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
1
xinjjj commited on
Commit
994a83a
·
verified ·
1 Parent(s): 47a09cf

Add asset food/ingredients/e32eba9b801b5e1c95018ffab603df9c

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/affordance_annot.json +301 -0
  3. dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6837,3 +6837,4 @@ dataset/food/ingredients/dffa628b99455c87b2a5070173b79414/affordance/mesh_part_s
6837
  dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6838
  dataset/food/ingredients/e19a24c944775a0aa2dccc198f95bb7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6839
  dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6837
  dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6838
  dataset/food/ingredients/e19a24c944775a0aa2dccc198f95bb7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6839
  dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6840
+ dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,301 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap from the sides to pick up the mushroom",
10
+ "confidence": 0.73
11
+ },
12
+ {
13
+ "scenario": "hold the cap to stabilize the mushroom during inspection or cutting",
14
+ "confidence": 0.66
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the gills underside",
19
+ "protect the spore-bearing surface",
20
+ "main upper body",
21
+ "provide a broad contact surface"
22
+ ],
23
+ "semantic_description": "Large rounded off-white mushroom cap with a smooth matte to slightly satin surface, firm flesh-like texture, dome shape, and a broad top portion with a faint warm beige rim underneath.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "stem of mushroom",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the stem to lift and move the mushroom",
34
+ "confidence": 0.88
35
+ },
36
+ {
37
+ "scenario": "hold the stem to orient the mushroom upright",
38
+ "confidence": 0.82
39
+ },
40
+ {
41
+ "scenario": "grasp the stem to stabilize it while processing",
42
+ "confidence": 0.79
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "support the cap",
47
+ "connect cap to base",
48
+ "provide a lifting point",
49
+ "stabilize the mushroom upright"
50
+ ],
51
+ "semantic_description": "Short thick off-white stem with a smooth matte surface and firm slightly fibrous texture, cylindrical to tapered in shape, centered on the underside and smaller than the cap.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_20": {
55
+ "confidence": 0.9696505665779114,
56
+ "position": [
57
+ 0.012771396664902568,
58
+ 0.09121590742142871,
59
+ -0.06993710435926914
60
+ ],
61
+ "orientation": {
62
+ "w": 0.7950895834662098,
63
+ "xyz": [
64
+ 0.6016848883932996,
65
+ -0.010875248660296433,
66
+ -0.07542929344259373
67
+ ]
68
+ }
69
+ },
70
+ "grasp_21": {
71
+ "confidence": 0.9696402549743652,
72
+ "position": [
73
+ -0.010066871764138341,
74
+ 0.08856255450518802,
75
+ -0.07920706458389759
76
+ ],
77
+ "orientation": {
78
+ "w": 0.830009553531267,
79
+ "xyz": [
80
+ 0.5543031350375057,
81
+ 0.06178040129979334,
82
+ 0.003918870966998614
83
+ ]
84
+ }
85
+ },
86
+ "grasp_22": {
87
+ "confidence": 0.9676399230957031,
88
+ "position": [
89
+ -0.008616594830527902,
90
+ 0.09260967263253406,
91
+ -0.07058614678680897
92
+ ],
93
+ "orientation": {
94
+ "w": 0.7854017246736786,
95
+ "xyz": [
96
+ 0.6172133714736383,
97
+ 0.0392764920730887,
98
+ 0.025478267684209587
99
+ ]
100
+ }
101
+ },
102
+ "grasp_23": {
103
+ "confidence": 0.9638776779174805,
104
+ "position": [
105
+ 0.025834697065874934,
106
+ -0.09929263702360913,
107
+ -0.06997230090200901
108
+ ],
109
+ "orientation": {
110
+ "w": 0.800880531993166,
111
+ "xyz": [
112
+ -0.5808281254758499,
113
+ -0.051275724889588314,
114
+ 0.13638131165083164
115
+ ]
116
+ }
117
+ },
118
+ "grasp_25": {
119
+ "confidence": 0.9618018865585327,
120
+ "position": [
121
+ -0.003416696796193719,
122
+ 0.08436234184773639,
123
+ -0.08895646966993809
124
+ ],
125
+ "orientation": {
126
+ "w": 0.8722934499807514,
127
+ "xyz": [
128
+ 0.48867706533061334,
129
+ 0.016621224390889422,
130
+ 0.004753718574538643
131
+ ]
132
+ }
133
+ },
134
+ "grasp_26": {
135
+ "confidence": 0.9617235660552979,
136
+ "position": [
137
+ -0.010093414457514882,
138
+ 0.07511505373986438,
139
+ -0.10142280347645283
140
+ ],
141
+ "orientation": {
142
+ "w": 0.888987905942088,
143
+ "xyz": [
144
+ 0.453993587224221,
145
+ 0.05729649557024519,
146
+ 0.017533894129780393
147
+ ]
148
+ }
149
+ },
150
+ "grasp_27": {
151
+ "confidence": 0.961570680141449,
152
+ "position": [
153
+ 0.0010873100254684687,
154
+ 0.08219856658251956,
155
+ -0.08826442994177341
156
+ ],
157
+ "orientation": {
158
+ "w": 0.8733240729476067,
159
+ "xyz": [
160
+ 0.4870854730737543,
161
+ -0.0004740670167627803,
162
+ -0.007251261351266758
163
+ ]
164
+ }
165
+ },
166
+ "grasp_29": {
167
+ "confidence": 0.9613556861877441,
168
+ "position": [
169
+ -0.010150145972147584,
170
+ -0.10887922457186505,
171
+ -0.061839597299695015
172
+ ],
173
+ "orientation": {
174
+ "w": 0.7614838620910678,
175
+ "xyz": [
176
+ -0.6444497477386429,
177
+ 0.06814609178238007,
178
+ 0.013526292517108919
179
+ ]
180
+ }
181
+ },
182
+ "grasp_31": {
183
+ "confidence": 0.9601266384124756,
184
+ "position": [
185
+ -0.011047197738662362,
186
+ 0.004001670109573752,
187
+ -0.14127128012478352
188
+ ],
189
+ "orientation": {
190
+ "w": 0.9903796096312535,
191
+ "xyz": [
192
+ 0.0518787964986685,
193
+ 0.06145962465431709,
194
+ 0.11260343617246413
195
+ ]
196
+ }
197
+ },
198
+ "grasp_32": {
199
+ "confidence": 0.9593892693519592,
200
+ "position": [
201
+ 0.005792898824438453,
202
+ 0.003430811280850321,
203
+ -0.1441050637513399
204
+ ],
205
+ "orientation": {
206
+ "w": 0.9954285413564052,
207
+ "xyz": [
208
+ 0.043727822985540066,
209
+ -0.0074577632640615565,
210
+ -0.08458296706253435
211
+ ]
212
+ }
213
+ },
214
+ "grasp_33": {
215
+ "confidence": 0.9590462446212769,
216
+ "position": [
217
+ 0.005559543380513787,
218
+ -0.10651072970358655,
219
+ -0.07707720436155796
220
+ ],
221
+ "orientation": {
222
+ "w": 0.8309483176493232,
223
+ "xyz": [
224
+ -0.5536012221407536,
225
+ 0.011585808474041448,
226
+ 0.05400323399600105
227
+ ]
228
+ }
229
+ },
230
+ "grasp_34": {
231
+ "confidence": 0.9589733481407166,
232
+ "position": [
233
+ 0.0055284935515373945,
234
+ 0.09139934071572497,
235
+ -0.08147402293980122
236
+ ],
237
+ "orientation": {
238
+ "w": 0.8518036436328165,
239
+ "xyz": [
240
+ 0.5228734301490737,
241
+ 0.0023874710373180674,
242
+ -0.032066005676502723
243
+ ]
244
+ }
245
+ },
246
+ "grasp_36": {
247
+ "confidence": 0.9586815237998962,
248
+ "position": [
249
+ -0.006569556659087539,
250
+ -0.0030612057889811695,
251
+ -0.14111311919987202
252
+ ],
253
+ "orientation": {
254
+ "w": 0.9967000376741584,
255
+ "xyz": [
256
+ 0.009276393136213354,
257
+ 0.03954110552133605,
258
+ -0.07028146558563472
259
+ ]
260
+ }
261
+ },
262
+ "grasp_38": {
263
+ "confidence": 0.9583308100700378,
264
+ "position": [
265
+ -0.0056687151081860065,
266
+ -0.0009500346495769918,
267
+ -0.14203821308910847
268
+ ],
269
+ "orientation": {
270
+ "w": 0.9914852127523681,
271
+ "xyz": [
272
+ 0.01831615637701084,
273
+ 0.04384961641624008,
274
+ -0.12123861781261469
275
+ ]
276
+ }
277
+ },
278
+ "grasp_39": {
279
+ "confidence": 0.9580470323562622,
280
+ "position": [
281
+ 0.012167554115876555,
282
+ -0.11499419173924252,
283
+ -0.04053987376391888
284
+ ],
285
+ "orientation": {
286
+ "w": 0.7034609365055698,
287
+ "xyz": [
288
+ -0.7079249109971533,
289
+ -0.038871662137733076,
290
+ 0.049739572606017156
291
+ ]
292
+ }
293
+ }
294
+ }
295
+ }
296
+ ],
297
+ "quality_check": {
298
+ "success": true,
299
+ "message": "YES"
300
+ }
301
+ }
dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b30d56d2c3e6ca0622136f6f503dbc517eebacd6d3a196551171ecf53cdc407
3
+ size 498752