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
0417b3a
·
verified ·
1 Parent(s): 5b5656c

Add asset desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/affordance_annot.json +565 -0
  3. dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8123,4 +8123,4 @@ dataset/desktop_supplies/electronic_accessories/bca393ad56725e6ab4e4b7c0e43b7918
8123
  dataset/desktop_supplies/electronic_accessories/c412c4fb919a5d4eb11f6ee884850a8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8124
  dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8125
  dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8126
- dataset/desktop_supplies/electronic_accessories/c8ce1b253c385e3f84f00aed96e1cae1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
8123
  dataset/desktop_supplies/electronic_accessories/c412c4fb919a5d4eb11f6ee884850a8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8124
  dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8125
  dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8126
+ dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/affordance_annot.json ADDED
@@ -0,0 +1,565 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "gamepad body",
5
+ "mask_color": "Teal",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the side handles of the body to pick up the gamepad",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the controller while pressing inputs with another tool",
14
+ "confidence": 0.88
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main structural housing",
19
+ "provide primary grasp surface",
20
+ "support all controls",
21
+ "protect internal electronics"
22
+ ],
23
+ "semantic_description": "Large light gray plastic shell with a mostly matte hard smooth finish and faint textured grip patches, forming the two handles and central face of the controller.",
24
+ "id": 10,
25
+ "grasp_group": {
26
+ "grasp_16": {
27
+ "confidence": 0.9162699580192566,
28
+ "position": [
29
+ -0.14095928543247283,
30
+ 0.011678241688059643,
31
+ -0.002587486756965518
32
+ ],
33
+ "orientation": {
34
+ "w": 0.7254868863727516,
35
+ "xyz": [
36
+ -0.009311108394607314,
37
+ 0.6879966233478738,
38
+ 0.015579705502924023
39
+ ]
40
+ }
41
+ },
42
+ "grasp_18": {
43
+ "confidence": 0.9151831269264221,
44
+ "position": [
45
+ -0.1429044681135565,
46
+ -0.015115232643438503,
47
+ -0.00033628777600824833
48
+ ],
49
+ "orientation": {
50
+ "w": 0.0014928137768613348,
51
+ "xyz": [
52
+ 0.6916233034760622,
53
+ 0.013573064502262255,
54
+ 0.7221293163387733
55
+ ]
56
+ }
57
+ },
58
+ "grasp_19": {
59
+ "confidence": 0.914157509803772,
60
+ "position": [
61
+ -0.14000838273204863,
62
+ 0.029969485971378163,
63
+ -0.006620546104386449
64
+ ],
65
+ "orientation": {
66
+ "w": 0.0670472794170305,
67
+ "xyz": [
68
+ 0.6726462276095552,
69
+ -0.052368072665371135,
70
+ 0.7350573445458002
71
+ ]
72
+ }
73
+ },
74
+ "grasp_20": {
75
+ "confidence": 0.9129845499992371,
76
+ "position": [
77
+ -0.13846284919418395,
78
+ 0.012143377709435299,
79
+ 0.004448363091796637
80
+ ],
81
+ "orientation": {
82
+ "w": 0.7060331597118633,
83
+ "xyz": [
84
+ -0.0011859024412447321,
85
+ 0.7078347876588599,
86
+ 0.022038248628671132
87
+ ]
88
+ }
89
+ },
90
+ "grasp_21": {
91
+ "confidence": 0.905427098274231,
92
+ "position": [
93
+ -0.13840124779380858,
94
+ 0.013059307384537533,
95
+ 0.003921176306903362
96
+ ],
97
+ "orientation": {
98
+ "w": 0.7136935163712496,
99
+ "xyz": [
100
+ -0.02299771849808544,
101
+ 0.7000592898025949,
102
+ 0.0054461357503444415
103
+ ]
104
+ }
105
+ },
106
+ "grasp_22": {
107
+ "confidence": 0.9034523963928223,
108
+ "position": [
109
+ -0.1412192063871771,
110
+ 0.009847414243267849,
111
+ 0.0010079143103212118
112
+ ],
113
+ "orientation": {
114
+ "w": 0.7217870758726391,
115
+ "xyz": [
116
+ -0.025484122014570995,
117
+ 0.691645572428819,
118
+ -0.000615441291011899
119
+ ]
120
+ }
121
+ },
122
+ "grasp_23": {
123
+ "confidence": 0.9015874862670898,
124
+ "position": [
125
+ -0.13697040849365294,
126
+ 0.0034981319040525705,
127
+ 0.006942515494301915
128
+ ],
129
+ "orientation": {
130
+ "w": 0.048319191281298114,
131
+ "xyz": [
132
+ -0.7018021931097411,
133
+ -0.026331709933175906,
134
+ -0.7102433234830681
135
+ ]
136
+ }
137
+ },
138
+ "grasp_25": {
139
+ "confidence": 0.8992581963539124,
140
+ "position": [
141
+ -0.1387831496540457,
142
+ 0.01576394637231715,
143
+ -0.012603571871295571
144
+ ],
145
+ "orientation": {
146
+ "w": 0.7546856300095754,
147
+ "xyz": [
148
+ -0.013089237952256713,
149
+ 0.6558940990591884,
150
+ 0.009011244432089475
151
+ ]
152
+ }
153
+ },
154
+ "grasp_26": {
155
+ "confidence": 0.8978634476661682,
156
+ "position": [
157
+ -0.14066202216781676,
158
+ 0.03517123547499068,
159
+ -0.0009543807245790958
160
+ ],
161
+ "orientation": {
162
+ "w": 0.7196067043895026,
163
+ "xyz": [
164
+ 0.00047968684605897624,
165
+ 0.6943630697845247,
166
+ 0.005088046542613947
167
+ ]
168
+ }
169
+ },
170
+ "grasp_27": {
171
+ "confidence": 0.8950560688972473,
172
+ "position": [
173
+ -0.13881405466236174,
174
+ -0.02718201416428201,
175
+ 0.01395731489174068
176
+ ],
177
+ "orientation": {
178
+ "w": 0.0382458374852757,
179
+ "xyz": [
180
+ -0.7299173856099737,
181
+ -0.021684403448488654,
182
+ -0.6821199694675666
183
+ ]
184
+ }
185
+ },
186
+ "grasp_28": {
187
+ "confidence": 0.8936900496482849,
188
+ "position": [
189
+ -0.13551495247520506,
190
+ -0.029216331866336986,
191
+ 0.007089703576639295
192
+ ],
193
+ "orientation": {
194
+ "w": 0.04377880599165231,
195
+ "xyz": [
196
+ -0.7103362993838959,
197
+ -0.021339410397803182,
198
+ -0.7021754677339641
199
+ ]
200
+ }
201
+ },
202
+ "grasp_29": {
203
+ "confidence": 0.8912389278411865,
204
+ "position": [
205
+ -0.13726807408966124,
206
+ 0.01007711564307101,
207
+ -0.005620541283860803
208
+ ],
209
+ "orientation": {
210
+ "w": 0.7358440512618654,
211
+ "xyz": [
212
+ -0.022467182923221904,
213
+ 0.6766849870140883,
214
+ 0.011233265943698214
215
+ ]
216
+ }
217
+ },
218
+ "grasp_31": {
219
+ "confidence": 0.891155481338501,
220
+ "position": [
221
+ -0.13848229520954192,
222
+ 0.03392809865181334,
223
+ -0.008103965083137155
224
+ ],
225
+ "orientation": {
226
+ "w": 0.7313128071782659,
227
+ "xyz": [
228
+ -0.014738513333914223,
229
+ 0.6818658255508281,
230
+ -0.0048322073256266435
231
+ ]
232
+ }
233
+ },
234
+ "grasp_32": {
235
+ "confidence": 0.8907101154327393,
236
+ "position": [
237
+ -0.13908266299404204,
238
+ -0.019776105385972187,
239
+ -0.022166021401062608
240
+ ],
241
+ "orientation": {
242
+ "w": 0.7819689930750416,
243
+ "xyz": [
244
+ -0.00852695645928573,
245
+ 0.6228547246468287,
246
+ 0.02244497422298026
247
+ ]
248
+ }
249
+ },
250
+ "grasp_34": {
251
+ "confidence": 0.888716995716095,
252
+ "position": [
253
+ -0.13680947595275939,
254
+ 0.015565135079668835,
255
+ 0.000396110350266099
256
+ ],
257
+ "orientation": {
258
+ "w": 0.03670077935109205,
259
+ "xyz": [
260
+ -0.6882899166716864,
261
+ -0.021106335386733233,
262
+ -0.724199258498411
263
+ ]
264
+ }
265
+ }
266
+ }
267
+ },
268
+ {
269
+ "part_name": "left analog stick cap",
270
+ "mask_color": "Brown",
271
+ "graspable": true,
272
+ "grasp_scenarios": [
273
+ {
274
+ "scenario": "pinch the stick cap to tilt it for joystick input",
275
+ "confidence": 0.72
276
+ },
277
+ {
278
+ "scenario": "delicately grasp the stick cap to reorient the controller slightly",
279
+ "confidence": 0.22
280
+ }
281
+ ],
282
+ "functional_labels": [
283
+ "analog directional input",
284
+ "thumb contact surface",
285
+ "fine control"
286
+ ],
287
+ "semantic_description": "Small dark gray rubberized round thumbstick cap with a matte slightly grippy top, mounted on the front face near the lower left area from the front view.",
288
+ "id": 11,
289
+ "grasp_group": {
290
+ "grasp_36": {
291
+ "confidence": 0.5953676700592041,
292
+ "position": [
293
+ -0.11520660691894591,
294
+ -0.1072323112457525,
295
+ 0.01403344958089292
296
+ ],
297
+ "orientation": {
298
+ "w": 0.1699516520422658,
299
+ "xyz": [
300
+ -0.7225225410873125,
301
+ -0.19758829301579417,
302
+ -0.6403409092443978
303
+ ]
304
+ }
305
+ },
306
+ "grasp_37": {
307
+ "confidence": 0.5482628345489502,
308
+ "position": [
309
+ -0.11881388747133315,
310
+ -0.09632938491995446,
311
+ 0.011009047506377101
312
+ ],
313
+ "orientation": {
314
+ "w": 0.1518922622070868,
315
+ "xyz": [
316
+ -0.7138267559835036,
317
+ -0.18798764112839728,
318
+ -0.6572980677794986
319
+ ]
320
+ }
321
+ },
322
+ "grasp_40": {
323
+ "confidence": 0.684605598449707,
324
+ "position": [
325
+ -0.10112612717784941,
326
+ -0.1280116080015432,
327
+ 0.010930865770205855
328
+ ],
329
+ "orientation": {
330
+ "w": 0.26869568569075025,
331
+ "xyz": [
332
+ -0.667454812690289,
333
+ -0.3050536180417801,
334
+ -0.623898222170386
335
+ ]
336
+ }
337
+ },
338
+ "grasp_41": {
339
+ "confidence": 0.675356924533844,
340
+ "position": [
341
+ -0.12035632156766951,
342
+ -0.09672285753185861,
343
+ 0.0005710874684154987
344
+ ],
345
+ "orientation": {
346
+ "w": 0.16200584972607202,
347
+ "xyz": [
348
+ -0.6765247414853196,
349
+ -0.18071567930278443,
350
+ -0.6952770829438351
351
+ ]
352
+ }
353
+ },
354
+ "grasp_43": {
355
+ "confidence": 0.5411814451217651,
356
+ "position": [
357
+ -0.09825196140445769,
358
+ -0.12678674745257013,
359
+ 0.013452371349558234
360
+ ],
361
+ "orientation": {
362
+ "w": 0.28070315743276786,
363
+ "xyz": [
364
+ -0.6641873245859862,
365
+ -0.3282504560041377,
366
+ -0.6101742156135903
367
+ ]
368
+ }
369
+ },
370
+ "grasp_48": {
371
+ "confidence": 0.2709406912326813,
372
+ "position": [
373
+ -0.08445174270309508,
374
+ -0.1368784396618139,
375
+ -0.002526531694456935
376
+ ],
377
+ "orientation": {
378
+ "w": 0.629041932701421,
379
+ "xyz": [
380
+ -0.34434119275780084,
381
+ 0.6052177662814954,
382
+ 0.34561082918599856
383
+ ]
384
+ }
385
+ },
386
+ "grasp_49": {
387
+ "confidence": 0.7374051809310913,
388
+ "position": [
389
+ -0.12058953964151442,
390
+ -0.10345319050247781,
391
+ 0.004953345283865929
392
+ ],
393
+ "orientation": {
394
+ "w": 0.147021395173662,
395
+ "xyz": [
396
+ -0.6891337101579927,
397
+ -0.19411682406789776,
398
+ -0.6824940274455609
399
+ ]
400
+ }
401
+ }
402
+ }
403
+ },
404
+ {
405
+ "part_name": "right analog stick cap",
406
+ "mask_color": "Pink",
407
+ "graspable": true,
408
+ "grasp_scenarios": [
409
+ {
410
+ "scenario": "pinch the stick cap to tilt it for joystick input",
411
+ "confidence": 0.74
412
+ },
413
+ {
414
+ "scenario": "delicately grasp the stick cap to steady the controller during manipulation",
415
+ "confidence": 0.24
416
+ }
417
+ ],
418
+ "functional_labels": [
419
+ "analog directional input",
420
+ "camera or aim control",
421
+ "thumb contact surface"
422
+ ],
423
+ "semantic_description": "Small dark gray rubberized round thumbstick cap with a matte slightly grippy top, protruding from the front face near the upper right area from the front view.",
424
+ "id": 8,
425
+ "grasp_group": {}
426
+ },
427
+ {
428
+ "part_name": "D-pad",
429
+ "mask_color": "Orange",
430
+ "graspable": false,
431
+ "grasp_scenarios": [],
432
+ "functional_labels": [
433
+ "digital directional input",
434
+ "menu navigation",
435
+ "discrete command entry"
436
+ ],
437
+ "semantic_description": "Cross-shaped dark gray plastic button cluster with a matte hard surface, sitting on the left front face and sized for thumb presses.",
438
+ "id": 4,
439
+ "grasp_group": {}
440
+ },
441
+ {
442
+ "part_name": "face buttons",
443
+ "mask_color": "Blue",
444
+ "graspable": false,
445
+ "grasp_scenarios": [],
446
+ "functional_labels": [
447
+ "button input",
448
+ "game command entry",
449
+ "menu selection"
450
+ ],
451
+ "semantic_description": "Several small round dark buttons on the right face, marked with colored letters and arranged as the main action controls.",
452
+ "id": 2,
453
+ "grasp_group": {}
454
+ },
455
+ {
456
+ "part_name": "center button cluster",
457
+ "mask_color": "Navy",
458
+ "graspable": false,
459
+ "grasp_scenarios": [],
460
+ "functional_labels": [
461
+ "system control input",
462
+ "menu access",
463
+ "capture or home control"
464
+ ],
465
+ "semantic_description": "Small dark front-center buttons with hard smooth plastic surfaces and tiny white symbols, grouped between the D-pad, face buttons, and sticks on the controller face.",
466
+ "id": 13,
467
+ "grasp_group": {}
468
+ },
469
+ {
470
+ "part_name": "charging port",
471
+ "mask_color": "Yellow",
472
+ "graspable": false,
473
+ "grasp_scenarios": [],
474
+ "functional_labels": [
475
+ "cable connection",
476
+ "battery charging",
477
+ "data interface"
478
+ ],
479
+ "semantic_description": "Small rectangular black recessed port centered on the front lower edge, with a hard smooth plastic surround and metallic connector interior.",
480
+ "id": 3,
481
+ "grasp_group": {}
482
+ },
483
+ {
484
+ "part_name": "left trigger",
485
+ "mask_color": "Magenta",
486
+ "graspable": true,
487
+ "grasp_scenarios": [
488
+ {
489
+ "scenario": "hook or pinch the trigger edge to slightly reposition the controller",
490
+ "confidence": 0.32
491
+ },
492
+ {
493
+ "scenario": "press the trigger as an input using a gripper fingertip",
494
+ "confidence": 0.55
495
+ }
496
+ ],
497
+ "functional_labels": [
498
+ "trigger input",
499
+ "top finger contact surface",
500
+ "secondary command control"
501
+ ],
502
+ "semantic_description": "Black plastic top rear trigger on the left side with a matte smooth finish, medium-sized and curved along the back-top edge.",
503
+ "id": 7,
504
+ "grasp_group": {}
505
+ },
506
+ {
507
+ "part_name": "right trigger",
508
+ "mask_color": "Lime Green",
509
+ "graspable": true,
510
+ "grasp_scenarios": [
511
+ {
512
+ "scenario": "hook or pinch the trigger edge to slightly reposition the controller",
513
+ "confidence": 0.32
514
+ },
515
+ {
516
+ "scenario": "press the trigger as an input using a gripper fingertip",
517
+ "confidence": 0.55
518
+ }
519
+ ],
520
+ "functional_labels": [
521
+ "trigger input",
522
+ "top finger contact surface",
523
+ "secondary command control"
524
+ ],
525
+ "semantic_description": "Black plastic top rear trigger on the right side with a matte smooth finish, medium-sized and curved along the back-top edge.",
526
+ "id": 9,
527
+ "grasp_group": {
528
+ "grasp_11": {
529
+ "confidence": 0.4017784893512726,
530
+ "position": [
531
+ -0.008068616269156337,
532
+ -0.03468921917374246,
533
+ 0.11049813381396234
534
+ ],
535
+ "orientation": {
536
+ "w": 0.1321109686894928,
537
+ "xyz": [
538
+ -0.9910107804911081,
539
+ -0.02057817958939187,
540
+ 0.004567650064896935
541
+ ]
542
+ }
543
+ }
544
+ }
545
+ },
546
+ {
547
+ "part_name": "sync button",
548
+ "mask_color": "Maroon",
549
+ "graspable": false,
550
+ "grasp_scenarios": [],
551
+ "functional_labels": [
552
+ "pairing control",
553
+ "system input",
554
+ "device setup"
555
+ ],
556
+ "semantic_description": "Tiny circular button on the back top center, appearing as a small gray plastic disc set into the matte shell.",
557
+ "id": 12,
558
+ "grasp_group": {}
559
+ }
560
+ ],
561
+ "quality_check": {
562
+ "success": false,
563
+ "message": "Port type/color, trigger naming, and right stick position/description are incorrect."
564
+ }
565
+ }
dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a89416a8a08d70c76a050d6cf2a126d2057b59ef3b06b2ba3c3f042f1469c6d6
3
+ size 3828012