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
9f4825e
·
verified ·
1 Parent(s): 7ff63ce

Add asset food/ingredients/90179f43534f5fac81fab0e1093d8236

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/affordance_annot.json +298 -0
  3. dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6800,3 +6800,4 @@ dataset/food/ingredients/7dce30f210ed52dc95e7d6988df4939c/affordance/mesh_part_s
6800
  dataset/food/ingredients/857d8949e7605347897d4845530fa141/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6801
  dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6802
  dataset/food/ingredients/8c5072cb53275200a947a103c3d13907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6800
  dataset/food/ingredients/857d8949e7605347897d4845530fa141/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6801
  dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6802
  dataset/food/ingredients/8c5072cb53275200a947a103c3d13907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6803
+ dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/affordance_annot.json ADDED
@@ -0,0 +1,298 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "body of chili",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the chili body at the thicker middle to pick it up",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the chili body to stabilize it during inspection or cutting preparation",
14
+ "confidence": 0.87
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "contain edible flesh and seeds",
20
+ "support handling",
21
+ "provide overall shape"
22
+ ],
23
+ "semantic_description": "Long curved green chili body with smooth slightly glossy food skin, a firm fleshy texture, tapering from a thicker stem end to a pointed tip, and forming most of the object.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_23": {
27
+ "confidence": 0.9721150398254395,
28
+ "position": [
29
+ 0.01727528707124293,
30
+ -0.03641744170454331,
31
+ 0.08851714101911057
32
+ ],
33
+ "orientation": {
34
+ "w": 0.21086570977559835,
35
+ "xyz": [
36
+ -0.9696379111018946,
37
+ -0.10679726320869376,
38
+ 0.06270820014894643
39
+ ]
40
+ }
41
+ },
42
+ "grasp_29": {
43
+ "confidence": 0.9683133363723755,
44
+ "position": [
45
+ 0.09137915470637381,
46
+ 0.034978398791281506,
47
+ 0.029208098028902896
48
+ ],
49
+ "orientation": {
50
+ "w": 0.09082178423131847,
51
+ "xyz": [
52
+ 0.7952611346485915,
53
+ 0.0935760111764018,
54
+ -0.5920765671421125
55
+ ]
56
+ }
57
+ },
58
+ "grasp_30": {
59
+ "confidence": 0.967499315738678,
60
+ "position": [
61
+ 0.09076840826310217,
62
+ -0.021249775105388835,
63
+ 0.023606308226590045
64
+ ],
65
+ "orientation": {
66
+ "w": 0.13545593445183585,
67
+ "xyz": [
68
+ -0.7898386012722953,
69
+ 0.0819798310969092,
70
+ 0.5925250889669788
71
+ ]
72
+ }
73
+ },
74
+ "grasp_32": {
75
+ "confidence": 0.9669014811515808,
76
+ "position": [
77
+ 0.09689516969956458,
78
+ 0.0008793006127234548,
79
+ 0.006771091328118928
80
+ ],
81
+ "orientation": {
82
+ "w": 0.061260663519369006,
83
+ "xyz": [
84
+ -0.7470734344644976,
85
+ 0.01036197705080466,
86
+ 0.6618315828473172
87
+ ]
88
+ }
89
+ },
90
+ "grasp_37": {
91
+ "confidence": 0.9654481410980225,
92
+ "position": [
93
+ 0.09413346298970282,
94
+ -0.032848900445969775,
95
+ -0.012994627977604978
96
+ ],
97
+ "orientation": {
98
+ "w": 0.11396112313646976,
99
+ "xyz": [
100
+ -0.6563160843748193,
101
+ 0.12809498903316552,
102
+ 0.734747394407747
103
+ ]
104
+ }
105
+ },
106
+ "grasp_38": {
107
+ "confidence": 0.9652743935585022,
108
+ "position": [
109
+ 0.08785597630776465,
110
+ -0.04330902759102173,
111
+ -0.017906749199028127
112
+ ],
113
+ "orientation": {
114
+ "w": 0.15040193104246058,
115
+ "xyz": [
116
+ -0.6277928630839862,
117
+ 0.17678145672176504,
118
+ 0.7429695126711735
119
+ ]
120
+ }
121
+ }
122
+ }
123
+ },
124
+ {
125
+ "part_name": "stem of chili",
126
+ "mask_color": "Red",
127
+ "graspable": true,
128
+ "grasp_scenarios": [
129
+ {
130
+ "scenario": "delicately grasp the stem to orient the chili",
131
+ "confidence": 0.34
132
+ },
133
+ {
134
+ "scenario": "lift the chili by the stem in a light produce-handling task",
135
+ "confidence": 0.21
136
+ }
137
+ ],
138
+ "functional_labels": [
139
+ "connect to plant",
140
+ "indicate top orientation",
141
+ "support hanging or attachment",
142
+ "provide a small manipulation point"
143
+ ],
144
+ "semantic_description": "Small curved dark green to brownish stem with a matte slightly rough fibrous texture, attached at the broad top of the chili and ending in a thin hook-like tip.",
145
+ "id": 0,
146
+ "grasp_group": {
147
+ "grasp_0": {
148
+ "confidence": 0.5812015533447266,
149
+ "position": [
150
+ -0.0607550663407892,
151
+ 0.12348401706549339,
152
+ 0.016129469920997508
153
+ ],
154
+ "orientation": {
155
+ "w": 0.4050350389539919,
156
+ "xyz": [
157
+ 0.6989596028934509,
158
+ -0.28320722152398603,
159
+ 0.5169098184589185
160
+ ]
161
+ }
162
+ },
163
+ "grasp_3": {
164
+ "confidence": 0.46156632900238037,
165
+ "position": [
166
+ -0.052376404171809554,
167
+ 0.12489874821039848,
168
+ 0.011405159209971316
169
+ ],
170
+ "orientation": {
171
+ "w": 0.29505655918379486,
172
+ "xyz": [
173
+ 0.5725732711090471,
174
+ -0.4701732626829047,
175
+ 0.6033560964738961
176
+ ]
177
+ }
178
+ },
179
+ "grasp_6": {
180
+ "confidence": 0.5364958047866821,
181
+ "position": [
182
+ -0.046725515043362975,
183
+ 0.11981596957775764,
184
+ 0.0336466994631337
185
+ ],
186
+ "orientation": {
187
+ "w": 0.45729382322155904,
188
+ "xyz": [
189
+ 0.7741827499056045,
190
+ -0.2253382710595443,
191
+ 0.3751614220411007
192
+ ]
193
+ }
194
+ },
195
+ "grasp_7": {
196
+ "confidence": 0.5036216974258423,
197
+ "position": [
198
+ -0.04874933115206659,
199
+ 0.12366911928984337,
200
+ -0.015298160302336328
201
+ ],
202
+ "orientation": {
203
+ "w": 0.7672168358387671,
204
+ "xyz": [
205
+ 0.579755204237478,
206
+ 0.27426634211330325,
207
+ -0.0063406268537865695
208
+ ]
209
+ }
210
+ },
211
+ "grasp_9": {
212
+ "confidence": 0.4355488419532776,
213
+ "position": [
214
+ -0.08082346222363412,
215
+ 0.10189324032398872,
216
+ 0.0046539809118257836
217
+ ],
218
+ "orientation": {
219
+ "w": 0.40759208601004243,
220
+ "xyz": [
221
+ -0.12490632131475043,
222
+ 0.712135548602273,
223
+ -0.5577903394058904
224
+ ]
225
+ }
226
+ },
227
+ "grasp_11": {
228
+ "confidence": 0.41853398084640503,
229
+ "position": [
230
+ -0.0770362054463476,
231
+ 0.10572413515183143,
232
+ -0.0247168331843568
233
+ ],
234
+ "orientation": {
235
+ "w": 0.7742548199734854,
236
+ "xyz": [
237
+ 0.5303450643414874,
238
+ 0.2861307799432603,
239
+ 0.19337208496965352
240
+ ]
241
+ }
242
+ },
243
+ "grasp_13": {
244
+ "confidence": 0.5570929646492004,
245
+ "position": [
246
+ -0.05702220625244081,
247
+ 0.11778338413569145,
248
+ 0.018156789665226825
249
+ ],
250
+ "orientation": {
251
+ "w": 0.4724093137108834,
252
+ "xyz": [
253
+ 0.7355892320431597,
254
+ -0.19186716926665826,
255
+ 0.44600999022327503
256
+ ]
257
+ }
258
+ },
259
+ "grasp_15": {
260
+ "confidence": 0.5103415250778198,
261
+ "position": [
262
+ -0.055618140613660216,
263
+ 0.12609699528547935,
264
+ -0.001666573152760975
265
+ ],
266
+ "orientation": {
267
+ "w": 0.33666323176036533,
268
+ "xyz": [
269
+ 0.5711488796861873,
270
+ -0.4019558398422277,
271
+ 0.6315681502661519
272
+ ]
273
+ }
274
+ },
275
+ "grasp_17": {
276
+ "confidence": 0.5017083883285522,
277
+ "position": [
278
+ -0.061024307971820235,
279
+ 0.11697299193474464,
280
+ -0.029623997907037847
281
+ ],
282
+ "orientation": {
283
+ "w": 0.7821765375641337,
284
+ "xyz": [
285
+ 0.5634840200589437,
286
+ 0.1739177411286641,
287
+ 0.20109262180174214
288
+ ]
289
+ }
290
+ }
291
+ }
292
+ }
293
+ ],
294
+ "quality_check": {
295
+ "success": true,
296
+ "message": "YES"
297
+ }
298
+ }
dataset/food/ingredients/90179f43534f5fac81fab0e1093d8236/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c2e6654abbd0da2422f18a6295ba6182c83fc9a3ff5525454a4aa22a788f86b4
3
+ size 3778264