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
ae03cf8
·
verified ·
1 Parent(s): 32741d8

Add asset food/ingredients/e7c53cd4d7cf50d9a393032273a6618a

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/affordance_annot.json +340 -0
  3. dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6843,3 +6843,4 @@ dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/affordance/mesh_part_s
6843
  dataset/food/ingredients/e29c2701a5985555927865c12d3d1dae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6844
  dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6845
  dataset/food/ingredients/ee92ad39d38b5ef5ab11794b91060fc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6843
  dataset/food/ingredients/e29c2701a5985555927865c12d3d1dae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6844
  dataset/food/ingredients/e805c144fac754b59a95f213fb33c2e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6845
  dataset/food/ingredients/ee92ad39d38b5ef5ab11794b91060fc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6846
+ dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,340 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "potato sprout",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "new growth point",
10
+ "indicate orientation",
11
+ "emerging shoot from potato eye"
12
+ ],
13
+ "semantic_description": "Tiny pale green to tan sprouting nub with a matte slightly rough texture and irregular protruding shape, emerging from the potato surface near an eye.",
14
+ "id": 0,
15
+ "grasp_group": {}
16
+ },
17
+ {
18
+ "part_name": "potato body",
19
+ "mask_color": "Green",
20
+ "graspable": true,
21
+ "grasp_scenarios": [
22
+ {
23
+ "scenario": "grasp the potato body to pick up and move the potato",
24
+ "confidence": 0.96
25
+ },
26
+ {
27
+ "scenario": "hold the potato body to stabilize it during cutting or inspection",
28
+ "confidence": 0.92
29
+ },
30
+ {
31
+ "scenario": "reorient the potato by rolling or pinching its body",
32
+ "confidence": 0.89
33
+ }
34
+ ],
35
+ "functional_labels": [
36
+ "main grasp surface",
37
+ "contain edible flesh",
38
+ "support handling",
39
+ "provide bulk and weight",
40
+ "support cutting and peeling"
41
+ ],
42
+ "semantic_description": "Large rounded off-white to light tan potato body with matte smooth to slightly dusty skin, scattered brown eyes and blemishes, and an irregular oval shape forming nearly the entire object.",
43
+ "id": 1,
44
+ "grasp_group": {
45
+ "grasp_0": {
46
+ "confidence": 0.9499632716178894,
47
+ "position": [
48
+ -0.08558608358725905,
49
+ 0.07952581346035004,
50
+ 0.028287830762565136
51
+ ],
52
+ "orientation": {
53
+ "w": 0.6864920679328889,
54
+ "xyz": [
55
+ 0.3575643460959493,
56
+ 0.5997334149688535,
57
+ -0.2029684951809014
58
+ ]
59
+ }
60
+ },
61
+ "grasp_1": {
62
+ "confidence": 0.9497345089912415,
63
+ "position": [
64
+ -0.015010565053671598,
65
+ -0.10917142778635025,
66
+ 0.046037375926971436
67
+ ],
68
+ "orientation": {
69
+ "w": 0.5623945059927696,
70
+ "xyz": [
71
+ -0.5815630302539002,
72
+ 0.4668782849549562,
73
+ 0.35710156609649363
74
+ ]
75
+ }
76
+ },
77
+ "grasp_2": {
78
+ "confidence": 0.9472563862800598,
79
+ "position": [
80
+ -0.01397746754810214,
81
+ -0.10918337106704712,
82
+ 0.05837494507431984
83
+ ],
84
+ "orientation": {
85
+ "w": 0.5254288394893751,
86
+ "xyz": [
87
+ -0.5855682441738761,
88
+ 0.508390354471764,
89
+ 0.35010514638897594
90
+ ]
91
+ }
92
+ },
93
+ "grasp_3": {
94
+ "confidence": 0.9465885162353516,
95
+ "position": [
96
+ 0.026948720682412386,
97
+ -0.10701096057891846,
98
+ 0.046463025733828545
99
+ ],
100
+ "orientation": {
101
+ "w": 0.4617806428445974,
102
+ "xyz": [
103
+ -0.6323025335757542,
104
+ 0.3973287153489924,
105
+ 0.4786251517490817
106
+ ]
107
+ }
108
+ },
109
+ "grasp_4": {
110
+ "confidence": 0.9465372562408447,
111
+ "position": [
112
+ -0.05671038990840316,
113
+ 0.02207765355706215,
114
+ 0.12215296179056168
115
+ ],
116
+ "orientation": {
117
+ "w": 0.2442602408096356,
118
+ "xyz": [
119
+ 0.6965554574485904,
120
+ 0.6661193662805306,
121
+ 0.10692249213439048
122
+ ]
123
+ }
124
+ },
125
+ "grasp_5": {
126
+ "confidence": 0.9456043839454651,
127
+ "position": [
128
+ -0.06171321636065841,
129
+ 0.09480910748243332,
130
+ 0.026974566280841827
131
+ ],
132
+ "orientation": {
133
+ "w": 0.6472695230349577,
134
+ "xyz": [
135
+ 0.4040372085522282,
136
+ 0.569729676785557,
137
+ -0.3052936193981888
138
+ ]
139
+ }
140
+ },
141
+ "grasp_6": {
142
+ "confidence": 0.9450384974479675,
143
+ "position": [
144
+ -0.014514065813273191,
145
+ -0.10646532475948334,
146
+ 0.049551500007510185
147
+ ],
148
+ "orientation": {
149
+ "w": 0.5414900995471645,
150
+ "xyz": [
151
+ -0.5782488521428776,
152
+ 0.4922232289564109,
153
+ 0.36073955974299676
154
+ ]
155
+ }
156
+ },
157
+ "grasp_7": {
158
+ "confidence": 0.9449123740196228,
159
+ "position": [
160
+ 0.004520175396464765,
161
+ -0.10768553614616394,
162
+ 0.05699465237557888
163
+ ],
164
+ "orientation": {
165
+ "w": 0.43209054068791225,
166
+ "xyz": [
167
+ -0.528369500832361,
168
+ -0.5803246807914526,
169
+ -0.4442372115238524
170
+ ]
171
+ }
172
+ },
173
+ "grasp_9": {
174
+ "confidence": 0.9437194466590881,
175
+ "position": [
176
+ -0.09014925872907043,
177
+ 0.00530853308737278,
178
+ 0.10221178829669952
179
+ ],
180
+ "orientation": {
181
+ "w": 0.2995389851634267,
182
+ "xyz": [
183
+ 0.6606484336681063,
184
+ 0.6305202746894902,
185
+ 0.27615978466212554
186
+ ]
187
+ }
188
+ },
189
+ "grasp_10": {
190
+ "confidence": 0.9436387419700623,
191
+ "position": [
192
+ 0.025796037632972002,
193
+ -0.10659623146057129,
194
+ 0.05084185488522053
195
+ ],
196
+ "orientation": {
197
+ "w": 0.46379890717735783,
198
+ "xyz": [
199
+ -0.4160672016322121,
200
+ -0.6400049837797293,
201
+ -0.44963571718018336
202
+ ]
203
+ }
204
+ },
205
+ "grasp_11": {
206
+ "confidence": 0.9435952305793762,
207
+ "position": [
208
+ -0.031374392565339804,
209
+ 0.07956991344690323,
210
+ 0.10122016817331314
211
+ ],
212
+ "orientation": {
213
+ "w": 0.4050584056541217,
214
+ "xyz": [
215
+ 0.6554288488373493,
216
+ 0.6220007051844696,
217
+ -0.139484174266152
218
+ ]
219
+ }
220
+ },
221
+ "grasp_12": {
222
+ "confidence": 0.9429393410682678,
223
+ "position": [
224
+ 0.030230479780584574,
225
+ -0.10806439071893692,
226
+ 0.04266118537634611
227
+ ],
228
+ "orientation": {
229
+ "w": 0.4604047303869396,
230
+ "xyz": [
231
+ -0.599873904884938,
232
+ 0.42319778042641476,
233
+ 0.49908157761791055
234
+ ]
235
+ }
236
+ },
237
+ "grasp_13": {
238
+ "confidence": 0.94293212890625,
239
+ "position": [
240
+ 0.007311690598726273,
241
+ -0.10840407758951187,
242
+ 0.039880167692899704
243
+ ],
244
+ "orientation": {
245
+ "w": 0.5017246939956592,
246
+ "xyz": [
247
+ -0.5815894260322243,
248
+ 0.4441229100908961,
249
+ 0.46128181374823723
250
+ ]
251
+ }
252
+ },
253
+ "grasp_14": {
254
+ "confidence": 0.942054271697998,
255
+ "position": [
256
+ -0.07263500755652785,
257
+ 0.08275267481803894,
258
+ 0.026195502374321222
259
+ ],
260
+ "orientation": {
261
+ "w": 0.676453081334099,
262
+ "xyz": [
263
+ 0.39665938246285254,
264
+ 0.5744052491453862,
265
+ -0.23480028281928825
266
+ ]
267
+ }
268
+ },
269
+ "grasp_15": {
270
+ "confidence": 0.9420075416564941,
271
+ "position": [
272
+ -0.09972274815663695,
273
+ 0.05458183214068413,
274
+ 0.025054597295820713
275
+ ],
276
+ "orientation": {
277
+ "w": 0.7280359763987515,
278
+ "xyz": [
279
+ 0.3185444451604571,
280
+ 0.604538428447399,
281
+ -0.05501219916420104
282
+ ]
283
+ }
284
+ },
285
+ "grasp_16": {
286
+ "confidence": 0.9419868588447571,
287
+ "position": [
288
+ -0.04851258685812354,
289
+ -0.00062608253210783,
290
+ 0.12990838289260864
291
+ ],
292
+ "orientation": {
293
+ "w": 0.136651961578448,
294
+ "xyz": [
295
+ 0.6878262604115429,
296
+ 0.6951220270399817,
297
+ 0.15819811758950247
298
+ ]
299
+ }
300
+ },
301
+ "grasp_17": {
302
+ "confidence": 0.9417227506637573,
303
+ "position": [
304
+ -0.09928402816876769,
305
+ 0.0470774844288826,
306
+ 0.05879026837646961
307
+ ],
308
+ "orientation": {
309
+ "w": 0.6076195945609413,
310
+ "xyz": [
311
+ 0.4394528193256625,
312
+ 0.6596483653655294,
313
+ 0.050434928005399546
314
+ ]
315
+ }
316
+ },
317
+ "grasp_18": {
318
+ "confidence": 0.9412849545478821,
319
+ "position": [
320
+ -0.06652330374345183,
321
+ 0.08329182118177414,
322
+ 0.002726759761571884
323
+ ],
324
+ "orientation": {
325
+ "w": 0.7128100138135536,
326
+ "xyz": [
327
+ 0.2969209424515319,
328
+ 0.5370888970861508,
329
+ -0.3395222448788848
330
+ ]
331
+ }
332
+ }
333
+ }
334
+ }
335
+ ],
336
+ "quality_check": {
337
+ "success": true,
338
+ "message": "YES"
339
+ }
340
+ }
dataset/food/ingredients/e7c53cd4d7cf50d9a393032273a6618a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d1ec0841db27aab192e5f7e5d4886b116086553ae709bd09ead627d4cdecab0
3
+ size 111288552