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
ecda4df
·
verified ·
1 Parent(s): f502c35

Add asset food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7/affordance/affordance_annot.json +342 -0
  3. dataset/food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6776,3 +6776,4 @@ dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/affordance/mesh_part_s
6776
  dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6777
  dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6778
  dataset/food/ingredients/2baa38c381495b1d925c580b32002523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6776
  dataset/food/ingredients/26c8386cebd85b6fb57649fdb70575b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6777
  dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6778
  dataset/food/ingredients/2baa38c381495b1d925c580b32002523/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6779
+ dataset/food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,342 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "egg body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the egg body with a gentle precision grip to pick it up",
10
+ "confidence": 0.91
11
+ },
12
+ {
13
+ "scenario": "hold the egg body to orient it for placement or inspection",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "stabilize the egg body during delicate cracking or transfer",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain edible contents",
24
+ "provide protective shell",
25
+ "support rolling and placement",
26
+ "indicate overall object orientation"
27
+ ],
28
+ "semantic_description": "Oval off-white eggshell body with a hard smooth slightly matte surface, fine chalky texture, and a few small natural brown speckles, forming the entire medium-sized egg.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9935344457626343,
33
+ "position": [
34
+ 0.0978817774230265,
35
+ 1.0188265150645748e-05,
36
+ -0.017828666168497875
37
+ ],
38
+ "orientation": {
39
+ "w": 0.7624853168796021,
40
+ "xyz": [
41
+ 0.05289465439812799,
42
+ -0.6412063384905868,
43
+ -0.06835735921325634
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9935163259506226,
49
+ "position": [
50
+ 0.10073314441979164,
51
+ -0.009366660491650691,
52
+ 0.015340772893978283
53
+ ],
54
+ "orientation": {
55
+ "w": 0.10973892740009755,
56
+ "xyz": [
57
+ -0.7560119386279913,
58
+ -0.08842475500268976,
59
+ 0.6392060537633675
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9935114979743958,
65
+ "position": [
66
+ 0.09930927886307472,
67
+ -0.00997655570608913,
68
+ -0.002548648073570803
69
+ ],
70
+ "orientation": {
71
+ "w": 0.707983983414941,
72
+ "xyz": [
73
+ 0.045966585110387356,
74
+ -0.6959399454908309,
75
+ -0.11096551063921523
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9934501051902771,
81
+ "position": [
82
+ 0.0977236239486956,
83
+ -0.007585402690892806,
84
+ -0.02079263751511462
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7694580071550664,
88
+ "xyz": [
89
+ 0.036741671814530155,
90
+ -0.6286638448853915,
91
+ -0.10661235815394082
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9933478236198425,
97
+ "position": [
98
+ 0.09833250029623741,
99
+ 0.005265744290227303,
100
+ 0.016939183202339336
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6393624793231603,
104
+ "xyz": [
105
+ 0.1567187573911364,
106
+ -0.7479768988541079,
107
+ -0.08476679713255476
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9933238625526428,
113
+ "position": [
114
+ 0.09964475615561241,
115
+ -0.004757212122058263,
116
+ 0.014307865378214046
117
+ ],
118
+ "orientation": {
119
+ "w": 0.07189118240381362,
120
+ "xyz": [
121
+ -0.7564339071263074,
122
+ -0.08083931557488677,
123
+ 0.6450615529541303
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9932639598846436,
129
+ "position": [
130
+ 0.09923823012650246,
131
+ -0.021824782827025047,
132
+ 0.004186923586530611
133
+ ],
134
+ "orientation": {
135
+ "w": 0.1864657902349659,
136
+ "xyz": [
137
+ -0.7241913355811739,
138
+ -0.04099790929989433,
139
+ 0.662643637239688
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9931406378746033,
145
+ "position": [
146
+ -0.05073762105166679,
147
+ -0.027033066489821067,
148
+ 0.08192042211885564
149
+ ],
150
+ "orientation": {
151
+ "w": 0.2676828839438362,
152
+ "xyz": [
153
+ -0.007040443329374963,
154
+ 0.9563225404878145,
155
+ 0.11723269320530678
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9931252002716064,
161
+ "position": [
162
+ -0.0714336128658033,
163
+ -0.02151446800780832,
164
+ 0.06977739880676381
165
+ ],
166
+ "orientation": {
167
+ "w": 0.3847992280167779,
168
+ "xyz": [
169
+ -0.03439188516063319,
170
+ 0.9174896066192354,
171
+ 0.09465502679979461
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9930970072746277,
177
+ "position": [
178
+ 0.011951481203141157,
179
+ -0.10292029205811559,
180
+ -0.011026968742953613
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7228960716152673,
184
+ "xyz": [
185
+ -0.6324596668495843,
186
+ -0.22784890982025685,
187
+ -0.1596900552490587
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9930824041366577,
193
+ "position": [
194
+ 0.0983533470207476,
195
+ -0.018953729533677688,
196
+ -0.014332678663777187
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7448877946272222,
200
+ "xyz": [
201
+ -0.006482769137568166,
202
+ -0.6577662505495835,
203
+ -0.11155136376416408
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9930135607719421,
209
+ "position": [
210
+ 0.09751566334307427,
211
+ -0.0065969378883892205,
212
+ 0.021614193421555683
213
+ ],
214
+ "orientation": {
215
+ "w": 0.6264347402234774,
216
+ "xyz": [
217
+ 0.09353189048400666,
218
+ -0.7677839557600078,
219
+ -0.09663901376331709
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9929346442222595,
225
+ "position": [
226
+ -0.05016646326839691,
227
+ -0.01568766880882322,
228
+ 0.08518025229568593
229
+ ],
230
+ "orientation": {
231
+ "w": 0.06933017102649984,
232
+ "xyz": [
233
+ -0.9639615181360613,
234
+ 0.02413108183230278,
235
+ -0.2557131397246902
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9928762912750244,
241
+ "position": [
242
+ -0.03388734327018028,
243
+ -0.06472498003495275,
244
+ 0.068999483686639
245
+ ],
246
+ "orientation": {
247
+ "w": 0.3451732926298529,
248
+ "xyz": [
249
+ -0.9194441213383983,
250
+ -0.02929388633610569,
251
+ -0.18606389766597398
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9928734302520752,
257
+ "position": [
258
+ -0.08953719751298195,
259
+ -0.02562442805719911,
260
+ 0.042373503994895145
261
+ ],
262
+ "orientation": {
263
+ "w": 0.11046430136859157,
264
+ "xyz": [
265
+ -0.8437436279757332,
266
+ -0.03074419759917535,
267
+ -0.5243559122270671
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9927470088005066,
273
+ "position": [
274
+ -0.0686858089393354,
275
+ -0.013430052549665561,
276
+ 0.07581560264225118
277
+ ],
278
+ "orientation": {
279
+ "w": 0.35564760791436867,
280
+ "xyz": [
281
+ 0.038307408122264734,
282
+ 0.9312909528257942,
283
+ 0.06888020508510705
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9927366971969604,
289
+ "position": [
290
+ 0.10067421777785057,
291
+ -0.016477812194352737,
292
+ 0.005973725550575182
293
+ ],
294
+ "orientation": {
295
+ "w": 0.08889364166271417,
296
+ "xyz": [
297
+ -0.7298698364508133,
298
+ 0.02400325477293863,
299
+ 0.6773564689818127
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.9927001595497131,
305
+ "position": [
306
+ -0.04767753349005943,
307
+ -0.03959360543740331,
308
+ 0.07987964103813283
309
+ ],
310
+ "orientation": {
311
+ "w": 0.21384051633480317,
312
+ "xyz": [
313
+ -0.9461498007395874,
314
+ 0.03526745885926663,
315
+ -0.24047659861141168
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9926338791847229,
321
+ "position": [
322
+ -0.07460813389479881,
323
+ -0.0053851382072025444,
324
+ 0.0706859449564945
325
+ ],
326
+ "orientation": {
327
+ "w": 0.3919748983919528,
328
+ "xyz": [
329
+ -0.0024320294973913313,
330
+ 0.9197441354433304,
331
+ 0.020505842600175586
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ }
337
+ ],
338
+ "quality_check": {
339
+ "success": true,
340
+ "message": "YES"
341
+ }
342
+ }
dataset/food/ingredients/2d9adc3a7e1753a4a33c6991da0a06a7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48aaa4975700af0988682d3e3a77e7ef04c8b17cb55a67e3150cfc7f11da0251
3
+ size 3777016