],
462
+ "functional_labels": [
463
+ "pierce cork",
464
+ "thread into corks",
465
+ "extract corks",
466
+ "provide screw-in traction"
467
+ ],
468
+ "semantic_description": "Thin dark metallic spiral helix extending from the body, glossy hard surface with narrow pointed coils, sized for twisting into a cork.",
469
+ "id": 13,
470
+ "grasp_group": {}
471
+ }
472
+ ],
473
+ "quality_check": {
474
+ "success": true,
475
+ "message": "YES"
476
+ }
477
+ }
dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d6d8a1d02ba52a52380550ab1f3cc9865e0c45e03ca251ae038f0dce7359609
3
+ size 3787592
dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.urdf CHANGED
@@ -51,16 +51,17 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>0</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
- <mesh filename="None" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>3</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
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>
65
  </quality>
66
  </custom_data>
67
  </robot>