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
4ad7e63
·
verified ·
1 Parent(s): c51efaf

Add asset food/beverages/bbd93f72d6f251a6abd1747350d5c3d3

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/affordance/affordance_annot.json +471 -0
  3. dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6736,3 +6736,4 @@ dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/affordance/mesh_part_seg
6736
  dataset/food/beverages/aa5b8e75dfc65ba0b57efd6e83dd467a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6737
  dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6738
  dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6736
  dataset/food/beverages/aa5b8e75dfc65ba0b57efd6e83dd467a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6737
  dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6738
  dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6739
+ dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/affordance/affordance_annot.json ADDED
@@ -0,0 +1,471 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "can body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical sidewall to pick up the can",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the can during opening",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "side grasp the body to reposition or place the can",
18
+ "confidence": 0.95
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain beverage",
24
+ "support exterior labeling or branding",
25
+ "provide structural shell"
26
+ ],
27
+ "semantic_description": "Tall black aluminum cylindrical body with a smooth slightly reflective hard surface, slightly tapered profile, large central size, and minimal visible graphics in these views.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_9": {
31
+ "confidence": 0.966452419757843,
32
+ "position": [
33
+ 0.10586219606921077,
34
+ -0.013983222015667707,
35
+ -0.011083662044256926
36
+ ],
37
+ "orientation": {
38
+ "w": 0.530001514829265,
39
+ "xyz": [
40
+ -0.5385751839834633,
41
+ -0.4603971972970602,
42
+ 0.4659072721012993
43
+ ]
44
+ }
45
+ },
46
+ "grasp_10": {
47
+ "confidence": 0.961025595664978,
48
+ "position": [
49
+ 0.1062154802493751,
50
+ -0.010297082655597478,
51
+ -0.025831173174083233
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5145410293364414,
55
+ "xyz": [
56
+ -0.5290802875024153,
57
+ -0.4751872089825343,
58
+ 0.47908109430987345
59
+ ]
60
+ }
61
+ },
62
+ "grasp_11": {
63
+ "confidence": 0.9603326916694641,
64
+ "position": [
65
+ 0.10580700961872935,
66
+ -0.02488559513585642,
67
+ -0.017237265594303608
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5538683943728324,
71
+ "xyz": [
72
+ -0.5535993181879149,
73
+ -0.44448544520390554,
74
+ 0.43496009658200047
75
+ ]
76
+ }
77
+ },
78
+ "grasp_12": {
79
+ "confidence": 0.9599828124046326,
80
+ "position": [
81
+ -0.1068485346622765,
82
+ -0.015281645872164518,
83
+ -0.0152031434699893
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5345399596109818,
87
+ "xyz": [
88
+ -0.5286108424258225,
89
+ 0.46706604202300184,
90
+ -0.46549642451679424
91
+ ]
92
+ }
93
+ },
94
+ "grasp_13": {
95
+ "confidence": 0.9597868323326111,
96
+ "position": [
97
+ 0.10372120467945933,
98
+ -0.02690804220037535,
99
+ -0.030272028408944607
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5534366174886749,
103
+ "xyz": [
104
+ -0.5628943540470454,
105
+ -0.42582759703802653,
106
+ 0.4421862890292664
107
+ ]
108
+ }
109
+ },
110
+ "grasp_14": {
111
+ "confidence": 0.9595082402229309,
112
+ "position": [
113
+ 0.10467177210375667,
114
+ -0.013735331885982305,
115
+ -0.019710282795131207
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5230756970434757,
119
+ "xyz": [
120
+ -0.5367121601772724,
121
+ -0.46493365721038415,
122
+ 0.4713476070516381
123
+ ]
124
+ }
125
+ },
126
+ "grasp_15": {
127
+ "confidence": 0.9586641192436218,
128
+ "position": [
129
+ -0.10604303004220128,
130
+ -0.002476074791047722,
131
+ -0.015137293376028538
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5074534002280442,
135
+ "xyz": [
136
+ -0.5057055225746426,
137
+ 0.4958084335872004,
138
+ -0.4908431197626295
139
+ ]
140
+ }
141
+ },
142
+ "grasp_16": {
143
+ "confidence": 0.9574845433235168,
144
+ "position": [
145
+ -0.10755608649924397,
146
+ 0.0059434177237562835,
147
+ -0.01915445365011692
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5177514599035726,
151
+ "xyz": [
152
+ 0.5181697445075156,
153
+ 0.4851310585673855,
154
+ 0.4775786821645451
155
+ ]
156
+ }
157
+ },
158
+ "grasp_17": {
159
+ "confidence": 0.9571964144706726,
160
+ "position": [
161
+ -0.10700200172141194,
162
+ -0.0025678356760181487,
163
+ -0.015660560689866543
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5130074537806969,
167
+ "xyz": [
168
+ -0.49323019855600286,
169
+ 0.4996916764242527,
170
+ -0.4938173266605504
171
+ ]
172
+ }
173
+ },
174
+ "grasp_18": {
175
+ "confidence": 0.9568358659744263,
176
+ "position": [
177
+ -0.10334755899384618,
178
+ -0.030963687517214566,
179
+ -0.018453377299010754
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5633559367827696,
183
+ "xyz": [
184
+ -0.5659559964815071,
185
+ 0.4252674235287073,
186
+ -0.4259947382579832
187
+ ]
188
+ }
189
+ },
190
+ "grasp_19": {
191
+ "confidence": 0.9566428661346436,
192
+ "position": [
193
+ 0.10601438162848353,
194
+ -0.020622516341973096,
195
+ -0.002901235595345497
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5400423433573157,
199
+ "xyz": [
200
+ -0.5541852641391299,
201
+ -0.44813395563304737,
202
+ 0.44767054649692944
203
+ ]
204
+ }
205
+ },
206
+ "grasp_20": {
207
+ "confidence": 0.9555750489234924,
208
+ "position": [
209
+ -0.10864624055102468,
210
+ -0.0020165583700872958,
211
+ -0.024358741007745266
212
+ ],
213
+ "orientation": {
214
+ "w": 0.507564177363612,
215
+ "xyz": [
216
+ -0.4940566223107006,
217
+ 0.49944817554297116,
218
+ -0.4988368267830057
219
+ ]
220
+ }
221
+ },
222
+ "grasp_21": {
223
+ "confidence": 0.9555193185806274,
224
+ "position": [
225
+ 0.10639919666573405,
226
+ -0.016148906492162496,
227
+ 0.001363898627460003
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5276476465252561,
231
+ "xyz": [
232
+ -0.5451314350734774,
233
+ -0.46245469343517,
234
+ 0.4588630908352431
235
+ ]
236
+ }
237
+ },
238
+ "grasp_22": {
239
+ "confidence": 0.9547373652458191,
240
+ "position": [
241
+ 0.10691386042162776,
242
+ 0.015135671652387828,
243
+ -0.02120295073837042
244
+ ],
245
+ "orientation": {
246
+ "w": 0.46638793926993505,
247
+ "xyz": [
248
+ -0.46523522384769056,
249
+ -0.5381423901720356,
250
+ 0.5257768010238391
251
+ ]
252
+ }
253
+ },
254
+ "grasp_23": {
255
+ "confidence": 0.9547309875488281,
256
+ "position": [
257
+ 0.10845920024439692,
258
+ -0.01925458974437788,
259
+ -0.034827723167836666
260
+ ],
261
+ "orientation": {
262
+ "w": 0.5387369955193074,
263
+ "xyz": [
264
+ -0.542981543151617,
265
+ -0.4542135048176287,
266
+ 0.4567533092346511
267
+ ]
268
+ }
269
+ },
270
+ "grasp_24": {
271
+ "confidence": 0.9543096423149109,
272
+ "position": [
273
+ 0.10659882752224803,
274
+ -0.0036268651601858437,
275
+ -0.014466027729213238
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4914594889832565,
279
+ "xyz": [
280
+ 0.4820781838259461,
281
+ -0.49876168746202354,
282
+ -0.526597545082987
283
+ ]
284
+ }
285
+ },
286
+ "grasp_25": {
287
+ "confidence": 0.954056441783905,
288
+ "position": [
289
+ -0.10735803516581655,
290
+ 0.0015340280951932073,
291
+ -0.02918084617704153
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5001701027532232,
295
+ "xyz": [
296
+ -0.4868028478837975,
297
+ 0.5060012557614423,
298
+ -0.5067697551866112
299
+ ]
300
+ }
301
+ },
302
+ "grasp_26": {
303
+ "confidence": 0.9540072679519653,
304
+ "position": [
305
+ -0.10945085110142827,
306
+ 0.00866190780652687,
307
+ -0.02656563837081194
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5244466453778903,
311
+ "xyz": [
312
+ 0.5236011975835098,
313
+ 0.47608584069969206,
314
+ 0.4734340232030846
315
+ ]
316
+ }
317
+ },
318
+ "grasp_27": {
319
+ "confidence": 0.9538444876670837,
320
+ "position": [
321
+ -0.10567249031737447,
322
+ -0.020747905888129026,
323
+ -0.004488186212256551
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5384252330647472,
327
+ "xyz": [
328
+ -0.5469248595297911,
329
+ 0.453452354090754,
330
+ -0.4531582824985601
331
+ ]
332
+ }
333
+ },
334
+ "grasp_28": {
335
+ "confidence": 0.9531232118606567,
336
+ "position": [
337
+ -0.10647754790261388,
338
+ -0.002197018882725388,
339
+ -0.024909374304115772
340
+ ],
341
+ "orientation": {
342
+ "w": 0.4984166165492913,
343
+ "xyz": [
344
+ 0.49931626712704436,
345
+ 0.5048968915807618,
346
+ 0.4973361746363878
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "top lid",
354
+ "mask_color": "Yellow",
355
+ "graspable": false,
356
+ "grasp_scenarios": [],
357
+ "functional_labels": [
358
+ "seal the beverage opening",
359
+ "support the pull tab",
360
+ "provide drinking opening area",
361
+ "close the container"
362
+ ],
363
+ "semantic_description": "Silver metallic can lid with a reflective smooth hard finish, circular shallow-domed shape at the top, and embossed opening features around the tab mount.",
364
+ "id": 3,
365
+ "grasp_group": {}
366
+ },
367
+ {
368
+ "part_name": "pull tab",
369
+ "mask_color": "Red",
370
+ "graspable": true,
371
+ "grasp_scenarios": [
372
+ {
373
+ "scenario": "hook or pinch the tab to open the can",
374
+ "confidence": 0.89
375
+ },
376
+ {
377
+ "scenario": "grasp the raised tab to rotate it for puncturing the lid",
378
+ "confidence": 0.83
379
+ },
380
+ {
381
+ "scenario": "delicately pinch the tab for inspection or manipulation",
382
+ "confidence": 0.54
383
+ }
384
+ ],
385
+ "functional_labels": [
386
+ "open the can",
387
+ "provide a lifting point",
388
+ "transfer force to puncture the lid",
389
+ "indicate opening mechanism"
390
+ ],
391
+ "semantic_description": "Small silver aluminum ring-pull tab with a smooth reflective finish, flat oval shape, and hinged placement on the lid top for opening the can.",
392
+ "id": 0,
393
+ "grasp_group": {}
394
+ },
395
+ {
396
+ "part_name": "drinking opening",
397
+ "mask_color": "Orange",
398
+ "graspable": false,
399
+ "grasp_scenarios": [],
400
+ "functional_labels": [
401
+ "dispense beverage",
402
+ "allow drinking",
403
+ "vent liquid flow",
404
+ "provide access to contents"
405
+ ],
406
+ "semantic_description": "Small recessed opening area on the silver lid, formed in thin aluminum with a smooth hard edge and positioned beside the pull tab at the can top.",
407
+ "id": 4,
408
+ "grasp_group": {}
409
+ },
410
+ {
411
+ "part_name": "score panel of lid",
412
+ "mask_color": "Blue",
413
+ "graspable": false,
414
+ "grasp_scenarios": [],
415
+ "functional_labels": [
416
+ "weaken lid for opening",
417
+ "define tear path",
418
+ "enable puncture by tab"
419
+ ],
420
+ "semantic_description": "Small shaped scored panel on the silver lid near the tab, smooth metallic and flush with the surface, marking the section that folds inward when opened.",
421
+ "id": 2,
422
+ "grasp_group": {}
423
+ },
424
+ {
425
+ "part_name": "top rim",
426
+ "mask_color": "Purple",
427
+ "graspable": false,
428
+ "grasp_scenarios": [],
429
+ "functional_labels": [
430
+ "stiffen the lid edge",
431
+ "join lid to body",
432
+ "define top boundary"
433
+ ],
434
+ "semantic_description": "Narrow circular rolled rim of silver aluminum around the lid edge, smooth and slightly raised, encircling the can top where the lid meets the body.",
435
+ "id": 5,
436
+ "grasp_group": {}
437
+ },
438
+ {
439
+ "part_name": "bottom base",
440
+ "mask_color": "Cyan",
441
+ "graspable": false,
442
+ "grasp_scenarios": [],
443
+ "functional_labels": [
444
+ "support standing",
445
+ "stabilize the can on surfaces",
446
+ "close the bottom of the container"
447
+ ],
448
+ "semantic_description": "Circular silver aluminum base with a smooth slightly concave underside, hard reflective finish, and broad placement at the bottom for stable support.",
449
+ "id": 6,
450
+ "grasp_group": {}
451
+ },
452
+ {
453
+ "part_name": "tab rivet",
454
+ "mask_color": "Magenta",
455
+ "graspable": false,
456
+ "grasp_scenarios": [],
457
+ "functional_labels": [
458
+ "anchor the pull tab",
459
+ "act as pivot point",
460
+ "connect tab to lid"
461
+ ],
462
+ "semantic_description": "Tiny circular metal rivet on the lid top, silver and reflective with a smooth hard finish, centered within the pull-tab assembly as its attachment point.",
463
+ "id": 7,
464
+ "grasp_group": {}
465
+ }
466
+ ],
467
+ "quality_check": {
468
+ "success": false,
469
+ "message": "Blue score panel part is not present as a distinct mask segment; it duplicates orange opening region."
470
+ }
471
+ }
dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22de14a39399bbd915b1a906d0b5fd2e93a29c3e8b0a609495697465460b53e5
3
+ size 3784044