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
04dacd0
·
verified ·
1 Parent(s): 0920456

Add asset desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affordance/affordance_annot.json +428 -0
  3. dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6293,3 +6293,4 @@ dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/affo
6293
  dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6294
  dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6295
  dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6293
  dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6294
  dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6295
  dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6296
+ dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affordance/affordance_annot.json ADDED
@@ -0,0 +1,428 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pen tip",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "write or mark on surfaces",
10
+ "provide precise contact point",
11
+ "indicate writing end"
12
+ ],
13
+ "semantic_description": "Small pointed gray tip, likely hard plastic or metal with a matte smooth surface, at the narrow front end of the pen and shaped for precise contact.",
14
+ "id": 0,
15
+ "grasp_group": {}
16
+ },
17
+ {
18
+ "part_name": "pen body",
19
+ "mask_color": "Blue",
20
+ "graspable": true,
21
+ "grasp_scenarios": [
22
+ {
23
+ "scenario": "grasp the pen body to pick up and reposition the pen",
24
+ "confidence": 0.95
25
+ },
26
+ {
27
+ "scenario": "hold the pen body for writing manipulation",
28
+ "confidence": 0.93
29
+ },
30
+ {
31
+ "scenario": "grasp the pen body to stabilize the pen while capping or uncapping",
32
+ "confidence": 0.88
33
+ }
34
+ ],
35
+ "functional_labels": [
36
+ "main grasp surface",
37
+ "support writing manipulation",
38
+ "house the ink mechanism",
39
+ "connect tip and rear end"
40
+ ],
41
+ "semantic_description": "Elongated blue cylindrical barrel made of plastic with a matte smooth surface, medium-sized and forming most of the pen's length between the tip and rear end.",
42
+ "id": 2,
43
+ "grasp_group": {
44
+ "grasp_23": {
45
+ "confidence": 0.9921255707740784,
46
+ "position": [
47
+ -0.015577872298308648,
48
+ 0.05469470890238881,
49
+ -0.09260381683998276
50
+ ],
51
+ "orientation": {
52
+ "w": 0.9781771970499001,
53
+ "xyz": [
54
+ 0.1844860092019735,
55
+ 0.09475643484159813,
56
+ -0.012470029528421531
57
+ ]
58
+ }
59
+ },
60
+ "grasp_27": {
61
+ "confidence": 0.9917421340942383,
62
+ "position": [
63
+ -0.02917621006781701,
64
+ 0.06795008899644017,
65
+ -0.08485529497556854
66
+ ],
67
+ "orientation": {
68
+ "w": 0.9547989143373561,
69
+ "xyz": [
70
+ 0.23506212457509473,
71
+ 0.1790814509178683,
72
+ -0.03216620443260192
73
+ ]
74
+ }
75
+ },
76
+ "grasp_28": {
77
+ "confidence": 0.9917045831680298,
78
+ "position": [
79
+ -0.012727824054309167,
80
+ 0.06064086826518178,
81
+ -0.08893328830890823
82
+ ],
83
+ "orientation": {
84
+ "w": 0.9708486844496361,
85
+ "xyz": [
86
+ 0.2276368690643023,
87
+ 0.07466670640540007,
88
+ -0.007692249318786515
89
+ ]
90
+ }
91
+ },
92
+ "grasp_31": {
93
+ "confidence": 0.991510808467865,
94
+ "position": [
95
+ 0.0002850146411219612,
96
+ 0.034853984136134386,
97
+ -0.0975705601304071
98
+ ],
99
+ "orientation": {
100
+ "w": 0.9998493697626906,
101
+ "xyz": [
102
+ -0.009382050767663328,
103
+ 0.008800602708004979,
104
+ 0.011651793875604836
105
+ ]
106
+ }
107
+ },
108
+ "grasp_34": {
109
+ "confidence": 0.9913548827171326,
110
+ "position": [
111
+ -0.008856342188664712,
112
+ 0.009633081499487162,
113
+ 0.09773431792564224
114
+ ],
115
+ "orientation": {
116
+ "w": 0.04680944756644853,
117
+ "xyz": [
118
+ -0.9978471547202653,
119
+ -0.012825615779213997,
120
+ -0.04410708576950878
121
+ ]
122
+ }
123
+ },
124
+ "grasp_36": {
125
+ "confidence": 0.99128657579422,
126
+ "position": [
127
+ -0.02567012516374234,
128
+ 0.06975142331793904,
129
+ -0.08427897766523529
130
+ ],
131
+ "orientation": {
132
+ "w": 0.9543113643601003,
133
+ "xyz": [
134
+ 0.25436484782768287,
135
+ 0.15561420715737662,
136
+ -0.01930188005205958
137
+ ]
138
+ }
139
+ },
140
+ "grasp_39": {
141
+ "confidence": 0.9909855127334595,
142
+ "position": [
143
+ -0.02372003068740014,
144
+ 0.0773351308889687,
145
+ -0.0873820550768869
146
+ ],
147
+ "orientation": {
148
+ "w": 0.9623374920962947,
149
+ "xyz": [
150
+ 0.23092673305149689,
151
+ 0.14159181375788765,
152
+ -0.023046768639627364
153
+ ]
154
+ }
155
+ }
156
+ }
157
+ },
158
+ {
159
+ "part_name": "pen end cap",
160
+ "mask_color": "Green",
161
+ "graspable": true,
162
+ "grasp_scenarios": [
163
+ {
164
+ "scenario": "grasp the rear cap to pull, orient, or stabilize the pen during handling",
165
+ "confidence": 0.46
166
+ },
167
+ {
168
+ "scenario": "pinch the rear end to adjust pen orientation on a surface",
169
+ "confidence": 0.34
170
+ }
171
+ ],
172
+ "functional_labels": [
173
+ "finish the rear end",
174
+ "protect or close the back end",
175
+ "provide orientation cue",
176
+ "offer a secondary contact area"
177
+ ],
178
+ "semantic_description": "Small rounded light gray rear cap, likely plastic with a matte slightly textured surface, attached at the back end of the pen and visibly shorter than the main barrel.",
179
+ "id": 1,
180
+ "grasp_group": {
181
+ "grasp_0": {
182
+ "confidence": 0.7179021835327148,
183
+ "position": [
184
+ 0.0007550444424850866,
185
+ -0.17878548381850123,
186
+ -0.0052115341677563265
187
+ ],
188
+ "orientation": {
189
+ "w": 0.514584378603738,
190
+ "xyz": [
191
+ -0.497167091776853,
192
+ 0.4825115975102773,
193
+ 0.5051834898521835
194
+ ]
195
+ }
196
+ },
197
+ "grasp_1": {
198
+ "confidence": 0.6618568301200867,
199
+ "position": [
200
+ 0.000241674788412638,
201
+ -0.17707117972895503,
202
+ -0.004783633819897659
203
+ ],
204
+ "orientation": {
205
+ "w": 0.5770132323849503,
206
+ "xyz": [
207
+ -0.5367846268915241,
208
+ 0.42474138720418797,
209
+ 0.4455476943958527
210
+ ]
211
+ }
212
+ },
213
+ "grasp_2": {
214
+ "confidence": 0.6182900071144104,
215
+ "position": [
216
+ 0.003605270045227371,
217
+ -0.17681853054091334,
218
+ -0.0017100589611800388
219
+ ],
220
+ "orientation": {
221
+ "w": 0.5203063019557502,
222
+ "xyz": [
223
+ -0.505605339729074,
224
+ 0.47306344745899587,
225
+ 0.49985554639394436
226
+ ]
227
+ }
228
+ },
229
+ "grasp_3": {
230
+ "confidence": 0.5752452611923218,
231
+ "position": [
232
+ 0.0024064041062956676,
233
+ -0.17462689755484462,
234
+ 0.009073749926756136
235
+ ],
236
+ "orientation": {
237
+ "w": 0.4670222078306866,
238
+ "xyz": [
239
+ -0.47094312057642596,
240
+ -0.5480276067089977,
241
+ -0.5096749717805433
242
+ ]
243
+ }
244
+ },
245
+ "grasp_4": {
246
+ "confidence": 0.7355231642723083,
247
+ "position": [
248
+ 0.010995178468874656,
249
+ -0.17895094631239772,
250
+ 0.005430526376585476
251
+ ],
252
+ "orientation": {
253
+ "w": 0.426493764001338,
254
+ "xyz": [
255
+ -0.3832358645228923,
256
+ -0.6088709292311795,
257
+ -0.5481874979863386
258
+ ]
259
+ }
260
+ },
261
+ "grasp_5": {
262
+ "confidence": 0.632185697555542,
263
+ "position": [
264
+ 0.04977778250759002,
265
+ -0.1726680207066238,
266
+ 0.012459147532354109
267
+ ],
268
+ "orientation": {
269
+ "w": 0.5568420593923501,
270
+ "xyz": [
271
+ -0.35039541044139505,
272
+ -0.6628471794678694,
273
+ -0.3574683117491431
274
+ ]
275
+ }
276
+ },
277
+ "grasp_6": {
278
+ "confidence": 0.5993785262107849,
279
+ "position": [
280
+ 0.04971518645470496,
281
+ -0.17495943186804652,
282
+ 0.010380862091551535
283
+ ],
284
+ "orientation": {
285
+ "w": 0.5630106114329784,
286
+ "xyz": [
287
+ -0.3510764330964765,
288
+ -0.6571395826354642,
289
+ -0.3576757728331722
290
+ ]
291
+ }
292
+ },
293
+ "grasp_7": {
294
+ "confidence": 0.5832179188728333,
295
+ "position": [
296
+ 0.008193652131012641,
297
+ -0.18815631745383143,
298
+ -0.002143664940376766
299
+ ],
300
+ "orientation": {
301
+ "w": 0.517868526090699,
302
+ "xyz": [
303
+ -0.5327839453205213,
304
+ 0.45247890780708033,
305
+ 0.49316964148562403
306
+ ]
307
+ }
308
+ },
309
+ "grasp_9": {
310
+ "confidence": 0.6668670773506165,
311
+ "position": [
312
+ 0.0017177798872580752,
313
+ -0.18581565795466304,
314
+ 0.005949863509158604
315
+ ],
316
+ "orientation": {
317
+ "w": 0.513440683976109,
318
+ "xyz": [
319
+ -0.536277777624531,
320
+ 0.46827781760831455,
321
+ 0.47906230784756343
322
+ ]
323
+ }
324
+ },
325
+ "grasp_11": {
326
+ "confidence": 0.5455043911933899,
327
+ "position": [
328
+ 0.05244998166745063,
329
+ -0.1755787986330688,
330
+ 0.0028027894877595827
331
+ ],
332
+ "orientation": {
333
+ "w": 0.5886974700361627,
334
+ "xyz": [
335
+ -0.3534639478960245,
336
+ -0.63674227782124,
337
+ -0.3507959491581921
338
+ ]
339
+ }
340
+ },
341
+ "grasp_12": {
342
+ "confidence": 0.4542994201183319,
343
+ "position": [
344
+ -0.04389929120952729,
345
+ -0.17370749590918422,
346
+ 0.021481090036104433
347
+ ],
348
+ "orientation": {
349
+ "w": 0.3045790403892792,
350
+ "xyz": [
351
+ -0.656521053132053,
352
+ -0.41792725612064985,
353
+ -0.5491343401585724
354
+ ]
355
+ }
356
+ },
357
+ "grasp_14": {
358
+ "confidence": 0.7303911447525024,
359
+ "position": [
360
+ -2.450433385092765e-05,
361
+ -0.18661813018843532,
362
+ 0.0027755040646297857
363
+ ],
364
+ "orientation": {
365
+ "w": 0.4166327398546961,
366
+ "xyz": [
367
+ -0.39870932253366653,
368
+ -0.5892333098672066,
369
+ -0.5659082458745859
370
+ ]
371
+ }
372
+ },
373
+ "grasp_17": {
374
+ "confidence": 0.6834741830825806,
375
+ "position": [
376
+ -0.02057691571826581,
377
+ -0.14513906417414546,
378
+ 0.07951121851510834
379
+ ],
380
+ "orientation": {
381
+ "w": 0.25630220757739236,
382
+ "xyz": [
383
+ -0.9522428327236129,
384
+ -0.0812246017517379,
385
+ -0.144725015072503
386
+ ]
387
+ }
388
+ },
389
+ "grasp_18": {
390
+ "confidence": 0.6633650064468384,
391
+ "position": [
392
+ 0.006038048755726777,
393
+ -0.18059233902022243,
394
+ 0.0024498545535607263
395
+ ],
396
+ "orientation": {
397
+ "w": 0.5706002733079042,
398
+ "xyz": [
399
+ -0.5881215749528352,
400
+ 0.3812886167709244,
401
+ 0.4279571612870336
402
+ ]
403
+ }
404
+ },
405
+ "grasp_19": {
406
+ "confidence": 0.6495363712310791,
407
+ "position": [
408
+ 0.008200594209483825,
409
+ -0.18209570227190852,
410
+ -0.00567289134778548
411
+ ],
412
+ "orientation": {
413
+ "w": 0.5029551247996839,
414
+ "xyz": [
415
+ -0.455013793920898,
416
+ -0.5198029432656798,
417
+ -0.5194261159700974
418
+ ]
419
+ }
420
+ }
421
+ }
422
+ }
423
+ ],
424
+ "quality_check": {
425
+ "success": true,
426
+ "message": "YES"
427
+ }
428
+ }
dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5af906f5e7d0817c39fda2e521ec14ccf8e16c59e6fd2ee15f2ac22319e9b15c
3
+ size 283252