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
04a79e4
·
verified ·
1 Parent(s): 46f1e90

Add asset desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/affordance/affordance_annot.json +275 -0
  3. dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/tv_remote_014.urdf +2 -2
.gitattributes CHANGED
@@ -6231,4 +6231,4 @@ dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab
6231
  dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6232
  dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6233
  dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6234
- dataset/desktop_supplies/electronic_accessories/6b9e01cf729e50e08ac42584ea78205f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6231
  dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6232
  dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6233
  dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6234
+ dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/affordance/affordance_annot.json ADDED
@@ -0,0 +1,275 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "remote body",
5
+ "mask_color": "Navy",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the remote body from the sides to pick up the remote",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the remote body to reposition or place it on a surface",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "stabilize the remote body while another tool presses buttons",
18
+ "confidence": 0.78
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal electronics",
24
+ "support the button area",
25
+ "provide structural enclosure"
26
+ ],
27
+ "semantic_description": "Long narrow dark gray to black plastic housing with a mostly matte smooth hard surface, rounded corners, and a slim rectangular shape forming nearly the entire outer shell of the remote.",
28
+ "id": 13,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.923240065574646,
32
+ "position": [
33
+ 0.005151571676833555,
34
+ 0.05003269884036854,
35
+ -0.09959191614325391
36
+ ],
37
+ "orientation": {
38
+ "w": 0.9997239668401395,
39
+ "xyz": [
40
+ 0.011950763013771735,
41
+ 0.007161116584805227,
42
+ 0.018917922667749436
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9231612086296082,
48
+ "position": [
49
+ 0.0022643401462119073,
50
+ 0.05879599350737408,
51
+ -0.10165740334923612
52
+ ],
53
+ "orientation": {
54
+ "w": 0.9997901135160262,
55
+ "xyz": [
56
+ 0.013741756673617793,
57
+ 0.002039979868264985,
58
+ 0.015057606757733717
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9197198152542114,
64
+ "position": [
65
+ 0.006662739877356216,
66
+ 0.0569585946504958,
67
+ -0.1001565062397276
68
+ ],
69
+ "orientation": {
70
+ "w": 0.9997372692587485,
71
+ "xyz": [
72
+ 0.019537193251816888,
73
+ 0.0031372783650719382,
74
+ 0.01156927047666132
75
+ ]
76
+ }
77
+ },
78
+ "grasp_7": {
79
+ "confidence": 0.9176763296127319,
80
+ "position": [
81
+ 0.005565611616475508,
82
+ 0.04914661619113758,
83
+ -0.10124553525383817
84
+ ],
85
+ "orientation": {
86
+ "w": 0.025349956417823824,
87
+ "xyz": [
88
+ 0.011443615939517576,
89
+ 0.010231141269087196,
90
+ -0.9995607770977083
91
+ ]
92
+ }
93
+ },
94
+ "grasp_8": {
95
+ "confidence": 0.9171202182769775,
96
+ "position": [
97
+ 0.003725928225321695,
98
+ 0.04344068589853123,
99
+ -0.10021594697172986
100
+ ],
101
+ "orientation": {
102
+ "w": 0.9996430411389534,
103
+ "xyz": [
104
+ 0.011506266478177521,
105
+ 0.010639581735729209,
106
+ 0.021637824167103775
107
+ ]
108
+ }
109
+ },
110
+ "grasp_9": {
111
+ "confidence": 0.9170398116111755,
112
+ "position": [
113
+ 0.010041383531643078,
114
+ 0.05430293577956036,
115
+ -0.10032778763707029
116
+ ],
117
+ "orientation": {
118
+ "w": 0.9994970195996662,
119
+ "xyz": [
120
+ 0.01132214593707696,
121
+ -0.010874686846406911,
122
+ 0.027554636792334587
123
+ ]
124
+ }
125
+ },
126
+ "grasp_10": {
127
+ "confidence": 0.906248152256012,
128
+ "position": [
129
+ 0.002319060469744727,
130
+ 0.05329129594611004,
131
+ -0.10146833741600858
132
+ ],
133
+ "orientation": {
134
+ "w": 0.028712334641036168,
135
+ "xyz": [
136
+ 0.010962503120978137,
137
+ 0.005793113664269711,
138
+ -0.9995108129474419
139
+ ]
140
+ }
141
+ },
142
+ "grasp_11": {
143
+ "confidence": 0.9046968817710876,
144
+ "position": [
145
+ 0.0054044574208091944,
146
+ 0.02014937187777832,
147
+ -0.0996546798342024
148
+ ],
149
+ "orientation": {
150
+ "w": 0.9997216239525398,
151
+ "xyz": [
152
+ 0.011199182227882342,
153
+ -0.0012314492477694117,
154
+ 0.020730085669724358
155
+ ]
156
+ }
157
+ },
158
+ "grasp_12": {
159
+ "confidence": 0.9044554233551025,
160
+ "position": [
161
+ 0.006499733281088993,
162
+ 0.022843313694465905,
163
+ -0.10076379561360227
164
+ ],
165
+ "orientation": {
166
+ "w": 0.9993075655900682,
167
+ "xyz": [
168
+ 0.03470352929689235,
169
+ -0.0009421299117299275,
170
+ 0.01338532031820808
171
+ ]
172
+ }
173
+ },
174
+ "grasp_14": {
175
+ "confidence": 0.9040050506591797,
176
+ "position": [
177
+ 0.004954138275934383,
178
+ 0.011722594790626317,
179
+ -0.10052380496199476
180
+ ],
181
+ "orientation": {
182
+ "w": 0.9998134641051929,
183
+ "xyz": [
184
+ 0.014072855906272275,
185
+ -0.001830690440761007,
186
+ 0.01310115617511803
187
+ ]
188
+ }
189
+ },
190
+ "grasp_15": {
191
+ "confidence": 0.9034724235534668,
192
+ "position": [
193
+ 0.006468264356954023,
194
+ -0.005146944138687104,
195
+ -0.0884128191464697
196
+ ],
197
+ "orientation": {
198
+ "w": 0.030264241709663367,
199
+ "xyz": [
200
+ 0.028961410616038977,
201
+ 0.2635959114548051,
202
+ -0.96372325271998
203
+ ]
204
+ }
205
+ },
206
+ "grasp_16": {
207
+ "confidence": 0.9031168222427368,
208
+ "position": [
209
+ 0.005934367392910644,
210
+ 0.06114836159395054,
211
+ -0.10040535563166486
212
+ ],
213
+ "orientation": {
214
+ "w": 0.9999568288741678,
215
+ "xyz": [
216
+ -0.0030797309946588645,
217
+ -0.004342987499471929,
218
+ 0.007615386037380338
219
+ ]
220
+ }
221
+ },
222
+ "grasp_17": {
223
+ "confidence": 0.9008712768554688,
224
+ "position": [
225
+ 0.0008653119148220867,
226
+ 0.037934185296762735,
227
+ -0.10146675044234144
228
+ ],
229
+ "orientation": {
230
+ "w": 0.9996826444197878,
231
+ "xyz": [
232
+ 0.003986552877621768,
233
+ 0.014144774740603272,
234
+ 0.020460771968625613
235
+ ]
236
+ }
237
+ },
238
+ "grasp_19": {
239
+ "confidence": 0.8986191749572754,
240
+ "position": [
241
+ 0.00932434617425315,
242
+ 0.03536616388009861,
243
+ -0.09938056552346097
244
+ ],
245
+ "orientation": {
246
+ "w": 0.9996384269474761,
247
+ "xyz": [
248
+ 0.009168365254311911,
249
+ -0.01030021982330287,
250
+ 0.023083802116012405
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "front face rectangular cutouts",
258
+ "mask_color": "Gray",
259
+ "graspable": false,
260
+ "grasp_scenarios": [],
261
+ "functional_labels": [
262
+ "small front-face openings or recessed features",
263
+ "surface interruptions in the top shell",
264
+ "possible indicator or access cutouts"
265
+ ],
266
+ "semantic_description": "Two small rectangular cutouts on the light gray front face area near the center, aligned along the length of the remote and slightly recessed relative to the surrounding surface.",
267
+ "id": 15,
268
+ "grasp_group": {}
269
+ }
270
+ ],
271
+ "quality_check": {
272
+ "success": false,
273
+ "message": "Gray part is not visible cutouts; it is a large light-gray back/front panel, so part identity and description are incorrect."
274
+ }
275
+ }
dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb331ebb4a205cd6dc97774fb1e16d17583bc8fd149ce41eade21af7e90b17c1
3
+ size 3832392
dataset/desktop_supplies/electronic_accessories/6cb519090f66525684cb5c142a3133fa/tv_remote_014.urdf CHANGED
@@ -51,7 +51,7 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>15</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
@@ -61,7 +61,7 @@
61
  <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
- <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
65
  </quality>
66
  </custom_data>
67
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>2</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
 
61
  <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
+ <PartSegChecker>NO: {"summary":"Buttons are missing and mask splits surfaces inconsistently; not actionable for functional parts.","merge_groups":[]}</PartSegChecker>
65
  </quality>
66
  </custom_data>
67
  </robot>