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
bc39773
·
verified ·
1 Parent(s): 9e5f419

Add asset food/snack/4a519822ebc05c728c460979d5eddbf5

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/affordance/affordance_annot.json +522 -0
  3. dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/affordance/mesh_part_seg.glb +3 -0
  4. dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.urdf +1 -0
.gitattributes CHANGED
@@ -6868,3 +6868,4 @@ dataset/food/snack/37c70f392dad5dd4b446f781a45b2ae7/affordance/mesh_part_seg.glb
6868
  dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6869
  dataset/food/snack/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6870
  dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6868
  dataset/food/snack/3d9da38f77b356a781101e05d7cfe673/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6869
  dataset/food/snack/462e0096afa956a08308187afd89d50c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6870
  dataset/food/snack/47c57c46000757e59463da94f27c64f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6871
+ dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "gold foil wrapper",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "gently grasp the wrapped candy body to pick it up from a flat surface",
10
+ "confidence": 0.8
11
+ },
12
+ {
13
+ "scenario": "hold the foil wrapper while unwrapping the candy",
14
+ "confidence": 0.82
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the chocolate",
19
+ "protect the candy surface",
20
+ "provide a temporary handling surface",
21
+ "display branding and product labels"
22
+ ],
23
+ "semantic_description": "Large rounded gold-colored foil wrapper covering most of the candy, with a crinkled metallic surface, slight gloss, and visible printed branding plus small white label stickers.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.7049941420555115,
28
+ "position": [
29
+ -0.08586480771191418,
30
+ 0.04387554238201119,
31
+ 0.010747443157015368
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5259894584524167,
35
+ "xyz": [
36
+ 0.6787208933210295,
37
+ 0.29527252927578873,
38
+ 0.41891189052295463
39
+ ]
40
+ }
41
+ },
42
+ "grasp_24": {
43
+ "confidence": 0.7106098532676697,
44
+ "position": [
45
+ 0.005146270385012031,
46
+ 0.06276084567070939,
47
+ 0.07750159243005328
48
+ ],
49
+ "orientation": {
50
+ "w": 0.3334227271998266,
51
+ "xyz": [
52
+ 0.9415419107055133,
53
+ -0.04266522660943167,
54
+ -0.02253428077412926
55
+ ]
56
+ }
57
+ },
58
+ "grasp_25": {
59
+ "confidence": 0.7086843848228455,
60
+ "position": [
61
+ -0.09340664301998913,
62
+ 0.036061649123439565,
63
+ -0.008878092077793553
64
+ ],
65
+ "orientation": {
66
+ "w": 0.613273527370859,
67
+ "xyz": [
68
+ 0.5521289152271305,
69
+ 0.3933442544717266,
70
+ 0.40537579980839783
71
+ ]
72
+ }
73
+ },
74
+ "grasp_26": {
75
+ "confidence": 0.7040808200836182,
76
+ "position": [
77
+ -0.0632243410218507,
78
+ -0.07463882406591438,
79
+ -0.02150874098879285
80
+ ],
81
+ "orientation": {
82
+ "w": 0.15843423313284455,
83
+ "xyz": [
84
+ 0.309377774539242,
85
+ 0.5387188661629353,
86
+ 0.7674411831748891
87
+ ]
88
+ }
89
+ },
90
+ "grasp_27": {
91
+ "confidence": 0.6782211065292358,
92
+ "position": [
93
+ -0.04469058965332806,
94
+ -0.011551816103747115,
95
+ 0.08909009138005786
96
+ ],
97
+ "orientation": {
98
+ "w": 0.18931341491333126,
99
+ "xyz": [
100
+ -0.7704409812142856,
101
+ 0.5916616620298787,
102
+ -0.14323967007593794
103
+ ]
104
+ }
105
+ },
106
+ "grasp_29": {
107
+ "confidence": 0.6675807237625122,
108
+ "position": [
109
+ -0.017881621839478612,
110
+ 0.09962174008251168,
111
+ 0.017903045954881236
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6416575938293371,
115
+ "xyz": [
116
+ 0.762934457568018,
117
+ 0.048149499642278215,
118
+ 0.06235520363801354
119
+ ]
120
+ }
121
+ },
122
+ "grasp_30": {
123
+ "confidence": 0.6650855541229248,
124
+ "position": [
125
+ 0.020611352054402232,
126
+ 0.09619027088047005,
127
+ 0.0011568657064344734
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6750348838649544,
131
+ "xyz": [
132
+ 0.6969658849054777,
133
+ 0.07869171663251395,
134
+ -0.22885382797056358
135
+ ]
136
+ }
137
+ },
138
+ "grasp_33": {
139
+ "confidence": 0.6443092823028564,
140
+ "position": [
141
+ 0.022023360012099147,
142
+ 0.06149030933738686,
143
+ 0.07589068004745059
144
+ ],
145
+ "orientation": {
146
+ "w": 0.35369457624042727,
147
+ "xyz": [
148
+ 0.8558474082249063,
149
+ -0.3773086870265072,
150
+ 0.007969646613753472
151
+ ]
152
+ }
153
+ },
154
+ "grasp_34": {
155
+ "confidence": 0.6416839361190796,
156
+ "position": [
157
+ -0.0021231615683063865,
158
+ 0.09842864880920388,
159
+ 0.02779722513514571
160
+ ],
161
+ "orientation": {
162
+ "w": 0.607643703041527,
163
+ "xyz": [
164
+ 0.7938020708002406,
165
+ -0.017280429740548553,
166
+ 0.01867590145648773
167
+ ]
168
+ }
169
+ },
170
+ "grasp_36": {
171
+ "confidence": 0.6248561143875122,
172
+ "position": [
173
+ -0.10036371205933392,
174
+ 0.014199769037077203,
175
+ -0.00604414872941561
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5834422496289905,
179
+ "xyz": [
180
+ -0.32475388373393627,
181
+ 0.5882690197453219,
182
+ -0.4561464860715982
183
+ ]
184
+ }
185
+ },
186
+ "grasp_37": {
187
+ "confidence": 0.6246469616889954,
188
+ "position": [
189
+ -0.07821616088040173,
190
+ 0.041849863628158346,
191
+ -0.03882423302275129
192
+ ],
193
+ "orientation": {
194
+ "w": 0.7482886029330709,
195
+ "xyz": [
196
+ 0.4437304473411758,
197
+ 0.31750661703802296,
198
+ 0.3773022726673456
199
+ ]
200
+ }
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "part_name": "pleated paper cup liner",
206
+ "mask_color": "Red",
207
+ "graspable": true,
208
+ "grasp_scenarios": [
209
+ {
210
+ "scenario": "lightly pinch the paper cup liner edge to lift or separate the candy slightly",
211
+ "confidence": 0.55
212
+ },
213
+ {
214
+ "scenario": "hold the liner to stabilize the candy during unwrapping",
215
+ "confidence": 0.6
216
+ }
217
+ ],
218
+ "functional_labels": [
219
+ "support the chocolate base",
220
+ "separate the candy from surfaces",
221
+ "assist handling during unwrapping",
222
+ "hold the candy in a small cup"
223
+ ],
224
+ "semantic_description": "Small dark brown pleated paper cup around the lower half, with a matte finish, thin slightly stiff texture, scalloped rim, and several horizontal gold decorative stripes around the sides.",
225
+ "id": 0,
226
+ "grasp_group": {
227
+ "grasp_0": {
228
+ "confidence": 0.7485074996948242,
229
+ "position": [
230
+ 0.09587864275090396,
231
+ -0.015771969308843836,
232
+ 0.015095994080184028
233
+ ],
234
+ "orientation": {
235
+ "w": 0.4017220713821621,
236
+ "xyz": [
237
+ 0.49979185279904154,
238
+ -0.5910836046878674,
239
+ -0.4893338875546257
240
+ ]
241
+ }
242
+ },
243
+ "grasp_1": {
244
+ "confidence": 0.7459011077880859,
245
+ "position": [
246
+ 0.09779203380458057,
247
+ -0.00409594047232531,
248
+ 0.012115533667383716
249
+ ],
250
+ "orientation": {
251
+ "w": 0.44867730285772556,
252
+ "xyz": [
253
+ 0.5213705710170659,
254
+ -0.5606550021603095,
255
+ -0.46100691332156674
256
+ ]
257
+ }
258
+ },
259
+ "grasp_2": {
260
+ "confidence": 0.7454025149345398,
261
+ "position": [
262
+ 0.09550233627669513,
263
+ -0.0035229216737207025,
264
+ 0.02375531123834662
265
+ ],
266
+ "orientation": {
267
+ "w": 0.4466853155420816,
268
+ "xyz": [
269
+ 0.5124050734621848,
270
+ -0.6172052113276686,
271
+ -0.3961956545436257
272
+ ]
273
+ }
274
+ },
275
+ "grasp_3": {
276
+ "confidence": 0.7411687970161438,
277
+ "position": [
278
+ -0.09511021827347577,
279
+ -0.005371862178435549,
280
+ -0.019812683371128514
281
+ ],
282
+ "orientation": {
283
+ "w": 0.5469674734118427,
284
+ "xyz": [
285
+ 0.4217889463653696,
286
+ 0.4907451265212709,
287
+ 0.5311213501160341
288
+ ]
289
+ }
290
+ },
291
+ "grasp_4": {
292
+ "confidence": 0.7338728308677673,
293
+ "position": [
294
+ 0.09277942474000156,
295
+ -0.03014939566492103,
296
+ -0.018319955823244527
297
+ ],
298
+ "orientation": {
299
+ "w": 0.3637884615244985,
300
+ "xyz": [
301
+ 0.43855030631687836,
302
+ -0.486661633380834,
303
+ -0.6621873138969885
304
+ ]
305
+ }
306
+ },
307
+ "grasp_5": {
308
+ "confidence": 0.7325891256332397,
309
+ "position": [
310
+ 0.09147556568495929,
311
+ -0.03538900529383682,
312
+ 0.0006694562907796353
313
+ ],
314
+ "orientation": {
315
+ "w": 0.5404818758020534,
316
+ "xyz": [
317
+ -0.6225497098522397,
318
+ -0.38567795504494906,
319
+ 0.414202505647578
320
+ ]
321
+ }
322
+ },
323
+ "grasp_6": {
324
+ "confidence": 0.717643141746521,
325
+ "position": [
326
+ 0.0730259909760207,
327
+ -0.054295349022140726,
328
+ -0.03514750933391042
329
+ ],
330
+ "orientation": {
331
+ "w": 0.3419681784030336,
332
+ "xyz": [
333
+ 0.27411913291148565,
334
+ -0.5215491877115723,
335
+ -0.7320538987868075
336
+ ]
337
+ }
338
+ },
339
+ "grasp_7": {
340
+ "confidence": 0.7171102166175842,
341
+ "position": [
342
+ 0.09636342222802341,
343
+ 0.016263107681879774,
344
+ 0.013332279602764174
345
+ ],
346
+ "orientation": {
347
+ "w": 0.38900251542422803,
348
+ "xyz": [
349
+ -0.5356441046149346,
350
+ -0.5555289673586239,
351
+ 0.5031401421178293
352
+ ]
353
+ }
354
+ },
355
+ "grasp_8": {
356
+ "confidence": 0.6897817850112915,
357
+ "position": [
358
+ -0.033041390823200345,
359
+ 0.09071590463281609,
360
+ 0.0025317752442788333
361
+ ],
362
+ "orientation": {
363
+ "w": 0.20625486231329127,
364
+ "xyz": [
365
+ -0.04952322365411921,
366
+ 0.7297573468056437,
367
+ -0.6499696891965169
368
+ ]
369
+ }
370
+ },
371
+ "grasp_9": {
372
+ "confidence": 0.6872382164001465,
373
+ "position": [
374
+ 0.09492408926598728,
375
+ 0.030554753640899435,
376
+ 0.004168711340753362
377
+ ],
378
+ "orientation": {
379
+ "w": 0.5484118094912986,
380
+ "xyz": [
381
+ 0.5828856754316002,
382
+ -0.4412074411318463,
383
+ -0.40598617030265466
384
+ ]
385
+ }
386
+ },
387
+ "grasp_11": {
388
+ "confidence": 0.7611932158470154,
389
+ "position": [
390
+ 0.09142359043471515,
391
+ -0.025965568696847185,
392
+ 0.01845782363670878
393
+ ],
394
+ "orientation": {
395
+ "w": 0.48850161395514113,
396
+ "xyz": [
397
+ -0.6090742931659229,
398
+ -0.5082483128868924,
399
+ 0.3634258260158208
400
+ ]
401
+ }
402
+ },
403
+ "grasp_13": {
404
+ "confidence": 0.7567955255508423,
405
+ "position": [
406
+ 0.0897290229331702,
407
+ 0.0016314937092829496,
408
+ 0.03752706685918383
409
+ ],
410
+ "orientation": {
411
+ "w": 0.41145470666945055,
412
+ "xyz": [
413
+ 0.5347355014101456,
414
+ -0.658919202393439,
415
+ -0.3325484214492547
416
+ ]
417
+ }
418
+ },
419
+ "grasp_14": {
420
+ "confidence": 0.7471317052841187,
421
+ "position": [
422
+ -0.06248876010067761,
423
+ 0.07391828010440804,
424
+ 0.017924145999131724
425
+ ],
426
+ "orientation": {
427
+ "w": 0.32084701921741055,
428
+ "xyz": [
429
+ -0.11342379395889068,
430
+ 0.7816205644939892,
431
+ -0.5227442265423614
432
+ ]
433
+ }
434
+ },
435
+ "grasp_15": {
436
+ "confidence": 0.7412145733833313,
437
+ "position": [
438
+ 0.09492784435860813,
439
+ -0.014721418818226084,
440
+ 0.023732806759653613
441
+ ],
442
+ "orientation": {
443
+ "w": 0.39855881758339645,
444
+ "xyz": [
445
+ -0.6759429051104237,
446
+ -0.4366185435047617,
447
+ 0.4400185285021378
448
+ ]
449
+ }
450
+ },
451
+ "grasp_16": {
452
+ "confidence": 0.7391442656517029,
453
+ "position": [
454
+ 0.09726091916672885,
455
+ 0.0018288850842509419,
456
+ 0.015505788120208308
457
+ ],
458
+ "orientation": {
459
+ "w": 0.3999144833338409,
460
+ "xyz": [
461
+ -0.5911238722737822,
462
+ -0.5123707746128224,
463
+ 0.47761612511569623
464
+ ]
465
+ }
466
+ },
467
+ "grasp_17": {
468
+ "confidence": 0.7290022373199463,
469
+ "position": [
470
+ 0.08735575969330966,
471
+ 0.006402587430784479,
472
+ 0.04578784221666865
473
+ ],
474
+ "orientation": {
475
+ "w": 0.3419113621019172,
476
+ "xyz": [
477
+ -0.5932719107103871,
478
+ -0.636043592563374,
479
+ 0.355771849345525
480
+ ]
481
+ }
482
+ },
483
+ "grasp_18": {
484
+ "confidence": 0.7235626578330994,
485
+ "position": [
486
+ 0.09954436565749347,
487
+ -0.0013666646264027804,
488
+ -0.010451859590830281
489
+ ],
490
+ "orientation": {
491
+ "w": 0.572307721848653,
492
+ "xyz": [
493
+ -0.43057656738447825,
494
+ -0.5323640623189274,
495
+ 0.45128283402218405
496
+ ]
497
+ }
498
+ },
499
+ "grasp_19": {
500
+ "confidence": 0.7117061614990234,
501
+ "position": [
502
+ 0.08291499759070575,
503
+ -0.05581086044549011,
504
+ -0.007301541307242587
505
+ ],
506
+ "orientation": {
507
+ "w": 0.34380421929604515,
508
+ "xyz": [
509
+ 0.3198997749324939,
510
+ -0.6163624742552786,
511
+ -0.6321076594396619
512
+ ]
513
+ }
514
+ }
515
+ }
516
+ }
517
+ ],
518
+ "quality_check": {
519
+ "success": true,
520
+ "message": "YES"
521
+ }
522
+ }
dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0203fc7aed57e083a7409362380245ef36da0ad7a93a15c9ef941c3bdefd4438
3
+ size 3780452
dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.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>YES</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>YES</PartSegChecker>