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
037c69d
·
verified ·
1 Parent(s): 9e03cab

Add asset food/snack/80f6b2cb35fc5f478d6d8a5961a1d403

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/affordance_annot.json +366 -0
  3. dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/mesh_part_seg.glb +3 -0
  4. dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/chewing_gum_008.urdf +1 -0
.gitattributes CHANGED
@@ -6876,3 +6876,4 @@ dataset/food/snack/7afdc23907745576bc885588017b4b28/affordance/mesh_part_seg.glb
6876
  dataset/food/snack/7d0b5519bd71548887394a7a2e239237/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6877
  dataset/food/snack/807c20e3436a5d258e8c9cdab2985e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6878
  dataset/food/snack/6ffb64fbcb8e5749b353eb3fe574f5ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6876
  dataset/food/snack/7d0b5519bd71548887394a7a2e239237/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6877
  dataset/food/snack/807c20e3436a5d258e8c9cdab2985e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6878
  dataset/food/snack/6ffb64fbcb8e5749b353eb3fe574f5ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6879
+ dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/affordance_annot.json ADDED
@@ -0,0 +1,366 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "gum case body",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the case body from the sides to pick up the chewing gum container",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the case body to stabilize it while opening or dispensing gum",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "pinch the body at one end to reposition the container on a surface",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain gum pieces",
23
+ "provide main grasp surface",
24
+ "protect contents",
25
+ "support opening and dispensing",
26
+ "rest on flat surfaces"
27
+ ],
28
+ "semantic_description": "Small rectangular turquoise-cyan plastic case with a smooth semi-gloss surface, rounded corners, and a shallow central notch along one long side, forming most of the object.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9826977849006653,
33
+ "position": [
34
+ 0.008499324438162148,
35
+ 0.012888900469988585,
36
+ -0.09543646720703691
37
+ ],
38
+ "orientation": {
39
+ "w": 0.00525825350033798,
40
+ "xyz": [
41
+ 0.03613797688435028,
42
+ 0.01214919402985748,
43
+ -0.9992591227911092
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9823708534240723,
49
+ "position": [
50
+ 0.005893011228181422,
51
+ 0.054385827388614416,
52
+ -0.09112627652939409
53
+ ],
54
+ "orientation": {
55
+ "w": 0.05015266992851667,
56
+ "xyz": [
57
+ 0.029339638972762403,
58
+ 0.2416691856089188,
59
+ -0.9686175199794351
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.98109370470047,
65
+ "position": [
66
+ -0.007165558054111898,
67
+ -0.13241864973679185,
68
+ -0.002603114931844175
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5144999544925855,
72
+ "xyz": [
73
+ -0.4861279352773766,
74
+ 0.5115015074891058,
75
+ 0.4871710533338919
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9810909032821655,
81
+ "position": [
82
+ -0.0018581354524940252,
83
+ -0.11489007854834199,
84
+ 0.04986298980657011
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4981217201115293,
88
+ "xyz": [
89
+ -0.8669689500613389,
90
+ 0.00024156326014912466,
91
+ -0.015476861111423568
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9808934926986694,
97
+ "position": [
98
+ -0.003405894269235432,
99
+ -0.11624458665028214,
100
+ 0.04938181268516928
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4914563704919084,
104
+ "xyz": [
105
+ -0.8706603446826721,
106
+ -0.00487651219417512,
107
+ -0.019935388854773483
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9799972772598267,
113
+ "position": [
114
+ 8.825853001326323e-06,
115
+ -0.12853013211861253,
116
+ -0.0035033616004511714
117
+ ],
118
+ "orientation": {
119
+ "w": 0.4790269515976022,
120
+ "xyz": [
121
+ -0.4506312209016987,
122
+ -0.521745576423859,
123
+ -0.5433656557732439
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9798898696899414,
129
+ "position": [
130
+ -0.015350065077655017,
131
+ -0.129474061075598,
132
+ 0.00028496436425484717
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5241098191560497,
136
+ "xyz": [
137
+ -0.454489549110904,
138
+ 0.5336510539602817,
139
+ 0.4836989764515332
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.9795188307762146,
145
+ "position": [
146
+ -0.004121958860196173,
147
+ -0.11857822025194764,
148
+ 0.04686258512083441
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5042549327764344,
152
+ "xyz": [
153
+ -0.8628526727372529,
154
+ -0.009873111063128492,
155
+ -0.03338786604063829
156
+ ]
157
+ }
158
+ },
159
+ "grasp_12": {
160
+ "confidence": 0.9790513515472412,
161
+ "position": [
162
+ 0.004902265616692603,
163
+ 0.015737911220639944,
164
+ -0.0979810863500461
165
+ ],
166
+ "orientation": {
167
+ "w": 0.9999623282427847,
168
+ "xyz": [
169
+ 0.004067768346532857,
170
+ -0.007667805705905417,
171
+ 1.0564298585421583e-05
172
+ ]
173
+ }
174
+ },
175
+ "grasp_13": {
176
+ "confidence": 0.9786126613616943,
177
+ "position": [
178
+ -0.0033795054769143462,
179
+ -0.11726723844185472,
180
+ 0.05006857740227133
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5013307183648267,
184
+ "xyz": [
185
+ -0.864732414730327,
186
+ 0.0005700230107636983,
187
+ -0.030083829746753183
188
+ ]
189
+ }
190
+ },
191
+ "grasp_14": {
192
+ "confidence": 0.9785667657852173,
193
+ "position": [
194
+ 0.0070751236053183675,
195
+ 0.03067641844972968,
196
+ -0.0959882199531421
197
+ ],
198
+ "orientation": {
199
+ "w": 0.023976490134905874,
200
+ "xyz": [
201
+ 0.03778065979330635,
202
+ 0.010695469928447277,
203
+ -0.9989411176788165
204
+ ]
205
+ }
206
+ },
207
+ "grasp_15": {
208
+ "confidence": 0.9785317182540894,
209
+ "position": [
210
+ 0.002822360140271485,
211
+ 0.019798952620476484,
212
+ -0.09788343159016222
213
+ ],
214
+ "orientation": {
215
+ "w": 0.9998155188886806,
216
+ "xyz": [
217
+ 0.010720577759860994,
218
+ -0.0030569052761916238,
219
+ -0.015641378839001355
220
+ ]
221
+ }
222
+ },
223
+ "grasp_17": {
224
+ "confidence": 0.9784915447235107,
225
+ "position": [
226
+ 0.00852489669341594,
227
+ 0.04541376745328307,
228
+ -0.09521654841955751
229
+ ],
230
+ "orientation": {
231
+ "w": 0.988693768270316,
232
+ "xyz": [
233
+ 0.1441377607542237,
234
+ -0.018549479545713066,
235
+ -0.03694394831070968
236
+ ]
237
+ }
238
+ },
239
+ "grasp_18": {
240
+ "confidence": 0.9784905314445496,
241
+ "position": [
242
+ 0.00722712476272136,
243
+ 0.05185070028528571,
244
+ -0.09118442831095308
245
+ ],
246
+ "orientation": {
247
+ "w": 0.9767476844636291,
248
+ "xyz": [
249
+ 0.21342471092401002,
250
+ -0.018583428559580173,
251
+ -0.008277067410214842
252
+ ]
253
+ }
254
+ },
255
+ "grasp_19": {
256
+ "confidence": 0.9784486293792725,
257
+ "position": [
258
+ -0.004204838187433779,
259
+ -0.11838621878996491,
260
+ 0.0515753939980641
261
+ ],
262
+ "orientation": {
263
+ "w": 0.49229593818017836,
264
+ "xyz": [
265
+ -0.8701721837124642,
266
+ 0.011855964147913789,
267
+ -0.017450388491463045
268
+ ]
269
+ }
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "part_name": "top label and small grip features",
275
+ "mask_color": "Purple",
276
+ "graspable": true,
277
+ "grasp_scenarios": [
278
+ {
279
+ "scenario": "make light contact on the top label area to stabilize the case while the other gripper contacts the body",
280
+ "confidence": 0.55
281
+ },
282
+ {
283
+ "scenario": "pinch a small raised side grip feature to assist opening or sliding the case",
284
+ "confidence": 0.66
285
+ }
286
+ ],
287
+ "functional_labels": [
288
+ "display product branding and text",
289
+ "mark the top face",
290
+ "provide small finger purchase features for opening or sliding"
291
+ ],
292
+ "semantic_description": "Dark navy rectangular label on the top face with large light-cyan numerals and yellow text, plus several small purple-highlighted raised grip features near the ends and side opening interface.",
293
+ "id": 5,
294
+ "grasp_group": {
295
+ "grasp_21": {
296
+ "confidence": 0.9731403589248657,
297
+ "position": [
298
+ 0.09266239136923105,
299
+ 0.023850842844694853,
300
+ 0.047299457364715636
301
+ ],
302
+ "orientation": {
303
+ "w": 0.5223400722619238,
304
+ "xyz": [
305
+ -0.00020676325209001656,
306
+ -0.8526421424450319,
307
+ 0.012735112292858857
308
+ ]
309
+ }
310
+ },
311
+ "grasp_23": {
312
+ "confidence": 0.9669302105903625,
313
+ "position": [
314
+ 0.08843888819683343,
315
+ 0.05577288707718253,
316
+ 0.0462154500419274
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5184444447803631,
320
+ "xyz": [
321
+ 0.09563215226889493,
322
+ -0.8373945706438387,
323
+ 0.144361290466041
324
+ ]
325
+ }
326
+ },
327
+ "grasp_25": {
328
+ "confidence": 0.9415321350097656,
329
+ "position": [
330
+ 0.05287981510628015,
331
+ -0.01996166491881013,
332
+ 0.0892176121706143
333
+ ],
334
+ "orientation": {
335
+ "w": 0.2604471372508927,
336
+ "xyz": [
337
+ 0.0027873811835450817,
338
+ -0.9644942551579084,
339
+ -0.043707561946919826
340
+ ]
341
+ }
342
+ },
343
+ "grasp_27": {
344
+ "confidence": 0.9253740310668945,
345
+ "position": [
346
+ 0.029691283707506955,
347
+ 0.10948090767487884,
348
+ 0.05984900298062712
349
+ ],
350
+ "orientation": {
351
+ "w": 0.47487832488087434,
352
+ "xyz": [
353
+ 0.8667358731446952,
354
+ 0.023571976164747488,
355
+ -0.1506780166518187
356
+ ]
357
+ }
358
+ }
359
+ }
360
+ }
361
+ ],
362
+ "quality_check": {
363
+ "success": false,
364
+ "message": "Purple part merges label and side tabs; description and functions conflate distinct features and overstate opening role."
365
+ }
366
+ }
dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1c4e3a4fc92ea0202dcf2090228694a4e0bea107c973990bbcffbb6579dac56
3
+ size 3782576
dataset/food/snack/80f6b2cb35fc5f478d6d8a5961a1d403/chewing_gum_008.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>NO: {"summary":"Purple mixes label and small side details; these are not distinct functional parts for a gum container.","merge_groups":[{"colors":["Orange","Purple"],"target_part":"main body","reason":"Label and side patches are nonfunctional surface regions"}]}</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>NO: {"summary":"Purple mixes label and small side details; these are not distinct functional parts for a gum container.","merge_groups":[{"colors":["Orange","Purple"],"target_part":"main body","reason":"Label and side patches are nonfunctional surface regions"}]}</PartSegChecker>