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
fd79d2c
·
verified ·
1 Parent(s): a8dc4c9

Add asset kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/affordance_annot.json +327 -0
  3. dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8373,3 +8373,4 @@ dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/affordance/me
8373
  dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8374
  dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8375
  dataset/kitchen_supplies/cookware/fe20d183322d54fa93fc1aac42ec50b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8373
  dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8374
  dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8375
  dataset/kitchen_supplies/cookware/fe20d183322d54fa93fc1aac42ec50b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8376
+ dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,327 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flat-head screwdriver shaft and tip",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "engage slotted screw heads",
10
+ "transmit torque to the screw",
11
+ "reach into narrow spaces",
12
+ "provide the primary working tip"
13
+ ],
14
+ "semantic_description": "Slim silver metal shaft with a smooth reflective hard surface, elongated with a flat-head screwdriver tip and a long central slot-like cutout, mounted at the front of the tool.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "handle",
20
+ "mask_color": "Green",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the handle to pick up and hold the tool for use",
25
+ "confidence": 0.98
26
+ },
27
+ {
28
+ "scenario": "hold the handle to apply torque while turning a slotted screw",
29
+ "confidence": 0.97
30
+ },
31
+ {
32
+ "scenario": "grasp the handle to stabilize, move, pass, or store the tool",
33
+ "confidence": 0.91
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "provide main grip",
38
+ "support controlled manipulation",
39
+ "enable torque application",
40
+ "connect user grip to shaft"
41
+ ],
42
+ "semantic_description": "Medium-brown wooden handle with visible wood grain, a smooth slightly satin hard finish, gently tapered ergonomic shape, and a thicker rear section.",
43
+ "id": 1,
44
+ "grasp_group": {
45
+ "grasp_2": {
46
+ "confidence": 0.9884641766548157,
47
+ "position": [
48
+ -0.053492164239287376,
49
+ -0.005128502889419906,
50
+ 0.08773404240128002
51
+ ],
52
+ "orientation": {
53
+ "w": 0.1903252860753762,
54
+ "xyz": [
55
+ -0.6918832705122263,
56
+ 0.6776313197335685,
57
+ -0.1609025170150343
58
+ ]
59
+ }
60
+ },
61
+ "grasp_3": {
62
+ "confidence": 0.9884575009346008,
63
+ "position": [
64
+ -0.051249781623482704,
65
+ -0.0021390566107584164,
66
+ 0.08358690768000088
67
+ ],
68
+ "orientation": {
69
+ "w": 0.20654019914774363,
70
+ "xyz": [
71
+ -0.6859316531940458,
72
+ 0.6671238534622651,
73
+ -0.20441300698378317
74
+ ]
75
+ }
76
+ },
77
+ "grasp_4": {
78
+ "confidence": 0.9884215593338013,
79
+ "position": [
80
+ -0.025139322504401207,
81
+ -0.010384779467131011,
82
+ 0.09442765891071758
83
+ ],
84
+ "orientation": {
85
+ "w": 0.1293954564795925,
86
+ "xyz": [
87
+ -0.710356001407242,
88
+ 0.6904479012454593,
89
+ -0.043964335237704016
90
+ ]
91
+ }
92
+ },
93
+ "grasp_5": {
94
+ "confidence": 0.9882263541221619,
95
+ "position": [
96
+ -0.05709720961749554,
97
+ -0.007230060218716972,
98
+ 0.08351406335350475
99
+ ],
100
+ "orientation": {
101
+ "w": 0.22596925315346728,
102
+ "xyz": [
103
+ -0.681270290867693,
104
+ 0.6707191528865525,
105
+ -0.18693449484099767
106
+ ]
107
+ }
108
+ },
109
+ "grasp_7": {
110
+ "confidence": 0.9881250858306885,
111
+ "position": [
112
+ -0.041957609355449677,
113
+ -0.01087101646407973,
114
+ 0.09139319389578304
115
+ ],
116
+ "orientation": {
117
+ "w": 0.1639991854919627,
118
+ "xyz": [
119
+ -0.7089800476141627,
120
+ 0.6816206438921169,
121
+ -0.07645166488107728
122
+ ]
123
+ }
124
+ },
125
+ "grasp_8": {
126
+ "confidence": 0.9881014823913574,
127
+ "position": [
128
+ -0.027657894417643547,
129
+ 0.00585901593149174,
130
+ -0.09596739829066792
131
+ ],
132
+ "orientation": {
133
+ "w": 0.7067111504112438,
134
+ "xyz": [
135
+ 0.11941838931796121,
136
+ 0.06655304276017826,
137
+ 0.694168056508279
138
+ ]
139
+ }
140
+ },
141
+ "grasp_9": {
142
+ "confidence": 0.9879248142242432,
143
+ "position": [
144
+ -0.053377384319901466,
145
+ 0.009876824871753342,
146
+ 0.08385474860187969
147
+ ],
148
+ "orientation": {
149
+ "w": 0.2393251039899472,
150
+ "xyz": [
151
+ 0.6773750624562169,
152
+ 0.6765538940230302,
153
+ 0.16174469958830712
154
+ ]
155
+ }
156
+ },
157
+ "grasp_10": {
158
+ "confidence": 0.9878650307655334,
159
+ "position": [
160
+ -0.06161290593445301,
161
+ 0.007981307760928757,
162
+ 0.08430482327457867
163
+ ],
164
+ "orientation": {
165
+ "w": 0.22774607339319336,
166
+ "xyz": [
167
+ 0.6743758255984885,
168
+ 0.6843424867395747,
169
+ 0.15819081119152906
170
+ ]
171
+ }
172
+ },
173
+ "grasp_11": {
174
+ "confidence": 0.9878306984901428,
175
+ "position": [
176
+ -0.002073938027024269,
177
+ 0.09567291192070115,
178
+ 0.019102402697171783
179
+ ],
180
+ "orientation": {
181
+ "w": 0.461807946787718,
182
+ "xyz": [
183
+ 0.555872627544581,
184
+ 0.5398470693107392,
185
+ -0.4316296838575882
186
+ ]
187
+ }
188
+ },
189
+ "grasp_12": {
190
+ "confidence": 0.9877969622612,
191
+ "position": [
192
+ -0.008195123635232449,
193
+ 0.0008926737500587478,
194
+ -0.09823039293769398
195
+ ],
196
+ "orientation": {
197
+ "w": 0.7018438336861574,
198
+ "xyz": [
199
+ -0.012689582655723017,
200
+ 0.03480043087659024,
201
+ -0.7113670906216736
202
+ ]
203
+ }
204
+ },
205
+ "grasp_13": {
206
+ "confidence": 0.9877229928970337,
207
+ "position": [
208
+ -0.023559320252388716,
209
+ 0.01346506919071544,
210
+ -0.09517524511102238
211
+ ],
212
+ "orientation": {
213
+ "w": 0.6854634962359916,
214
+ "xyz": [
215
+ 0.14851941452703202,
216
+ 0.029517364528240053,
217
+ 0.7121871271146266
218
+ ]
219
+ }
220
+ },
221
+ "grasp_15": {
222
+ "confidence": 0.9877154231071472,
223
+ "position": [
224
+ -0.027743013575673103,
225
+ -0.014301764822448604,
226
+ 0.09351269036051235
227
+ ],
228
+ "orientation": {
229
+ "w": 0.1771130855813632,
230
+ "xyz": [
231
+ -0.6892243837400166,
232
+ 0.6999493468848027,
233
+ -0.06059385752353073
234
+ ]
235
+ }
236
+ },
237
+ "grasp_16": {
238
+ "confidence": 0.987608790397644,
239
+ "position": [
240
+ -0.013982993317767978,
241
+ 0.09431216023222078,
242
+ 0.01338829446103773
243
+ ],
244
+ "orientation": {
245
+ "w": 0.41540559828557994,
246
+ "xyz": [
247
+ 0.5593550210093212,
248
+ -0.495763349407902,
249
+ 0.5184388592385025
250
+ ]
251
+ }
252
+ },
253
+ "grasp_17": {
254
+ "confidence": 0.9873908162117004,
255
+ "position": [
256
+ -0.025237321853637695,
257
+ -0.008617920844699256,
258
+ 0.09516307591911755
259
+ ],
260
+ "orientation": {
261
+ "w": 0.1385589785836298,
262
+ "xyz": [
263
+ -0.690086062831636,
264
+ 0.70759358846539,
265
+ -0.06240151361998319
266
+ ]
267
+ }
268
+ },
269
+ "grasp_18": {
270
+ "confidence": 0.987365186214447,
271
+ "position": [
272
+ -0.026238681748509407,
273
+ 0.002615714867715724,
274
+ 0.09555770337101421
275
+ ],
276
+ "orientation": {
277
+ "w": 0.06644126587681437,
278
+ "xyz": [
279
+ -0.7049281633456431,
280
+ 0.7020082935437889,
281
+ -0.07646043752531156
282
+ ]
283
+ }
284
+ }
285
+ }
286
+ },
287
+ {
288
+ "part_name": "ferrule",
289
+ "mask_color": "Blue",
290
+ "graspable": false,
291
+ "grasp_scenarios": [],
292
+ "functional_labels": [
293
+ "connect shaft to handle",
294
+ "reinforce the shaft-handle joint",
295
+ "transition between handle and metal shaft",
296
+ "support structural stability"
297
+ ],
298
+ "semantic_description": "Small silver metal ferrule with a smooth reflective hard surface, positioned between the wooden handle and the metal shaft as the neck joint.",
299
+ "id": 2,
300
+ "grasp_group": {}
301
+ },
302
+ {
303
+ "part_name": "handle end cap",
304
+ "mask_color": "Yellow",
305
+ "graspable": true,
306
+ "grasp_scenarios": [
307
+ {
308
+ "scenario": "pinch the handle end lightly to reposition or start lifting the tool",
309
+ "confidence": 0.43
310
+ }
311
+ ],
312
+ "functional_labels": [
313
+ "protect the handle tip",
314
+ "finish the handle end",
315
+ "provide a visual end reference",
316
+ "add minor end reinforcement"
317
+ ],
318
+ "semantic_description": "Small rounded feature at the butt of the wooden handle, appearing as a tiny smooth hard end detail on the rear tip.",
319
+ "id": 3,
320
+ "grasp_group": {}
321
+ }
322
+ ],
323
+ "quality_check": {
324
+ "success": false,
325
+ "message": "Tool type and tip description are wrong; red part is not a flat-head screwdriver shaft, and yellow end cap is just a small butt area."
326
+ }
327
+ }
dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1be349ca82f59c81c6773f5178483c81d7edd6d082e37277dc2cbb15058d56b4
3
+ size 3767472