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
f8f806b
·
verified ·
1 Parent(s): 9c298ee

Add asset food/beverages/1478aebd773855f49179318b4d6bfed8

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/affordance_annot.json +465 -0
  3. dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/mesh_part_seg.glb +3 -0
  4. dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/milk_carton_005.urdf +4 -3
.gitattributes CHANGED
@@ -6706,3 +6706,4 @@ dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/affordance/mesh_part_seg
6706
  dataset/food/beverages/0e504668d6ca5ba2badf5d22c35dc7cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6707
  dataset/food/beverages/0eefa9d6c5365a55a1de8479b1858824/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6708
  dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6706
  dataset/food/beverages/0e504668d6ca5ba2badf5d22c35dc7cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6707
  dataset/food/beverages/0eefa9d6c5365a55a1de8479b1858824/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6708
  dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6709
+ dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,465 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "carton body",
5
+ "mask_color": "Navy",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sidewalls to pick up and carry the drink carton",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the carton while inserting or removing the straw",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "grasp the body to tilt the carton for pouring or drinking",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain liquid",
23
+ "main grasp surface",
24
+ "support printed labeling",
25
+ "provide structural support",
26
+ "support attached cap and straw area"
27
+ ],
28
+ "semantic_description": "Large rectangular coated paperboard drink carton with a blue upper section, green lower section, white middle band, printed cartoon graphics and text, and folded gable-top shoulders. A white screw cap is mounted on the sloped top panel.",
29
+ "id": 13,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9650744795799255,
33
+ "position": [
34
+ 0.11072781146503985,
35
+ 0.009265180677175522,
36
+ -0.029133580275811255
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5054019992479635,
40
+ "xyz": [
41
+ 0.5106154992387145,
42
+ -0.5004980999404548,
43
+ -0.48305515528700715
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9620753526687622,
49
+ "position": [
50
+ 0.1120755320880562,
51
+ 0.008171504479832947,
52
+ -0.02806070784572512
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5011142714760063,
56
+ "xyz": [
57
+ -0.4901577048375165,
58
+ -0.5084433500756783,
59
+ 0.5001152577909526
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.9619612693786621,
65
+ "position": [
66
+ 0.11152675957418978,
67
+ 0.009256219025701284,
68
+ -0.027249902137555182
69
+ ],
70
+ "orientation": {
71
+ "w": 0.49914642282609095,
72
+ "xyz": [
73
+ -0.4900930874877408,
74
+ -0.511307457315424,
75
+ 0.49922569872782724
76
+ ]
77
+ }
78
+ },
79
+ "grasp_23": {
80
+ "confidence": 0.9618348479270935,
81
+ "position": [
82
+ 0.0016756851691752672,
83
+ -0.10181842558085918,
84
+ -0.03187789733055979
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7111226766037196,
88
+ "xyz": [
89
+ -0.7029358079309281,
90
+ -0.013145870754909472,
91
+ -0.0036020592097451808
92
+ ]
93
+ }
94
+ },
95
+ "grasp_25": {
96
+ "confidence": 0.9612067341804504,
97
+ "position": [
98
+ 0.1093289575073868,
99
+ 0.009642632910981774,
100
+ -0.025484528043307364
101
+ ],
102
+ "orientation": {
103
+ "w": 0.49364467561731223,
104
+ "xyz": [
105
+ -0.49135142434968504,
106
+ -0.5129532992933734,
107
+ 0.5017645112682413
108
+ ]
109
+ }
110
+ },
111
+ "grasp_26": {
112
+ "confidence": 0.960412859916687,
113
+ "position": [
114
+ 0.0012025439646095037,
115
+ -0.10453983955085278,
116
+ -0.02755880879703909
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7087605435042903,
120
+ "xyz": [
121
+ -0.7051776588604082,
122
+ -0.017655178667333682,
123
+ -0.008441331759962624
124
+ ]
125
+ }
126
+ },
127
+ "grasp_31": {
128
+ "confidence": 0.9590120911598206,
129
+ "position": [
130
+ -0.0009727089200168848,
131
+ -0.10388991050422192,
132
+ -0.02454229409340769
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7100578923226869,
136
+ "xyz": [
137
+ -0.7038548749066169,
138
+ -0.018735615706908182,
139
+ -0.007421679360960992
140
+ ]
141
+ }
142
+ },
143
+ "grasp_32": {
144
+ "confidence": 0.9586918950080872,
145
+ "position": [
146
+ 0.11572764278389513,
147
+ 0.008567015058360994,
148
+ -0.028016909607686102
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5012835746198703,
152
+ "xyz": [
153
+ 0.5159811565911605,
154
+ -0.4907258480334049,
155
+ -0.4915957342482431
156
+ ]
157
+ }
158
+ },
159
+ "grasp_33": {
160
+ "confidence": 0.9586260914802551,
161
+ "position": [
162
+ 0.11017742962576449,
163
+ 0.010593243641778827,
164
+ -0.022918162518180907
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5057134304423823,
168
+ "xyz": [
169
+ 0.5147097827444973,
170
+ -0.4875667616186238,
171
+ -0.49153475846783995
172
+ ]
173
+ }
174
+ },
175
+ "grasp_34": {
176
+ "confidence": 0.9586244225502014,
177
+ "position": [
178
+ 0.10993001819588244,
179
+ 0.009359817486256361,
180
+ -0.05096436629537493
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5262362781993981,
184
+ "xyz": [
185
+ -0.46080712468982366,
186
+ -0.4810081507190088,
187
+ 0.5285483254006412
188
+ ]
189
+ }
190
+ },
191
+ "grasp_35": {
192
+ "confidence": 0.9583887457847595,
193
+ "position": [
194
+ 0.11572332889772952,
195
+ 0.010629469528794289,
196
+ -0.02753245795611292
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4924276025390752,
200
+ "xyz": [
201
+ -0.49131702284471346,
202
+ -0.5125478392364975,
203
+ 0.5034057526634192
204
+ ]
205
+ }
206
+ },
207
+ "grasp_36": {
208
+ "confidence": 0.9581948518753052,
209
+ "position": [
210
+ 0.11365727544762194,
211
+ 0.009521058294922113,
212
+ -0.028480579727329314
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5077871531261768,
216
+ "xyz": [
217
+ 0.5026543356580114,
218
+ -0.5048278840406778,
219
+ -0.48439615343149434
220
+ ]
221
+ }
222
+ },
223
+ "grasp_37": {
224
+ "confidence": 0.9579799771308899,
225
+ "position": [
226
+ 0.0010980477090924978,
227
+ -0.10409112088382244,
228
+ -0.0257548593217507
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7135452232624608,
232
+ "xyz": [
233
+ -0.7004416063897905,
234
+ -0.014924390209375527,
235
+ -0.0034688577793492693
236
+ ]
237
+ }
238
+ },
239
+ "grasp_38": {
240
+ "confidence": 0.9578049182891846,
241
+ "position": [
242
+ 0.1113220399711281,
243
+ 0.009359321324154735,
244
+ -0.022148621850647032
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5031799659195363,
248
+ "xyz": [
249
+ 0.5138022205771443,
250
+ -0.48859016250628096,
251
+ -0.4940615883969282
252
+ ]
253
+ }
254
+ },
255
+ "grasp_39": {
256
+ "confidence": 0.9576380848884583,
257
+ "position": [
258
+ 0.10204612673260272,
259
+ 0.008341624052263796,
260
+ -0.08572523260954767
261
+ ],
262
+ "orientation": {
263
+ "w": 0.6162838070110036,
264
+ "xyz": [
265
+ -0.35407584459859887,
266
+ -0.37047191324230966,
267
+ 0.5979758581969634
268
+ ]
269
+ }
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "part_name": "straw",
275
+ "mask_color": "Teal",
276
+ "graspable": true,
277
+ "grasp_scenarios": [
278
+ {
279
+ "scenario": "pinch the straw to remove it from the attached holder area",
280
+ "confidence": 0.8
281
+ },
282
+ {
283
+ "scenario": "grasp the straw to orient it for insertion into the puncture point",
284
+ "confidence": 0.76
285
+ },
286
+ {
287
+ "scenario": "hold the protruding straw to make a slight positional adjustment of the carton",
288
+ "confidence": 0.2
289
+ }
290
+ ],
291
+ "functional_labels": [
292
+ "enable drinking",
293
+ "serve as an insertion tube",
294
+ "provide a small pull point",
295
+ "indicate drinking interface"
296
+ ],
297
+ "semantic_description": "Thin white plastic straw with a flexible ribbed bend section, elongated and narrow, protruding diagonally from near the top of the carton.",
298
+ "id": 10,
299
+ "grasp_group": {
300
+ "grasp_0": {
301
+ "confidence": 0.8811248540878296,
302
+ "position": [
303
+ 0.1128014198038727,
304
+ 0.001200780738145113,
305
+ 0.09992833470460027
306
+ ],
307
+ "orientation": {
308
+ "w": 0.35015713165976275,
309
+ "xyz": [
310
+ 0.5994980587437999,
311
+ -0.6241583112081217,
312
+ -0.3583552193844105
313
+ ]
314
+ }
315
+ },
316
+ "grasp_1": {
317
+ "confidence": 0.8455715775489807,
318
+ "position": [
319
+ 0.11087948293425143,
320
+ -0.005758330225944519,
321
+ 0.10196097975131124
322
+ ],
323
+ "orientation": {
324
+ "w": 0.35314137023237896,
325
+ "xyz": [
326
+ 0.5715234188077294,
327
+ -0.6479592107027934,
328
+ -0.3588885838949677
329
+ ]
330
+ }
331
+ },
332
+ "grasp_7": {
333
+ "confidence": 0.9168959856033325,
334
+ "position": [
335
+ 0.1101744866464287,
336
+ 0.004863607930019498,
337
+ 0.09502060001250356
338
+ ],
339
+ "orientation": {
340
+ "w": 0.3570405527705439,
341
+ "xyz": [
342
+ 0.6124214071942665,
343
+ -0.606519569961039,
344
+ -0.359994548488967
345
+ ]
346
+ }
347
+ },
348
+ "grasp_9": {
349
+ "confidence": 0.8987813591957092,
350
+ "position": [
351
+ 0.07757706404663622,
352
+ 0.00768557219998911,
353
+ 0.1299832317745313
354
+ ],
355
+ "orientation": {
356
+ "w": 0.20467906775786177,
357
+ "xyz": [
358
+ 0.6884565005747633,
359
+ -0.6708569696426632,
360
+ -0.18462137557711483
361
+ ]
362
+ }
363
+ },
364
+ "grasp_10": {
365
+ "confidence": 0.895457923412323,
366
+ "position": [
367
+ 0.11433017463423312,
368
+ 0.008954589487984776,
369
+ 0.09607713704463094
370
+ ],
371
+ "orientation": {
372
+ "w": 0.36442423288609865,
373
+ "xyz": [
374
+ 0.6117614140309635,
375
+ -0.6095552688451228,
376
+ -0.3484039681337815
377
+ ]
378
+ }
379
+ },
380
+ "grasp_13": {
381
+ "confidence": 0.7623518109321594,
382
+ "position": [
383
+ 0.11709542782045901,
384
+ 0.013493004254996777,
385
+ 0.10912436281796545
386
+ ],
387
+ "orientation": {
388
+ "w": 0.3215795726639759,
389
+ "xyz": [
390
+ -0.6012294244033081,
391
+ -0.63656664529743,
392
+ 0.36040624824175516
393
+ ]
394
+ }
395
+ },
396
+ "grasp_14": {
397
+ "confidence": 0.7446432113647461,
398
+ "position": [
399
+ 0.12828467250801623,
400
+ 0.008918005740270019,
401
+ 0.05415785720106214
402
+ ],
403
+ "orientation": {
404
+ "w": 0.5035030988663001,
405
+ "xyz": [
406
+ 0.5123542728693506,
407
+ -0.48103484603953994,
408
+ -0.502576566704286
409
+ ]
410
+ }
411
+ },
412
+ "grasp_16": {
413
+ "confidence": 0.9046066403388977,
414
+ "position": [
415
+ 0.07444185973145068,
416
+ 0.007864579209126532,
417
+ 0.1299411210929975
418
+ ],
419
+ "orientation": {
420
+ "w": 0.20562003559802103,
421
+ "xyz": [
422
+ 0.6902910462769336,
423
+ -0.6702423440667122,
424
+ -0.17886831080581006
425
+ ]
426
+ }
427
+ },
428
+ "grasp_17": {
429
+ "confidence": 0.9040493369102478,
430
+ "position": [
431
+ 0.10930706025101244,
432
+ 0.005311728920787573,
433
+ 0.10009638254996389
434
+ ],
435
+ "orientation": {
436
+ "w": 0.33211743490115503,
437
+ "xyz": [
438
+ -0.624967229667005,
439
+ -0.6172630959466296,
440
+ 0.3436571571485271
441
+ ]
442
+ }
443
+ }
444
+ }
445
+ },
446
+ {
447
+ "part_name": "straw wrapper or attachment sleeve",
448
+ "mask_color": "Violet",
449
+ "graspable": false,
450
+ "grasp_scenarios": [],
451
+ "functional_labels": [
452
+ "retain the straw on the carton exterior",
453
+ "cover part of the straw attachment area",
454
+ "help keep the drinking straw sanitary before use"
455
+ ],
456
+ "semantic_description": "Small pink-magenta wrapper or sleeve around the lower end of the straw near the top corner of the carton, with a smooth slightly glossy appearance and compact shape.",
457
+ "id": 20,
458
+ "grasp_group": {}
459
+ }
460
+ ],
461
+ "quality_check": {
462
+ "success": false,
463
+ "message": "Mask colors and part identity mismatch: cap is omitted, wrapper description/color incorrect, teal mask includes cap and graphics not just straw."
464
+ }
465
+ }
dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e7ff8414e77b6e5bd6b09ed734f1ce2302aa772ee2eb3e44b2f8e1be936e7aa
3
+ size 3833544
dataset/food/beverages/1478aebd773855f49179318b4d6bfed8/milk_carton_005.urdf CHANGED
@@ -47,16 +47,17 @@
47
  </link>
48
  <custom_data>
49
  <affordance>
50
- <part_count>0</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
54
- <mesh filename="None" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
60
  </quality>
61
  </custom_data>
62
  </robot>
 
47
  </link>
48
  <custom_data>
49
  <affordance>
50
+ <part_count>3</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
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":"Main body is fine, but small printed/decorative regions are mislabeled as separate parts; only straw connector is meaningfully separate.","merge_groups":[{"colors":["Teal","Navy"],"target_part":"main body","reason":"teal patches are graphics, not functional parts"},{"colors":["Violet","Teal"],"target_part":"spout assembly","reason":"connector and straw act as one usable part"}]}</PartSegChecker>
61
  </quality>
62
  </custom_data>
63
  </robot>