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
40ca63b
·
verified ·
1 Parent(s): 695e677

Add asset food/ingredients/b290cd21abe852d8902cae9691d013bb

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/affordance/affordance_annot.json +554 -0
  3. dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6814,3 +6814,4 @@ dataset/food/ingredients/a63fcb3039d250cb9ab2492a99de7eb1/affordance/mesh_part_s
6814
  dataset/food/ingredients/a765d5abd9b8554ebcc1c2454322dd06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6815
  dataset/food/ingredients/ad3ea4287eea511f9d9f01435656ba26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6816
  dataset/food/ingredients/adb2835e642f511a89dd0954ad55c544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6814
  dataset/food/ingredients/a765d5abd9b8554ebcc1c2454322dd06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6815
  dataset/food/ingredients/ad3ea4287eea511f9d9f01435656ba26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6816
  dataset/food/ingredients/adb2835e642f511a89dd0954ad55c544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6817
+ dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,554 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "stem of mushroom",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the stem to pick up and move the mushroom",
10
+ "confidence": 0.8
11
+ },
12
+ {
13
+ "scenario": "hold the stem to stabilize or orient the mushroom during inspection",
14
+ "confidence": 0.76
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support the cap",
19
+ "connect cap to base",
20
+ "main grasp surface",
21
+ "provide structural core"
22
+ ],
23
+ "semantic_description": "Short thick stem with a bulbous rounded form, dark brown to cream food flesh, smooth slightly glossy surface, firm texture, and central position beneath the cap.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9865301847457886,
28
+ "position": [
29
+ 0.029372025848715566,
30
+ -0.08921784372068942,
31
+ -0.05229940265417099
32
+ ],
33
+ "orientation": {
34
+ "w": 0.8439990779529725,
35
+ "xyz": [
36
+ -0.5182904494937892,
37
+ -0.10799589577272262,
38
+ 0.08589210018567323
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9856591820716858,
44
+ "position": [
45
+ 0.019846305818646215,
46
+ -0.09539412171579897,
47
+ -0.05172983556985855
48
+ ],
49
+ "orientation": {
50
+ "w": 0.842497006057412,
51
+ "xyz": [
52
+ -0.528467069326877,
53
+ -0.03996987022444931,
54
+ 0.09655962352660417
55
+ ]
56
+ }
57
+ },
58
+ "grasp_7": {
59
+ "confidence": 0.9843873977661133,
60
+ "position": [
61
+ 0.016424606190412305,
62
+ -0.07436636299826205,
63
+ -0.08205492794513702
64
+ ],
65
+ "orientation": {
66
+ "w": 0.9123228679955583,
67
+ "xyz": [
68
+ -0.4031590524978489,
69
+ -0.036169251076146436,
70
+ 0.0618186719202742
71
+ ]
72
+ }
73
+ },
74
+ "grasp_8": {
75
+ "confidence": 0.9843871593475342,
76
+ "position": [
77
+ 0.02813680526742246,
78
+ -0.06911710114218295,
79
+ -0.08420935273170471
80
+ ],
81
+ "orientation": {
82
+ "w": 0.9051487256127227,
83
+ "xyz": [
84
+ -0.3996924282133975,
85
+ -0.08646462431724189,
86
+ 0.1160845213291597
87
+ ]
88
+ }
89
+ },
90
+ "grasp_9": {
91
+ "confidence": 0.9838496446609497,
92
+ "position": [
93
+ 0.010817941845743917,
94
+ -0.07507332623936236,
95
+ -0.08185899257659912
96
+ ],
97
+ "orientation": {
98
+ "w": 0.9130576613743852,
99
+ "xyz": [
100
+ -0.40633455225687637,
101
+ -0.0254305682746937,
102
+ 0.023900310562187405
103
+ ]
104
+ }
105
+ },
106
+ "grasp_10": {
107
+ "confidence": 0.9837216734886169,
108
+ "position": [
109
+ -0.06611783186963294,
110
+ -0.056420700857415795,
111
+ -0.06117560714483261
112
+ ],
113
+ "orientation": {
114
+ "w": 0.41482300542983963,
115
+ "xyz": [
116
+ 0.18466005823677045,
117
+ 0.4510313128253103,
118
+ 0.7683705433638287
119
+ ]
120
+ }
121
+ },
122
+ "grasp_11": {
123
+ "confidence": 0.9836595058441162,
124
+ "position": [
125
+ -0.06428287307790015,
126
+ -0.04046794609166682,
127
+ -0.07775171846151352
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7576123943849015,
131
+ "xyz": [
132
+ -0.37880181673210456,
133
+ 0.18549861981458693,
134
+ -0.49811936878796065
135
+ ]
136
+ }
137
+ },
138
+ "grasp_12": {
139
+ "confidence": 0.9835855960845947,
140
+ "position": [
141
+ 0.031480672405450605,
142
+ -0.09715625108219683,
143
+ -0.02936520427465439
144
+ ],
145
+ "orientation": {
146
+ "w": 0.7850438469328991,
147
+ "xyz": [
148
+ -0.5992540247759292,
149
+ -0.09452850652041311,
150
+ 0.12516043159747028
151
+ ]
152
+ }
153
+ },
154
+ "grasp_13": {
155
+ "confidence": 0.9835392236709595,
156
+ "position": [
157
+ -0.058649313999922015,
158
+ -0.07947493554092944,
159
+ -0.0369001068174839
160
+ ],
161
+ "orientation": {
162
+ "w": 0.744937398941399,
163
+ "xyz": [
164
+ -0.5714622484376943,
165
+ 0.1497749403444013,
166
+ -0.30994618486728964
167
+ ]
168
+ }
169
+ },
170
+ "grasp_14": {
171
+ "confidence": 0.9832080006599426,
172
+ "position": [
173
+ -0.06421569864323828,
174
+ -0.08232370973564684,
175
+ -0.03363264352083206
176
+ ],
177
+ "orientation": {
178
+ "w": 0.7550226928089526,
179
+ "xyz": [
180
+ -0.5696913732393288,
181
+ 0.21397478495084055,
182
+ -0.24414598912422783
183
+ ]
184
+ }
185
+ },
186
+ "grasp_15": {
187
+ "confidence": 0.9830096364021301,
188
+ "position": [
189
+ -0.05752790476253722,
190
+ -0.0846802017185837,
191
+ -0.02559519186615944
192
+ ],
193
+ "orientation": {
194
+ "w": 0.7255487966827815,
195
+ "xyz": [
196
+ -0.621114397675847,
197
+ 0.1753714435107916,
198
+ -0.23883196066037546
199
+ ]
200
+ }
201
+ },
202
+ "grasp_16": {
203
+ "confidence": 0.9829591512680054,
204
+ "position": [
205
+ -0.0703836096363375,
206
+ -0.07079988182522357,
207
+ -0.02820761501789093
208
+ ],
209
+ "orientation": {
210
+ "w": 0.7462618646635006,
211
+ "xyz": [
212
+ -0.5425832364810285,
213
+ 0.24092659705668407,
214
+ -0.3010831042576346
215
+ ]
216
+ }
217
+ },
218
+ "grasp_19": {
219
+ "confidence": 0.9824434518814087,
220
+ "position": [
221
+ 0.03689183910319116,
222
+ -0.08205263526178896,
223
+ -0.05574657768011093
224
+ ],
225
+ "orientation": {
226
+ "w": 0.8577909323361044,
227
+ "xyz": [
228
+ -0.47973943708808103,
229
+ -0.12755751690828665,
230
+ 0.1333186738028847
231
+ ]
232
+ }
233
+ }
234
+ }
235
+ },
236
+ {
237
+ "part_name": "cap",
238
+ "mask_color": "Green",
239
+ "graspable": true,
240
+ "grasp_scenarios": [
241
+ {
242
+ "scenario": "grasp the cap from the sides to pick up the mushroom",
243
+ "confidence": 0.63
244
+ },
245
+ {
246
+ "scenario": "hold the cap to stabilize the mushroom during placement",
247
+ "confidence": 0.58
248
+ }
249
+ ],
250
+ "functional_labels": [
251
+ "cover the underside",
252
+ "protect spore-bearing area",
253
+ "provide top surface",
254
+ "define overall mushroom shape"
255
+ ],
256
+ "semantic_description": "Large domed tan cap with a matte to slightly satin finish, dry smooth surface, visible crackled patches on top, and a broad rounded shape forming the upper portion of the mushroom.",
257
+ "id": 1,
258
+ "grasp_group": {
259
+ "grasp_20": {
260
+ "confidence": 0.9762725234031677,
261
+ "position": [
262
+ 0.051112531320541166,
263
+ 0.0570884698536247,
264
+ 0.0921935886144638
265
+ ],
266
+ "orientation": {
267
+ "w": 0.1291081942116302,
268
+ "xyz": [
269
+ -0.354281705118871,
270
+ -0.8558443143040366,
271
+ 0.3540424512384511
272
+ ]
273
+ }
274
+ },
275
+ "grasp_21": {
276
+ "confidence": 0.9743821620941162,
277
+ "position": [
278
+ -0.008009700934053399,
279
+ -0.0026687677018344402,
280
+ 0.11698924005031586
281
+ ],
282
+ "orientation": {
283
+ "w": 0.04488957030601383,
284
+ "xyz": [
285
+ 0.1985041705220941,
286
+ 0.9788170228143033,
287
+ 0.02232166239375922
288
+ ]
289
+ }
290
+ },
291
+ "grasp_23": {
292
+ "confidence": 0.9735218286514282,
293
+ "position": [
294
+ -0.0038122438272694126,
295
+ -0.011069941567257047,
296
+ 0.11789826303720474
297
+ ],
298
+ "orientation": {
299
+ "w": 0.03510476295530239,
300
+ "xyz": [
301
+ -0.9825801820781529,
302
+ 0.18228620545990498,
303
+ -0.008693716359840288
304
+ ]
305
+ }
306
+ },
307
+ "grasp_24": {
308
+ "confidence": 0.9734117984771729,
309
+ "position": [
310
+ 0.007554876719950698,
311
+ -0.010239319177344441,
312
+ 0.12009607255458832
313
+ ],
314
+ "orientation": {
315
+ "w": 0.042944528218504245,
316
+ "xyz": [
317
+ -0.05191565529436149,
318
+ -0.9976109948819685,
319
+ -0.015258935810075478
320
+ ]
321
+ }
322
+ },
323
+ "grasp_25": {
324
+ "confidence": 0.9732910990715027,
325
+ "position": [
326
+ 0.018066421718685888,
327
+ 0.013005872955545783,
328
+ 0.11714620143175125
329
+ ],
330
+ "orientation": {
331
+ "w": 0.08063013250540646,
332
+ "xyz": [
333
+ -0.0874724682744906,
334
+ -0.9906046278098739,
335
+ 0.06745235642874363
336
+ ]
337
+ }
338
+ },
339
+ "grasp_26": {
340
+ "confidence": 0.9731674194335938,
341
+ "position": [
342
+ 0.003405508221476339,
343
+ -0.008333799662068486,
344
+ 0.11980221420526505
345
+ ],
346
+ "orientation": {
347
+ "w": 0.037222083409517485,
348
+ "xyz": [
349
+ -0.9846778388542066,
350
+ -0.17024823694064986,
351
+ 0.00629348827475493
352
+ ]
353
+ }
354
+ },
355
+ "grasp_27": {
356
+ "confidence": 0.9730222821235657,
357
+ "position": [
358
+ 0.005694206905900501,
359
+ -0.0027806840371340513,
360
+ 0.11757265031337738
361
+ ],
362
+ "orientation": {
363
+ "w": 0.03229433325397514,
364
+ "xyz": [
365
+ -0.2949338900503536,
366
+ -0.9548142301530559,
367
+ 0.01734538661070622
368
+ ]
369
+ }
370
+ },
371
+ "grasp_28": {
372
+ "confidence": 0.9725004434585571,
373
+ "position": [
374
+ 0.019960694582550786,
375
+ 0.058381752809509635,
376
+ 0.09939220547676086
377
+ ],
378
+ "orientation": {
379
+ "w": 0.04354787721719005,
380
+ "xyz": [
381
+ -0.20402200748828098,
382
+ -0.929461482836454,
383
+ 0.3042695429611519
384
+ ]
385
+ }
386
+ },
387
+ "grasp_29": {
388
+ "confidence": 0.9724212884902954,
389
+ "position": [
390
+ 0.06225843598076608,
391
+ 0.07642955868504941,
392
+ 0.06445351615548134
393
+ ],
394
+ "orientation": {
395
+ "w": 0.18025916767288594,
396
+ "xyz": [
397
+ -0.2811129998390314,
398
+ -0.8045415151280368,
399
+ 0.4911161412811246
400
+ ]
401
+ }
402
+ },
403
+ "grasp_30": {
404
+ "confidence": 0.9722446203231812,
405
+ "position": [
406
+ 0.04558530320355203,
407
+ 0.040340853622183204,
408
+ 0.10038086771965027
409
+ ],
410
+ "orientation": {
411
+ "w": 0.10117318088102914,
412
+ "xyz": [
413
+ -0.4627174941129478,
414
+ -0.839467049961556,
415
+ 0.266367378147347
416
+ ]
417
+ }
418
+ },
419
+ "grasp_31": {
420
+ "confidence": 0.9715641140937805,
421
+ "position": [
422
+ 0.04806128014752176,
423
+ 0.033962214132770896,
424
+ 0.1002042219042778
425
+ ],
426
+ "orientation": {
427
+ "w": 0.12658490156553973,
428
+ "xyz": [
429
+ -0.45891917644890107,
430
+ -0.8411675757614735,
431
+ 0.25652789647652563
432
+ ]
433
+ }
434
+ },
435
+ "grasp_32": {
436
+ "confidence": 0.9715356230735779,
437
+ "position": [
438
+ 0.00470222310104873,
439
+ -0.004829364130273461,
440
+ 0.11922018229961395
441
+ ],
442
+ "orientation": {
443
+ "w": 0.030363496473670655,
444
+ "xyz": [
445
+ 0.15197057455821228,
446
+ -0.9878510537486602,
447
+ -0.011545482146795282
448
+ ]
449
+ }
450
+ },
451
+ "grasp_33": {
452
+ "confidence": 0.9714798331260681,
453
+ "position": [
454
+ 0.0020740855106851086,
455
+ -0.014516813913360238,
456
+ 0.11609167605638504
457
+ ],
458
+ "orientation": {
459
+ "w": 0.05309012116097408,
460
+ "xyz": [
461
+ -0.9876922326509247,
462
+ -0.1471167907559995,
463
+ 0.001463719167079709
464
+ ]
465
+ }
466
+ },
467
+ "grasp_34": {
468
+ "confidence": 0.9710695743560791,
469
+ "position": [
470
+ -0.02338800522556994,
471
+ 0.07279410003684461,
472
+ 0.09017682820558548
473
+ ],
474
+ "orientation": {
475
+ "w": 0.07711348267477812,
476
+ "xyz": [
477
+ -0.12318024739706807,
478
+ 0.9228029803479314,
479
+ -0.3568119909727514
480
+ ]
481
+ }
482
+ },
483
+ "grasp_35": {
484
+ "confidence": 0.9703090786933899,
485
+ "position": [
486
+ 0.04893896226712968,
487
+ 0.07155552296899259,
488
+ 0.08215124905109406
489
+ ],
490
+ "orientation": {
491
+ "w": 0.11728168618903292,
492
+ "xyz": [
493
+ -0.3112952481789735,
494
+ -0.8331879676541176,
495
+ 0.44174436623713714
496
+ ]
497
+ }
498
+ },
499
+ "grasp_37": {
500
+ "confidence": 0.9692316651344299,
501
+ "position": [
502
+ 0.04561934118100908,
503
+ 0.01989767304621637,
504
+ 0.10517844557762146
505
+ ],
506
+ "orientation": {
507
+ "w": 0.15692439103611286,
508
+ "xyz": [
509
+ -0.4880577873738896,
510
+ -0.830602431302438,
511
+ 0.21742569488477462
512
+ ]
513
+ }
514
+ },
515
+ "grasp_38": {
516
+ "confidence": 0.968890905380249,
517
+ "position": [
518
+ 0.03196407725044992,
519
+ -0.06994959921576083,
520
+ 0.0898357704281807
521
+ ],
522
+ "orientation": {
523
+ "w": 0.36144799430116376,
524
+ "xyz": [
525
+ -0.9191610030142796,
526
+ -0.07552724692715479,
527
+ 0.1370913305977237
528
+ ]
529
+ }
530
+ },
531
+ "grasp_39": {
532
+ "confidence": 0.9681226015090942,
533
+ "position": [
534
+ -0.02259961458912585,
535
+ -0.04190040589310229,
536
+ 0.10548973083496094
537
+ ],
538
+ "orientation": {
539
+ "w": 0.08718477370443081,
540
+ "xyz": [
541
+ 0.14588890325640919,
542
+ 0.9552953525168589,
543
+ 0.24192154224136359
544
+ ]
545
+ }
546
+ }
547
+ }
548
+ }
549
+ ],
550
+ "quality_check": {
551
+ "success": true,
552
+ "message": "YES"
553
+ }
554
+ }
dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11319d5dfaf679b9715b36eca7d6fb5117e035d57b11404b71e70fc2b317664d
3
+ size 3415624