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
608fdaa
·
verified ·
1 Parent(s): 3aa569c

Add asset food/beverages/b154cc663fd05343822e1b382dab40a1

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/food/beverages/b154cc663fd05343822e1b382dab40a1/affordance/affordance_annot.json +459 -0
  3. dataset/food/beverages/b154cc663fd05343822e1b382dab40a1/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6734,4 +6734,4 @@ dataset/food/beverages/9044112657245b92924b802a8f6d737b/affordance/mesh_part_seg
6734
  dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6735
  dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/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
 
6734
  dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6735
  dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/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/b154cc663fd05343822e1b382dab40a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/beverages/b154cc663fd05343822e1b382dab40a1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,459 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pull tab",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the pull tab to open the can",
10
+ "confidence": 0.91
11
+ },
12
+ {
13
+ "scenario": "grasp the tab lightly to orient the can top before opening",
14
+ "confidence": 0.38
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "open the can",
19
+ "lift the scored lid panel",
20
+ "provide a leverage point",
21
+ "indicate opening mechanism"
22
+ ],
23
+ "semantic_description": "Small silver aluminum ring tab with a reflective smooth hard surface, mounted on the can top near the opening area and shaped as a thin oval lever.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_4": {
27
+ "confidence": 0.3827430307865143,
28
+ "position": [
29
+ -0.03921220055781305,
30
+ 0.031516405317233875,
31
+ 0.11681645829230547
32
+ ],
33
+ "orientation": {
34
+ "w": 0.22869648268734077,
35
+ "xyz": [
36
+ 0.7657589965139153,
37
+ 0.5936599113953671,
38
+ 0.0942283803664559
39
+ ]
40
+ }
41
+ },
42
+ "grasp_8": {
43
+ "confidence": 0.4040716290473938,
44
+ "position": [
45
+ -0.0391386931296438,
46
+ -0.0025527737743686885,
47
+ 0.12318646628409624
48
+ ],
49
+ "orientation": {
50
+ "w": 0.15213003189660307,
51
+ "xyz": [
52
+ 0.651654817121424,
53
+ 0.7268488689666889,
54
+ 0.15457417119113895
55
+ ]
56
+ }
57
+ }
58
+ }
59
+ },
60
+ {
61
+ "part_name": "can body",
62
+ "mask_color": "Green",
63
+ "graspable": true,
64
+ "grasp_scenarios": [
65
+ {
66
+ "scenario": "grasp the cylindrical body to pick up the can",
67
+ "confidence": 0.97
68
+ },
69
+ {
70
+ "scenario": "hold the body to carry and place the can",
71
+ "confidence": 0.96
72
+ },
73
+ {
74
+ "scenario": "stabilize the can by the side while another tool opens the tab",
75
+ "confidence": 0.81
76
+ }
77
+ ],
78
+ "functional_labels": [
79
+ "contain the beverage",
80
+ "main grasp surface",
81
+ "support lifting and carrying",
82
+ "provide structural shell",
83
+ "display product branding"
84
+ ],
85
+ "semantic_description": "Tall red aluminum cylinder with a glossy printed label band, hard smooth sides, visible white Coca-Cola style graphics, and minor worn scuffs around the exterior.",
86
+ "id": 1,
87
+ "grasp_group": {
88
+ "grasp_11": {
89
+ "confidence": 0.9824941754341125,
90
+ "position": [
91
+ -0.043272766983136535,
92
+ -0.09385800870950334,
93
+ 0.00906185619533062
94
+ ],
95
+ "orientation": {
96
+ "w": 0.1525855009480162,
97
+ "xyz": [
98
+ 0.16874062323374156,
99
+ 0.7193467580867816,
100
+ 0.6563417620425873
101
+ ]
102
+ }
103
+ },
104
+ "grasp_12": {
105
+ "confidence": 0.9817870855331421,
106
+ "position": [
107
+ -0.033729798858985305,
108
+ -0.09704975548083894,
109
+ -0.011919507291167974
110
+ ],
111
+ "orientation": {
112
+ "w": 0.7157571552019003,
113
+ "xyz": [
114
+ -0.6735728596671022,
115
+ 0.10458605862255144,
116
+ -0.15183232145681372
117
+ ]
118
+ }
119
+ },
120
+ "grasp_13": {
121
+ "confidence": 0.9817356467247009,
122
+ "position": [
123
+ -0.03004459827207029,
124
+ -0.10035395386512391,
125
+ 0.00013112416490912437
126
+ ],
127
+ "orientation": {
128
+ "w": 0.09805675836249138,
129
+ "xyz": [
130
+ 0.119965616162965,
131
+ 0.7161862941962645,
132
+ 0.6804927002426271
133
+ ]
134
+ }
135
+ },
136
+ "grasp_14": {
137
+ "confidence": 0.9806483387947083,
138
+ "position": [
139
+ -0.015435246517881751,
140
+ -0.0990237942605745,
141
+ 0.0012518777512013912
142
+ ],
143
+ "orientation": {
144
+ "w": 0.7038889372253455,
145
+ "xyz": [
146
+ -0.7048354570778849,
147
+ 0.04709418828627987,
148
+ -0.0743604728820348
149
+ ]
150
+ }
151
+ },
152
+ "grasp_15": {
153
+ "confidence": 0.9803255796432495,
154
+ "position": [
155
+ -0.09651572606526315,
156
+ -0.024823566403938457,
157
+ -0.010070673190057278
158
+ ],
159
+ "orientation": {
160
+ "w": 0.5462008099504984,
161
+ "xyz": [
162
+ -0.5627949662237319,
163
+ 0.43037841021020373,
164
+ -0.4468790946414756
165
+ ]
166
+ }
167
+ },
168
+ "grasp_16": {
169
+ "confidence": 0.9799728989601135,
170
+ "position": [
171
+ -0.0974524503108114,
172
+ -0.021983166661811993,
173
+ -0.006579420063644648
174
+ ],
175
+ "orientation": {
176
+ "w": 0.5417397564528011,
177
+ "xyz": [
178
+ -0.5477419286344295,
179
+ 0.44442627910696453,
180
+ -0.4571455986154017
181
+ ]
182
+ }
183
+ },
184
+ "grasp_17": {
185
+ "confidence": 0.9796774983406067,
186
+ "position": [
187
+ -0.04214140377007425,
188
+ -0.09620871904189698,
189
+ -0.0027490255888551474
190
+ ],
191
+ "orientation": {
192
+ "w": 0.6776022689919405,
193
+ "xyz": [
194
+ -0.7059315519621575,
195
+ 0.14037789404911583,
196
+ -0.15102932120488557
197
+ ]
198
+ }
199
+ },
200
+ "grasp_18": {
201
+ "confidence": 0.9796531200408936,
202
+ "position": [
203
+ -0.10133308521471918,
204
+ -0.0020129030745010823,
205
+ -0.016716078855097294
206
+ ],
207
+ "orientation": {
208
+ "w": 0.5058212225726915,
209
+ "xyz": [
210
+ -0.5033144535437639,
211
+ 0.48571363226181463,
212
+ -0.504877924932399
213
+ ]
214
+ }
215
+ },
216
+ "grasp_19": {
217
+ "confidence": 0.9794666767120361,
218
+ "position": [
219
+ -0.05570811382494867,
220
+ -0.08709926667506807,
221
+ -0.01701369322836399
222
+ ],
223
+ "orientation": {
224
+ "w": 0.7044921325363491,
225
+ "xyz": [
226
+ -0.6477768075050547,
227
+ 0.2214512701384337,
228
+ -0.18717739662421945
229
+ ]
230
+ }
231
+ },
232
+ "grasp_20": {
233
+ "confidence": 0.9793112874031067,
234
+ "position": [
235
+ -0.05837253457866609,
236
+ -0.0834423950582277,
237
+ -0.011180829256772995
238
+ ],
239
+ "orientation": {
240
+ "w": 0.6856536335848317,
241
+ "xyz": [
242
+ -0.6575338806397291,
243
+ 0.22525835964048457,
244
+ -0.21630294028249786
245
+ ]
246
+ }
247
+ },
248
+ "grasp_21": {
249
+ "confidence": 0.9789916276931763,
250
+ "position": [
251
+ -0.04189459211193025,
252
+ -0.09164190056617372,
253
+ -0.009831736329942942
254
+ ],
255
+ "orientation": {
256
+ "w": 0.689989096642178,
257
+ "xyz": [
258
+ -0.6868375127664057,
259
+ 0.16054597246272606,
260
+ -0.16246312904091825
261
+ ]
262
+ }
263
+ },
264
+ "grasp_22": {
265
+ "confidence": 0.9789264798164368,
266
+ "position": [
267
+ -0.0238554363604635,
268
+ -0.0978471687703859,
269
+ 0.008261119946837425
270
+ ],
271
+ "orientation": {
272
+ "w": 0.6970612477847852,
273
+ "xyz": [
274
+ -0.7079037929939176,
275
+ 0.08079350132793672,
276
+ -0.0803134287944127
277
+ ]
278
+ }
279
+ },
280
+ "grasp_23": {
281
+ "confidence": 0.9788309931755066,
282
+ "position": [
283
+ -0.08267194381915033,
284
+ -0.0547415888577234,
285
+ 0.007443292997777462
286
+ ],
287
+ "orientation": {
288
+ "w": 0.5850202715132431,
289
+ "xyz": [
290
+ -0.6467473863059439,
291
+ 0.3651275953143882,
292
+ -0.3258081327483005
293
+ ]
294
+ }
295
+ },
296
+ "grasp_24": {
297
+ "confidence": 0.9788116812705994,
298
+ "position": [
299
+ -0.018083344912156463,
300
+ -0.10217155280406587,
301
+ -0.005232137045823038
302
+ ],
303
+ "orientation": {
304
+ "w": 0.7012830574219671,
305
+ "xyz": [
306
+ -0.7071372119433019,
307
+ 0.06693299098783811,
308
+ -0.06065485615656514
309
+ ]
310
+ }
311
+ },
312
+ "grasp_25": {
313
+ "confidence": 0.9787429571151733,
314
+ "position": [
315
+ -0.09613877884112298,
316
+ 0.0246012048155535,
317
+ -0.01694985292851925
318
+ ],
319
+ "orientation": {
320
+ "w": 0.5632216496312817,
321
+ "xyz": [
322
+ 0.5461906992688836,
323
+ 0.4388866950767636,
324
+ 0.4379903678203225
325
+ ]
326
+ }
327
+ },
328
+ "grasp_26": {
329
+ "confidence": 0.9786574244499207,
330
+ "position": [
331
+ -0.027818325674161315,
332
+ -0.09916879746015184,
333
+ 0.012554080225527287
334
+ ],
335
+ "orientation": {
336
+ "w": 0.08740470285540598,
337
+ "xyz": [
338
+ 0.12759119040705713,
339
+ 0.7249443067334718,
340
+ 0.6712202754565709
341
+ ]
342
+ }
343
+ },
344
+ "grasp_27": {
345
+ "confidence": 0.9781790375709534,
346
+ "position": [
347
+ -0.0656940822955221,
348
+ -0.07483482125098817,
349
+ 0.0043128617107868195
350
+ ],
351
+ "orientation": {
352
+ "w": 0.6414653811859542,
353
+ "xyz": [
354
+ -0.6800634037098929,
355
+ 0.23648061410967192,
356
+ -0.2647883132330165
357
+ ]
358
+ }
359
+ },
360
+ "grasp_28": {
361
+ "confidence": 0.9780438542366028,
362
+ "position": [
363
+ -0.018081744899973273,
364
+ -0.09627695145900361,
365
+ 0.018781634978950024
366
+ ],
367
+ "orientation": {
368
+ "w": 0.6438521679615091,
369
+ "xyz": [
370
+ -0.75920631074315,
371
+ 0.07551709466002876,
372
+ -0.05794248832375116
373
+ ]
374
+ }
375
+ },
376
+ "grasp_29": {
377
+ "confidence": 0.9778074026107788,
378
+ "position": [
379
+ -0.10068422160111368,
380
+ -0.0072355484298896044,
381
+ -0.006396865530405194
382
+ ],
383
+ "orientation": {
384
+ "w": 0.5156747748006321,
385
+ "xyz": [
386
+ -0.5210504314027857,
387
+ 0.4740998452974501,
388
+ -0.48766311246415045
389
+ ]
390
+ }
391
+ },
392
+ "grasp_30": {
393
+ "confidence": 0.977393388748169,
394
+ "position": [
395
+ -0.1030970027204603,
396
+ -0.010844057862414047,
397
+ -0.010372419375926256
398
+ ],
399
+ "orientation": {
400
+ "w": 0.5146665325219375,
401
+ "xyz": [
402
+ -0.5314286121748691,
403
+ 0.47062591093901773,
404
+ -0.4808463813075421
405
+ ]
406
+ }
407
+ }
408
+ }
409
+ },
410
+ {
411
+ "part_name": "top lid",
412
+ "mask_color": "Blue",
413
+ "graspable": false,
414
+ "grasp_scenarios": [],
415
+ "functional_labels": [
416
+ "seal the can",
417
+ "support the opening mechanism",
418
+ "contain carbonation",
419
+ "provide top surface"
420
+ ],
421
+ "semantic_description": "Circular silver aluminum top with a slightly recessed reflective smooth surface, positioned at the can's upper end and surrounding the tab and opening panel.",
422
+ "id": 2,
423
+ "grasp_group": {}
424
+ },
425
+ {
426
+ "part_name": "opening panel",
427
+ "mask_color": "Yellow",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "form the drink opening",
432
+ "break the seal when opened",
433
+ "allow pouring and sipping",
434
+ "vent the can interior"
435
+ ],
436
+ "semantic_description": "Small silver scored aluminum panel on the top lid beneath the tab, with a smooth hard finish and compact shape located beside the can rim.",
437
+ "id": 3,
438
+ "grasp_group": {}
439
+ },
440
+ {
441
+ "part_name": "bottom base",
442
+ "mask_color": "Purple",
443
+ "graspable": false,
444
+ "grasp_scenarios": [],
445
+ "functional_labels": [
446
+ "support upright standing",
447
+ "stabilize the can on surfaces",
448
+ "protect the container bottom"
449
+ ],
450
+ "semantic_description": "Circular silver aluminum base with a smooth hard slightly recessed underside, located at the bottom of the can and sized to support the full cylinder.",
451
+ "id": 5,
452
+ "grasp_group": {}
453
+ }
454
+ ],
455
+ "quality_check": {
456
+ "success": true,
457
+ "message": "YES"
458
+ }
459
+ }
dataset/food/beverages/b154cc663fd05343822e1b382dab40a1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a45b6dfda7e90af99df09c7909dccdef5ef8683928d5fe767338641130b0d45a
3
+ size 3781536