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
3cdcbba
·
verified ·
1 Parent(s): f2e6b75

Add asset food/ingredients/26c8386cebd85b6fb57649fdb70575b8

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/affordance_annot.json +335 -0
  3. dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/mesh_part_seg.glb +3 -0
  4. dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/carrot_008.urdf +1 -0
.gitattributes CHANGED
@@ -6773,3 +6773,4 @@ dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/affordance/mesh_part_s
6773
  dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6774
  dataset/food/ingredients/20100288181959dbac9df60ed60feeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6775
  dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6773
  dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6774
  dataset/food/ingredients/20100288181959dbac9df60ed60feeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6775
  dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6776
+ dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,335 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "carrot root body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the carrot body at the thicker middle to pick it up",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the carrot body to stabilize it during cutting or peeling",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp near the thick end to orient the carrot for placement",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main edible portion",
23
+ "main grasp surface",
24
+ "support cutting and peeling",
25
+ "provide bulk for handling",
26
+ "indicate tip-to-top orientation"
27
+ ],
28
+ "semantic_description": "Large tapered orange-red carrot root with a matte slightly rough skin, shallow ring-like ridges, a firm hard texture, and a pointed tip extending from the broader crown end.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9900586009025574,
33
+ "position": [
34
+ 0.010652113545802422,
35
+ -0.04597787465900183,
36
+ 0.08911924751009792
37
+ ],
38
+ "orientation": {
39
+ "w": 0.22974904789057893,
40
+ "xyz": [
41
+ -0.9722169660489494,
42
+ -0.011952654173470856,
43
+ 0.04320509203968913
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9898063540458679,
49
+ "position": [
50
+ 0.09468026908871252,
51
+ -0.02221744041889906,
52
+ 0.02680485078599304
53
+ ],
54
+ "orientation": {
55
+ "w": 0.6001524298369926,
56
+ "xyz": [
57
+ -0.02915496834334308,
58
+ -0.7993447362849969,
59
+ -0.0038783185946004283
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9896842241287231,
65
+ "position": [
66
+ 0.09405255022284109,
67
+ -0.01953072566539049,
68
+ 0.02602122479584068
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5998648723755912,
72
+ "xyz": [
73
+ -0.013746801343844922,
74
+ -0.7996947863007852,
75
+ -0.02148043542320717
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.9895102977752686,
81
+ "position": [
82
+ 0.09110121133562643,
83
+ -0.03862024378031492,
84
+ 0.021204433753155172
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6083446133144126,
88
+ "xyz": [
89
+ -0.1264522999338791,
90
+ -0.7721926733039022,
91
+ -0.1328349449073655
92
+ ]
93
+ }
94
+ },
95
+ "grasp_6": {
96
+ "confidence": 0.989314079284668,
97
+ "position": [
98
+ 0.09647562804457266,
99
+ -0.0022466061636805534,
100
+ -0.01930384209845215
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7778020686497095,
104
+ "xyz": [
105
+ 0.006886350242444474,
106
+ -0.6279566965399298,
107
+ -0.025434375463720692
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9892780780792236,
113
+ "position": [
114
+ 0.09445050808426458,
115
+ -0.018093264661729336,
116
+ 0.024999865680001676
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5977770581373179,
120
+ "xyz": [
121
+ 0.001997224537931791,
122
+ -0.8015696187847425,
123
+ -0.012031047341003872
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9892538785934448,
129
+ "position": [
130
+ -0.009902055535349064,
131
+ -0.04997467901557684,
132
+ 0.08814705105032772
133
+ ],
134
+ "orientation": {
135
+ "w": 0.2380830566386891,
136
+ "xyz": [
137
+ -0.9685898333248449,
138
+ -0.022512508548682336,
139
+ -0.06814235012217985
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.989154040813446,
145
+ "position": [
146
+ 0.09496704938646872,
147
+ -0.03344658296555281,
148
+ 0.019391055568121374
149
+ ],
150
+ "orientation": {
151
+ "w": 0.10099752504554906,
152
+ "xyz": [
153
+ -0.7793752839727897,
154
+ -0.012678563145322008,
155
+ 0.6182337104231513
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.9890585541725159,
161
+ "position": [
162
+ 0.0961638063454302,
163
+ -0.005272706039249897,
164
+ 0.0238620633026585
165
+ ],
166
+ "orientation": {
167
+ "w": 0.6136639059322808,
168
+ "xyz": [
169
+ -0.006207263195537835,
170
+ -0.7895338232212518,
171
+ -0.0037976873476995793
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9889695644378662,
177
+ "position": [
178
+ 0.008772064771619625,
179
+ -0.02102088276296854,
180
+ 0.09483280719723552
181
+ ],
182
+ "orientation": {
183
+ "w": 0.10618451142175783,
184
+ "xyz": [
185
+ -0.9935952171637871,
186
+ -0.0065454706231379695,
187
+ 0.03808609690807365
188
+ ]
189
+ }
190
+ },
191
+ "grasp_13": {
192
+ "confidence": 0.9888907670974731,
193
+ "position": [
194
+ 0.0005249735695542768,
195
+ -0.03166825603693724,
196
+ 0.0962541246553883
197
+ ],
198
+ "orientation": {
199
+ "w": 0.11059082075626708,
200
+ "xyz": [
201
+ -0.9938538294885179,
202
+ -0.004255588043944325,
203
+ -0.0024750648201014355
204
+ ]
205
+ }
206
+ },
207
+ "grasp_16": {
208
+ "confidence": 0.9886306524276733,
209
+ "position": [
210
+ 0.02586274484929163,
211
+ -0.022375731728971004,
212
+ 0.09094674827065319
213
+ ],
214
+ "orientation": {
215
+ "w": 0.14649381708568063,
216
+ "xyz": [
217
+ -0.9807243963980831,
218
+ 0.01428957116902066,
219
+ 0.12851080896597145
220
+ ]
221
+ }
222
+ },
223
+ "grasp_17": {
224
+ "confidence": 0.9886069893836975,
225
+ "position": [
226
+ 0.09685607704159338,
227
+ -0.028080671094357967,
228
+ 0.016068802564404905
229
+ ],
230
+ "orientation": {
231
+ "w": 0.6470836532158029,
232
+ "xyz": [
233
+ -0.04474581971277642,
234
+ -0.761078273391067,
235
+ -0.006357604202416208
236
+ ]
237
+ }
238
+ },
239
+ "grasp_19": {
240
+ "confidence": 0.988577127456665,
241
+ "position": [
242
+ 0.08927176597353537,
243
+ -0.003044777549803257,
244
+ 0.0442381197353825
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5226654861352862,
248
+ "xyz": [
249
+ 0.00824818400238836,
250
+ -0.8523761843250705,
251
+ -0.01440824274719938
252
+ ]
253
+ }
254
+ }
255
+ }
256
+ },
257
+ {
258
+ "part_name": "stem remnant tuft",
259
+ "mask_color": "Magenta",
260
+ "graspable": true,
261
+ "grasp_scenarios": [
262
+ {
263
+ "scenario": "delicately grasp the stem remnant tuft to orient the carrot",
264
+ "confidence": 0.34
265
+ },
266
+ {
267
+ "scenario": "lightly pull the carrot by the stem remnant during sorting",
268
+ "confidence": 0.26
269
+ }
270
+ ],
271
+ "functional_labels": [
272
+ "remaining stem attachment at root crown",
273
+ "indicate top end",
274
+ "provide a light pulling point",
275
+ "assist orientation"
276
+ ],
277
+ "semantic_description": "Small cluster of pale green to off-white slender stem remnants at the carrot top, with a matte fibrous surface, thin flexible strands, and a soft slightly rough texture.",
278
+ "id": 7,
279
+ "grasp_group": {
280
+ "grasp_35": {
281
+ "confidence": 0.8361529111862183,
282
+ "position": [
283
+ -0.02658566382888239,
284
+ 0.15399959404021502,
285
+ 0.019401415600441396
286
+ ],
287
+ "orientation": {
288
+ "w": 0.3237313950284663,
289
+ "xyz": [
290
+ 0.5158835538258819,
291
+ -0.5470452639530531,
292
+ 0.5742853140656093
293
+ ]
294
+ }
295
+ },
296
+ "grasp_38": {
297
+ "confidence": 0.8014495372772217,
298
+ "position": [
299
+ 0.032286730434861965,
300
+ 0.1419756831601262,
301
+ 0.017587871639989316
302
+ ],
303
+ "orientation": {
304
+ "w": 0.5805834891293203,
305
+ "xyz": [
306
+ 0.5151967683075149,
307
+ -0.5512832556341329,
308
+ 0.3059115462569994
309
+ ]
310
+ }
311
+ },
312
+ "grasp_39": {
313
+ "confidence": 0.7576320171356201,
314
+ "position": [
315
+ -0.0020908771984977648,
316
+ 0.1487060161307454,
317
+ 0.022187260328792036
318
+ ],
319
+ "orientation": {
320
+ "w": 0.3923829382114623,
321
+ "xyz": [
322
+ 0.4819015257670299,
323
+ -0.5930345363041398,
324
+ 0.5119732297830453
325
+ ]
326
+ }
327
+ }
328
+ }
329
+ }
330
+ ],
331
+ "quality_check": {
332
+ "success": true,
333
+ "message": "YES"
334
+ }
335
+ }
dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c71078787248d89e76710ea6075e2b226effe5ee283e99936600431d0dd515c7
3
+ size 3780384
dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/carrot_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>YES</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>YES</PartSegChecker>