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
bbf6847
·
verified ·
1 Parent(s): e9b797c

Add asset food/snack/227cc3acd3ef549093fac05e82e7df45

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/affordance_annot.json +336 -0
  3. dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/mesh_part_seg.glb +3 -0
  4. dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/biscuit_010.urdf +1 -0
.gitattributes CHANGED
@@ -6859,3 +6859,4 @@ dataset/food/snack/1c48c47e83c5593e8d38adb630f6fb7d/affordance/mesh_part_seg.glb
6859
  dataset/food/snack/1dda1b316dca5834b8cf91a767cb4347/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6860
  dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6861
  dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6859
  dataset/food/snack/1dda1b316dca5834b8cf91a767cb4347/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6860
  dataset/food/snack/21465c41fd6f545aaaf0818652a5ef39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6861
  dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6862
+ dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/affordance_annot.json ADDED
@@ -0,0 +1,336 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "box body with lid/top shell",
5
+ "mask_color": "Lime Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the box from opposite side walls to pick up and move the lightweight package",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the box body to stabilize it while opening from the front tab",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "support the package from the sides or bottom area during placement or repositioning",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain the biscuits",
23
+ "form the main structure of the package",
24
+ "protect contents",
25
+ "provide printable exterior surfaces"
26
+ ],
27
+ "semantic_description": "Rectangular paperboard biscuit box, mostly blue on the side walls and black on the top panel, with smooth matte surfaces, crisp folded edges, and printed branding, Chinese text, and cookie graphics on the top.",
28
+ "id": 9,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9660278558731079,
32
+ "position": [
33
+ -0.0044660691055469215,
34
+ 0.18432599399238825,
35
+ 0.003811135917203501
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4875155580878533,
39
+ "xyz": [
40
+ 0.5190969432086354,
41
+ 0.48786358352725934,
42
+ -0.5048327129274413
43
+ ]
44
+ }
45
+ },
46
+ "grasp_22": {
47
+ "confidence": 0.9646605253219604,
48
+ "position": [
49
+ -0.021256509411614388,
50
+ 0.18390254769474268,
51
+ 0.0004908489063382149
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5156252853044893,
55
+ "xyz": [
56
+ 0.48595771166657914,
57
+ -0.5024276489187585,
58
+ 0.49552207340179655
59
+ ]
60
+ }
61
+ },
62
+ "grasp_23": {
63
+ "confidence": 0.9645581841468811,
64
+ "position": [
65
+ -0.01080195902613923,
66
+ 0.18551638815551996,
67
+ 0.005134386941790581
68
+ ],
69
+ "orientation": {
70
+ "w": 0.48642739948796443,
71
+ "xyz": [
72
+ 0.5108126109106209,
73
+ 0.5010061779772653,
74
+ -0.5014495699376597
75
+ ]
76
+ }
77
+ },
78
+ "grasp_25": {
79
+ "confidence": 0.9639281630516052,
80
+ "position": [
81
+ -0.009529723029118031,
82
+ 0.18680349085479975,
83
+ 0.002737975330092013
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4995699702115117,
87
+ "xyz": [
88
+ 0.5099753406272209,
89
+ 0.4965401053353182,
90
+ -0.4937640333282789
91
+ ]
92
+ }
93
+ },
94
+ "grasp_29": {
95
+ "confidence": 0.9626338481903076,
96
+ "position": [
97
+ -0.009277541365008801,
98
+ 0.18219636473804712,
99
+ -0.0020514775533229113
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5002468488097195,
103
+ "xyz": [
104
+ 0.5035625668276047,
105
+ 0.49090638009960885,
106
+ -0.5051621101423173
107
+ ]
108
+ }
109
+ },
110
+ "grasp_30": {
111
+ "confidence": 0.9623949527740479,
112
+ "position": [
113
+ -0.01954984216718003,
114
+ 0.18387234304100275,
115
+ 0.003572075853298884
116
+ ],
117
+ "orientation": {
118
+ "w": 0.48862209754193237,
119
+ "xyz": [
120
+ 0.5088624897632025,
121
+ 0.5024251778550282,
122
+ -0.49987633767068884
123
+ ]
124
+ }
125
+ },
126
+ "grasp_31": {
127
+ "confidence": 0.9620264768600464,
128
+ "position": [
129
+ -0.03053789137629792,
130
+ 0.18376486096531153,
131
+ 0.002441841410472989
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5015550827921994,
135
+ "xyz": [
136
+ 0.49796809973674055,
137
+ -0.49813877156757447,
138
+ 0.5023226401736612
139
+ ]
140
+ }
141
+ },
142
+ "grasp_33": {
143
+ "confidence": 0.9617300629615784,
144
+ "position": [
145
+ 0.006145718798507005,
146
+ -0.18525661434978247,
147
+ -0.0031802181620150805
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5099846045537384,
151
+ "xyz": [
152
+ -0.4900083164050435,
153
+ -0.49541603669055256,
154
+ -0.5043515674228513
155
+ ]
156
+ }
157
+ },
158
+ "grasp_36": {
159
+ "confidence": 0.9611073136329651,
160
+ "position": [
161
+ -0.014410150412004441,
162
+ 0.18222008738666773,
163
+ 0.004557610023766756
164
+ ],
165
+ "orientation": {
166
+ "w": 0.49518734798770936,
167
+ "xyz": [
168
+ 0.5120953835250742,
169
+ 0.5022178223316927,
170
+ -0.49022960691661444
171
+ ]
172
+ }
173
+ },
174
+ "grasp_37": {
175
+ "confidence": 0.9605174660682678,
176
+ "position": [
177
+ 0.0012694434553850442,
178
+ -0.1887125065550208,
179
+ -0.00436825561337173
180
+ ],
181
+ "orientation": {
182
+ "w": 0.513951324300337,
183
+ "xyz": [
184
+ -0.49311452451355037,
185
+ -0.4901259382957961,
186
+ -0.5024626021639524
187
+ ]
188
+ }
189
+ },
190
+ "grasp_38": {
191
+ "confidence": 0.9604625701904297,
192
+ "position": [
193
+ -0.015397834766190499,
194
+ 0.1804593363776803,
195
+ 0.0043922148761339486
196
+ ],
197
+ "orientation": {
198
+ "w": 0.49429120163173745,
199
+ "xyz": [
200
+ 0.4909828308128741,
201
+ -0.5133196068186673,
202
+ 0.501113808522534
203
+ ]
204
+ }
205
+ },
206
+ "grasp_39": {
207
+ "confidence": 0.9602493643760681,
208
+ "position": [
209
+ 0.018268077459651977,
210
+ 0.18605563137680292,
211
+ 0.0009534289129078388
212
+ ],
213
+ "orientation": {
214
+ "w": 0.48636081755431615,
215
+ "xyz": [
216
+ 0.5131403220193851,
217
+ 0.5013399614239259,
218
+ -0.49879696084198066
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "front pull tab and side seam flap",
226
+ "mask_color": "Magenta",
227
+ "graspable": true,
228
+ "grasp_scenarios": [
229
+ {
230
+ "scenario": "pinch the small front tab to help open the box lid",
231
+ "confidence": 0.92
232
+ },
233
+ {
234
+ "scenario": "use the protruding tab area as a light pull point during lid separation",
235
+ "confidence": 0.86
236
+ },
237
+ {
238
+ "scenario": "lightly grasp the side seam/flap edge for stabilizing or manipulating the package during opening",
239
+ "confidence": 0.48
240
+ }
241
+ ],
242
+ "functional_labels": [
243
+ "assist opening",
244
+ "provide a pinch point",
245
+ "form closure or seam interface",
246
+ "indicate the opening side"
247
+ ],
248
+ "semantic_description": "Blue paperboard flap features including a small rounded rectangular front pull tab and a narrow side seam/rim strip visible along the box edge, with smooth matte finish and folded-paper construction.",
249
+ "id": 7,
250
+ "grasp_group": {
251
+ "grasp_4": {
252
+ "confidence": 0.8002550601959229,
253
+ "position": [
254
+ 0.14578576461644843,
255
+ 0.03893556538969278,
256
+ -0.0015465959440916777
257
+ ],
258
+ "orientation": {
259
+ "w": 0.12883545717545591,
260
+ "xyz": [
261
+ 0.6888066996774547,
262
+ 0.1274316239609533,
263
+ -0.7019315754890346
264
+ ]
265
+ }
266
+ },
267
+ "grasp_5": {
268
+ "confidence": 0.6812067031860352,
269
+ "position": [
270
+ 0.1542026706156321,
271
+ 0.009185315109789371,
272
+ -0.0014695839490741491
273
+ ],
274
+ "orientation": {
275
+ "w": 0.012455096115731035,
276
+ "xyz": [
277
+ -0.6953920466581469,
278
+ -0.009631683542332459,
279
+ 0.7184580730268688
280
+ ]
281
+ }
282
+ },
283
+ "grasp_10": {
284
+ "confidence": 0.7268487811088562,
285
+ "position": [
286
+ 0.13788040057988837,
287
+ -0.03543786983937025,
288
+ -0.004059461178258061
289
+ ],
290
+ "orientation": {
291
+ "w": 0.20145473421157234,
292
+ "xyz": [
293
+ -0.6670167339381198,
294
+ 0.1816934672514754,
295
+ 0.6938963544135428
296
+ ]
297
+ }
298
+ },
299
+ "grasp_13": {
300
+ "confidence": 0.2939748764038086,
301
+ "position": [
302
+ -0.12466184719232842,
303
+ -0.040246921591460705,
304
+ 0.044553634943440557
305
+ ],
306
+ "orientation": {
307
+ "w": 0.18752323174514535,
308
+ "xyz": [
309
+ -0.8199313264709451,
310
+ -0.11218570102299852,
311
+ -0.5291143788571917
312
+ ]
313
+ }
314
+ }
315
+ }
316
+ },
317
+ {
318
+ "part_name": "printed cookie graphic",
319
+ "mask_color": "Maroon",
320
+ "graspable": false,
321
+ "grasp_scenarios": [],
322
+ "functional_labels": [
323
+ "show product appearance",
324
+ "identify flavor or contents",
325
+ "provide package graphic"
326
+ ],
327
+ "semantic_description": "Flat printed dark brown sandwich-cookie graphic on the top panel, circular and medium-sized with embossed-looking pattern details, used as a visual label rather than a physical object part.",
328
+ "id": 12,
329
+ "grasp_group": {}
330
+ }
331
+ ],
332
+ "quality_check": {
333
+ "success": false,
334
+ "message": "Magenta part merges tab with long rim band; description and function are inaccurate for combined mask region."
335
+ }
336
+ }
dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9c71f7f6b54da14090ce372d5afdac221c8b554ceaa5b6f9b29262ca49b817d6
3
+ size 3793368
dataset/food/snack/227cc3acd3ef549093fac05e82e7df45/biscuit_010.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>NO: {"summary":"Segmentation follows package graphics and seam surfaces, not biscuit functional parts.","merge_groups":[{"colors":["Magenta","Lime Green"],"target_part":"main package body","reason":"same box structure; seam band is not separate function"},{"colors":["Maroon","Lime Green"],"target_part":"main package body","reason":"printed cookie image is decoration, not physical part"}]}</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>NO: {"summary":"Segmentation follows package graphics and seam surfaces, not biscuit functional parts.","merge_groups":[{"colors":["Magenta","Lime Green"],"target_part":"main package body","reason":"same box structure; seam band is not separate function"},{"colors":["Maroon","Lime Green"],"target_part":"main package body","reason":"printed cookie image is decoration, not physical part"}]}</PartSegChecker>