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
df2a352
·
verified ·
1 Parent(s): dfb1bea

Add asset food/beverages/a822a1d3860e56e0b9800a86137f2af8

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/food/beverages/a822a1d3860e56e0b9800a86137f2af8/affordance/affordance_annot.json +406 -0
  3. dataset/food/beverages/a822a1d3860e56e0b9800a86137f2af8/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6733,4 +6733,4 @@ dataset/food/beverages/9027eca237845f2f83266aad3ec23ccc/affordance/mesh_part_seg
6733
  dataset/food/beverages/9044112657245b92924b802a8f6d737b/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/ab394336079459deaa0a55d537b05280/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6733
  dataset/food/beverages/9044112657245b92924b802a8f6d737b/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/a822a1d3860e56e0b9800a86137f2af8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/beverages/a822a1d3860e56e0b9800a86137f2af8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,406 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "can body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body from the side to pick up the can",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the can during placement",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp around the body to reorient the can upright",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain the beverage",
23
+ "main grasp surface",
24
+ "support lifting and carrying",
25
+ "provide structural enclosure",
26
+ "display branding and product information"
27
+ ],
28
+ "semantic_description": "Tall cylindrical beige aluminum can body with a smooth slightly glossy printed surface, hard feel, and visible dark script, barcode, and label graphics around the sides.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9802812933921814,
33
+ "position": [
34
+ -0.09664326824713498,
35
+ 0.016437164005765226,
36
+ -0.02019448485225439
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5486631043853268,
40
+ "xyz": [
41
+ 0.5250466801269705,
42
+ 0.46003047273398556,
43
+ 0.4600725439863244
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9797458052635193,
49
+ "position": [
50
+ -0.09888131835032254,
51
+ 0.012727170680591371,
52
+ -0.010246726218611002
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5367061476897728,
56
+ "xyz": [
57
+ 0.5205128373167107,
58
+ 0.4764871067391625,
59
+ 0.46257208555192053
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.979526162147522,
65
+ "position": [
66
+ -0.09879146434832364,
67
+ 0.0060364226446836255,
68
+ -0.014688313007354736
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5229161997150481,
72
+ "xyz": [
73
+ 0.506883011604721,
74
+ 0.4855773318690687,
75
+ 0.4835730714142552
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9793963432312012,
81
+ "position": [
82
+ -0.10035429813433439,
83
+ 0.010527107362577226,
84
+ -0.014216399751603603
85
+ ],
86
+ "orientation": {
87
+ "w": 0.530943753866681,
88
+ "xyz": [
89
+ 0.5165544203358555,
90
+ 0.4807756299475233,
91
+ 0.46917486581231915
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9791738986968994,
97
+ "position": [
98
+ -0.0973218894796446,
99
+ 0.000891133640834596,
100
+ 0.020687070675194263
101
+ ],
102
+ "orientation": {
103
+ "w": 0.42457727538865736,
104
+ "xyz": [
105
+ -0.5545841122111776,
106
+ 0.5649942555459712,
107
+ -0.43926312263441536
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9790775179862976,
113
+ "position": [
114
+ -0.0976670152740553,
115
+ -0.0007522194428020157,
116
+ -0.02370909694582224
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5058705383265418,
120
+ "xyz": [
121
+ -0.48722124777174136,
122
+ 0.4660816367475623,
123
+ -0.5380319340519444
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9785242080688477,
129
+ "position": [
130
+ -0.09662823297549039,
131
+ 0.004152794797846582,
132
+ -0.029566594399511814
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5081731150718714,
136
+ "xyz": [
137
+ -0.46785995075165787,
138
+ 0.4617006717754538,
139
+ -0.5565066408255173
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9784616231918335,
145
+ "position": [
146
+ -0.03062791482079774,
147
+ -0.09708410831080982,
148
+ -0.0026148809120059013
149
+ ],
150
+ "orientation": {
151
+ "w": 0.09318077878279415,
152
+ "xyz": [
153
+ 0.12214028773732821,
154
+ 0.7184735149144992,
155
+ 0.6783766659778914
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9781328439712524,
161
+ "position": [
162
+ -0.09791519411373883,
163
+ -0.005667773577442858,
164
+ -0.02477324102073908
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5191156272857241,
168
+ "xyz": [
169
+ -0.48927473467415444,
170
+ 0.45201976214156914,
171
+ -0.5355439609880448
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9780134558677673,
177
+ "position": [
178
+ -0.09733195521403104,
179
+ 0.024302198049554136,
180
+ -0.015889151021838188
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5661893783889107,
184
+ "xyz": [
185
+ 0.5409736518361817,
186
+ 0.42696940705391906,
187
+ 0.4521882586474682
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9779880046844482,
193
+ "position": [
194
+ -0.02940920472610742,
195
+ -0.10092483045445988,
196
+ 0.002359660342335701
197
+ ],
198
+ "orientation": {
199
+ "w": 0.09731134354552112,
200
+ "xyz": [
201
+ 0.10539193366050686,
202
+ 0.7143688178688944,
203
+ 0.6849089244514657
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.97783362865448,
209
+ "position": [
210
+ -0.10130607255268842,
211
+ 0.013014979158469941,
212
+ -0.02208011131733656
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5455585976150404,
216
+ "xyz": [
217
+ 0.515798478558257,
218
+ 0.4712112595301837,
219
+ 0.46290138796213953
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9775736331939697,
225
+ "position": [
226
+ -0.09865175851155072,
227
+ 0.016624434349068906,
228
+ -0.012406505178660154
229
+ ],
230
+ "orientation": {
231
+ "w": 0.4469455676046743,
232
+ "xyz": [
233
+ -0.47543970407777525,
234
+ 0.52720882843701,
235
+ -0.5442863204261599
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.977079451084137,
241
+ "position": [
242
+ -0.0971358708338812,
243
+ 0.0033423665081500076,
244
+ -0.014534334652125835
245
+ ],
246
+ "orientation": {
247
+ "w": 0.4705053097735124,
248
+ "xyz": [
249
+ -0.5083027098240247,
250
+ 0.5024804352122784,
251
+ -0.5174616129621249
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9770157933235168,
257
+ "position": [
258
+ 0.10170999995898455,
259
+ 0.002901159656175878,
260
+ 0.0075525324791669846
261
+ ],
262
+ "orientation": {
263
+ "w": 0.49780661417030425,
264
+ "xyz": [
265
+ -0.4898475211529785,
266
+ -0.4987334728200452,
267
+ 0.5133253393291983
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9768383502960205,
273
+ "position": [
274
+ -0.10015851922798902,
275
+ -0.005464296824357007,
276
+ -0.012780910357832909
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5007798254858252,
280
+ "xyz": [
281
+ 0.4867152889307452,
282
+ 0.5137167098464785,
283
+ 0.49842044092508564
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9765686988830566,
289
+ "position": [
290
+ -0.008800091338343918,
291
+ -0.10170384080993244,
292
+ 0.007481042295694351
293
+ ],
294
+ "orientation": {
295
+ "w": 0.695584373411171,
296
+ "xyz": [
297
+ -0.7170172517785467,
298
+ 0.03489991245983026,
299
+ -0.028820760372085794
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9764515161514282,
305
+ "position": [
306
+ 0.10005921206902713,
307
+ -0.0023046324859024025,
308
+ 0.007024288177490234
309
+ ],
310
+ "orientation": {
311
+ "w": 0.4988265911372221,
312
+ "xyz": [
313
+ -0.5120210827496573,
314
+ -0.4895179773001457,
315
+ 0.49937820606656486
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9763882160186768,
321
+ "position": [
322
+ -0.09550878324080259,
323
+ 0.00581893134949496,
324
+ 0.020066860131919384
325
+ ],
326
+ "orientation": {
327
+ "w": 0.4360813882687141,
328
+ "xyz": [
329
+ -0.5362848041684579,
330
+ 0.5502312515481176,
331
+ -0.4684839393655052
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9763281941413879,
337
+ "position": [
338
+ 0.10204647562932223,
339
+ 0.0003209923961549066,
340
+ 0.017592682503163815
341
+ ],
342
+ "orientation": {
343
+ "w": 0.48735245441154934,
344
+ "xyz": [
345
+ -0.5226256095442137,
346
+ -0.5090415675947763,
347
+ 0.4798194867741726
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "can lid",
355
+ "mask_color": "Blue",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the top rim and lid area to stabilize the can from above",
360
+ "confidence": 0.42
361
+ },
362
+ {
363
+ "scenario": "pinch the lid edge in a constrained top-access pickup",
364
+ "confidence": 0.31
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "seal the beverage",
369
+ "provide top opening surface",
370
+ "support the pull tab",
371
+ "define drinking end"
372
+ ],
373
+ "semantic_description": "Circular silver metal lid at the top of the can with a reflective smooth finish, shallow stamped contours, and a hard rigid surface.",
374
+ "id": 2,
375
+ "grasp_group": {}
376
+ },
377
+ {
378
+ "part_name": "pull tab",
379
+ "mask_color": "Green",
380
+ "graspable": true,
381
+ "grasp_scenarios": [
382
+ {
383
+ "scenario": "pinch and lift the pull tab to open the can",
384
+ "confidence": 0.89
385
+ },
386
+ {
387
+ "scenario": "delicately grasp the tab to manipulate its orientation before opening",
388
+ "confidence": 0.72
389
+ }
390
+ ],
391
+ "functional_labels": [
392
+ "open the can",
393
+ "actuate the scored opening",
394
+ "provide a finger-pull point",
395
+ "indicate opening mechanism"
396
+ ],
397
+ "semantic_description": "Small silver metal ring-pull tab on the lid with a smooth reflective finish, hard thin form, and compact oval shape centered near the can top opening area.",
398
+ "id": 1,
399
+ "grasp_group": {}
400
+ }
401
+ ],
402
+ "quality_check": {
403
+ "success": true,
404
+ "message": "YES"
405
+ }
406
+ }
dataset/food/beverages/a822a1d3860e56e0b9800a86137f2af8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80c0066ec0f9986abf5cd73b400eb11a2966240f1097bc4a97f790e24135b133
3
+ size 3779784