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
fd9ed8d
·
verified ·
1 Parent(s): cc5c175

Add asset food/fruits/48237f1cfac457ca9782931528f0f451

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/affordance_annot.json +257 -0
  3. dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8277,4 +8277,4 @@ dataset/food/fruits/3d5b609b439456f08b71740e20df17df/affordance/mesh_part_seg.gl
8277
  dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8278
  dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8279
  dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8280
- dataset/food/fruits/482032ab81585b19af445c0dfd1f170f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
8277
  dataset/food/fruits/3e009e62717e5c66a215f3d343c436ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8278
  dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8279
  dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8280
+ dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/affordance_annot.json ADDED
@@ -0,0 +1,257 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "strawberry body",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the strawberry body to pick up and move the fruit",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the body gently to stabilize the strawberry during inspection or packaging",
14
+ "confidence": 0.9
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "contain edible flesh",
20
+ "support eating",
21
+ "provide overall fruit mass and shape"
22
+ ],
23
+ "semantic_description": "Large bright red strawberry body with a slightly glossy surface, visible seed-dimple texture, a tapered conical shape, and the main lower portion of the fruit.",
24
+ "id": 8,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "calyx",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "delicately pinch the leafy top to orient or reposition the strawberry",
34
+ "confidence": 0.36
35
+ },
36
+ {
37
+ "scenario": "lightly hold the calyx to stabilize the fruit during handling",
38
+ "confidence": 0.29
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "protect the top of the fruit",
43
+ "connect top structures",
44
+ "indicate top orientation",
45
+ "provide a light pinch point"
46
+ ],
47
+ "semantic_description": "Small green leafy calyx with thin matte plant leaves, a slightly rough flexible texture, and a star-like spread around the top of the strawberry.",
48
+ "id": 1,
49
+ "grasp_group": {
50
+ "grasp_0": {
51
+ "confidence": 0.6220501661300659,
52
+ "position": [
53
+ 0.0796356099890545,
54
+ -0.030553968448657542,
55
+ 0.09175719693303108
56
+ ],
57
+ "orientation": {
58
+ "w": 0.32622339232211156,
59
+ "xyz": [
60
+ -0.7868109541947593,
61
+ -0.4586015332929192,
62
+ 0.25336032507551287
63
+ ]
64
+ }
65
+ },
66
+ "grasp_2": {
67
+ "confidence": 0.7693101763725281,
68
+ "position": [
69
+ -0.045728455181233585,
70
+ -0.05746691284002736,
71
+ 0.09538592770695686
72
+ ],
73
+ "orientation": {
74
+ "w": 0.10917478982990304,
75
+ "xyz": [
76
+ 0.436311740955442,
77
+ 0.8222950018791934,
78
+ 0.3486314097360222
79
+ ]
80
+ }
81
+ },
82
+ "grasp_8": {
83
+ "confidence": 0.9152082800865173,
84
+ "position": [
85
+ 0.05532213777769357,
86
+ 0.012021348054986447,
87
+ 0.10685685649514198
88
+ ],
89
+ "orientation": {
90
+ "w": 0.13923483797145716,
91
+ "xyz": [
92
+ -0.7219284024237631,
93
+ -0.6368110127070917,
94
+ 0.23217402043274302
95
+ ]
96
+ }
97
+ },
98
+ "grasp_9": {
99
+ "confidence": 0.9117360711097717,
100
+ "position": [
101
+ 0.019876736332662404,
102
+ -0.03582480159820989,
103
+ 0.11239838972687721
104
+ ],
105
+ "orientation": {
106
+ "w": 0.1981347892119205,
107
+ "xyz": [
108
+ -0.9651513135712901,
109
+ -0.1526201807558326,
110
+ 0.07702355251231874
111
+ ]
112
+ }
113
+ },
114
+ "grasp_10": {
115
+ "confidence": 0.8806664943695068,
116
+ "position": [
117
+ -0.07431731640826911,
118
+ 0.009510789241176099,
119
+ 0.09466889128088951
120
+ ],
121
+ "orientation": {
122
+ "w": 0.24813686031685225,
123
+ "xyz": [
124
+ 0.7676556506648764,
125
+ 0.5230197453302652,
126
+ 0.2749240741532916
127
+ ]
128
+ }
129
+ },
130
+ "grasp_11": {
131
+ "confidence": 0.8742449283599854,
132
+ "position": [
133
+ 0.09120074391830713,
134
+ 0.014657714578788728,
135
+ 0.06993105635046959
136
+ ],
137
+ "orientation": {
138
+ "w": 0.2801285486397005,
139
+ "xyz": [
140
+ -0.6665485532206693,
141
+ -0.5534429461736476,
142
+ 0.4134512398906069
143
+ ]
144
+ }
145
+ },
146
+ "grasp_14": {
147
+ "confidence": 0.8593136072158813,
148
+ "position": [
149
+ 0.05869769037235528,
150
+ 0.06815871613798663,
151
+ 0.07807354256510735
152
+ ],
153
+ "orientation": {
154
+ "w": 0.42622783525965324,
155
+ "xyz": [
156
+ 0.8432305935838466,
157
+ -0.26107323822313044,
158
+ -0.19782002623038908
159
+ ]
160
+ }
161
+ },
162
+ "grasp_15": {
163
+ "confidence": 0.8500925898551941,
164
+ "position": [
165
+ -0.034015833283774555,
166
+ 0.015761738817673177,
167
+ 0.11550743505358696
168
+ ],
169
+ "orientation": {
170
+ "w": 0.14287814342526448,
171
+ "xyz": [
172
+ -0.3732670524057699,
173
+ 0.9076428493719932,
174
+ -0.12822636898683065
175
+ ]
176
+ }
177
+ },
178
+ "grasp_16": {
179
+ "confidence": 0.8329166769981384,
180
+ "position": [
181
+ -0.015635364572517574,
182
+ -0.051412824366707355,
183
+ 0.10780530050396919
184
+ ],
185
+ "orientation": {
186
+ "w": 0.26294149580787635,
187
+ "xyz": [
188
+ -0.9290797781568838,
189
+ 0.2588200423626797,
190
+ -0.026167179321677718
191
+ ]
192
+ }
193
+ }
194
+ }
195
+ },
196
+ {
197
+ "part_name": "stem of strawberry",
198
+ "mask_color": "Blue",
199
+ "graspable": true,
200
+ "grasp_scenarios": [
201
+ {
202
+ "scenario": "delicately grasp the stem to orient the strawberry",
203
+ "confidence": 0.32
204
+ },
205
+ {
206
+ "scenario": "lift the strawberry by the stem in a careful picking scenario",
207
+ "confidence": 0.18
208
+ }
209
+ ],
210
+ "functional_labels": [
211
+ "connect fruit to plant",
212
+ "indicate top center",
213
+ "support harvesting"
214
+ ],
215
+ "semantic_description": "Very small green stem nub at the center of the top, with a matte plant surface, slightly rough texture, and short rounded protruding shape.",
216
+ "id": 2,
217
+ "grasp_group": {
218
+ "grasp_20": {
219
+ "confidence": 0.8120309114456177,
220
+ "position": [
221
+ -0.015115840244106948,
222
+ -0.03476143610896543,
223
+ 0.11743760481476784
224
+ ],
225
+ "orientation": {
226
+ "w": 0.05616920404216,
227
+ "xyz": [
228
+ 0.17402930088365165,
229
+ 0.9648453881963437,
230
+ 0.18876493272709402
231
+ ]
232
+ }
233
+ },
234
+ "grasp_21": {
235
+ "confidence": 0.6880194544792175,
236
+ "position": [
237
+ -0.031500189448706806,
238
+ 0.032799612905364484,
239
+ 0.11252318695187569
240
+ ],
241
+ "orientation": {
242
+ "w": 0.2234248503714772,
243
+ "xyz": [
244
+ 0.8844681773871622,
245
+ 0.39498772514501984,
246
+ 0.1085452735529126
247
+ ]
248
+ }
249
+ }
250
+ }
251
+ }
252
+ ],
253
+ "quality_check": {
254
+ "success": true,
255
+ "message": "YES"
256
+ }
257
+ }
dataset/food/fruits/48237f1cfac457ca9782931528f0f451/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0f8599240dd34cf0845cc24474ab7850e557c7f49205d26198235933ee3e0b9c
3
+ size 1039828