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
094c360
·
verified ·
1 Parent(s): b501db6

Add asset desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/affordance/affordance_annot.json +426 -0
  3. dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6441,4 +6441,4 @@ dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/affo
6441
  dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6442
  dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6443
  dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6444
- dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6441
  dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6442
  dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6443
  dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6444
+ dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,426 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "container body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sidewall to pick up and move the pen holder",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the pen holder while inserting or removing pens",
14
+ "confidence": 0.84
15
+ },
16
+ {
17
+ "scenario": "grasp the upper body to rotate and reorient the pen holder on a desk",
18
+ "confidence": 0.79
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain pens and tools",
23
+ "provide main structure",
24
+ "provide main grasp surface",
25
+ "define the open storage cavity"
26
+ ],
27
+ "semantic_description": "Large tapered white plastic body with a matte smooth hard surface, cup-shaped and open at the top, forming the main upper portion with a small printed logo on one side.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9642071723937988,
32
+ "position": [
33
+ 0.0357794986339286,
34
+ -0.06927135697333142,
35
+ 0.14310202095657587
36
+ ],
37
+ "orientation": {
38
+ "w": 0.0783687491780773,
39
+ "xyz": [
40
+ -0.8041660348843906,
41
+ 0.5655080887805396,
42
+ 0.1654567285255024
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9639125466346741,
48
+ "position": [
49
+ 0.02578166325110942,
50
+ -0.06683599314419553,
51
+ 0.13331490848213434
52
+ ],
53
+ "orientation": {
54
+ "w": 0.1781768814828513,
55
+ "xyz": [
56
+ -0.6156098122618009,
57
+ -0.7671941837365528,
58
+ -0.026280075967180863
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9615049958229065,
64
+ "position": [
65
+ 0.007935200934298337,
66
+ -0.06946070602862164,
67
+ 0.13710568938404322
68
+ ],
69
+ "orientation": {
70
+ "w": 0.05685357094072272,
71
+ "xyz": [
72
+ -0.7026428487611833,
73
+ 0.6892324441121219,
74
+ 0.1673897742972601
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9583078622817993,
80
+ "position": [
81
+ 0.058127451804466546,
82
+ -0.032529977324884385,
83
+ 0.1403505066409707
84
+ ],
85
+ "orientation": {
86
+ "w": 0.12228780887758899,
87
+ "xyz": [
88
+ -0.23932951370609531,
89
+ -0.9605776635653092,
90
+ -0.07111700168408044
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9580984711647034,
96
+ "position": [
97
+ -0.016481783124618232,
98
+ -0.06466537079541013,
99
+ 0.13842199835926294
100
+ ],
101
+ "orientation": {
102
+ "w": 0.0881428574679852,
103
+ "xyz": [
104
+ -0.6621256903227403,
105
+ 0.7423230480344579,
106
+ 0.052696292553134585
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9576840996742249,
112
+ "position": [
113
+ -0.04115529346745461,
114
+ 0.04347870760830119,
115
+ 0.14785112533718348
116
+ ],
117
+ "orientation": {
118
+ "w": 0.009158676879073478,
119
+ "xyz": [
120
+ 0.44036135954936784,
121
+ 0.897692979737757,
122
+ -0.012054284848270366
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9574241042137146,
128
+ "position": [
129
+ -0.04572055477183312,
130
+ 0.04394272231729701,
131
+ 0.14328780863434076
132
+ ],
133
+ "orientation": {
134
+ "w": 0.02554444410261325,
135
+ "xyz": [
136
+ 0.3870242915871973,
137
+ 0.9214380608869416,
138
+ -0.022618113224345433
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.957196831703186,
144
+ "position": [
145
+ 0.03862065833527595,
146
+ -0.03815481549827382,
147
+ 0.1440538177266717
148
+ ],
149
+ "orientation": {
150
+ "w": 0.04335076501963204,
151
+ "xyz": [
152
+ -0.9590551055418226,
153
+ 0.27907762717022744,
154
+ 0.021205983104115443
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9567495584487915,
160
+ "position": [
161
+ -0.003531136200763285,
162
+ -0.06281795463291928,
163
+ 0.1440048674121499
164
+ ],
165
+ "orientation": {
166
+ "w": 0.08917554365957508,
167
+ "xyz": [
168
+ -0.7614428308585665,
169
+ -0.641254695269886,
170
+ -0.032325741158364986
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9563636779785156,
176
+ "position": [
177
+ 0.051457304623909295,
178
+ -0.014511728833895177,
179
+ 0.14706425461918116
180
+ ],
181
+ "orientation": {
182
+ "w": 0.04111783190635221,
183
+ "xyz": [
184
+ 0.9612450608407093,
185
+ -0.2701122582420182,
186
+ -0.03683238868250606
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9544275403022766,
192
+ "position": [
193
+ -0.041735801729373634,
194
+ 0.043812434014398605,
195
+ 0.1488385507836938
196
+ ],
197
+ "orientation": {
198
+ "w": 0.006209646743066444,
199
+ "xyz": [
200
+ 0.41226624918625215,
201
+ 0.9109068038523983,
202
+ -0.01570906631961848
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9538173675537109,
208
+ "position": [
209
+ 0.03900719073135406,
210
+ -0.027347178373020142,
211
+ 0.14424800965934992
212
+ ],
213
+ "orientation": {
214
+ "w": 0.025813290439102493,
215
+ "xyz": [
216
+ -0.9694885735766767,
217
+ 0.24377264260755163,
218
+ -0.0006917059332110612
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9537696242332458,
224
+ "position": [
225
+ -0.05200226965826005,
226
+ -0.07222723326412961,
227
+ 0.13292814884334803
228
+ ],
229
+ "orientation": {
230
+ "w": 0.2695496636234472,
231
+ "xyz": [
232
+ -0.582168969658892,
233
+ 0.7670858520920051,
234
+ -0.0012510503877081226
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9525185227394104,
240
+ "position": [
241
+ 0.05098468449432403,
242
+ -0.017698192212264985,
243
+ 0.1463050553575158
244
+ ],
245
+ "orientation": {
246
+ "w": 0.018871813134070707,
247
+ "xyz": [
248
+ 0.9888759474707237,
249
+ -0.14272239020067465,
250
+ -0.037396985417510804
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9520434141159058,
256
+ "position": [
257
+ -0.03242469939868897,
258
+ 0.0563459608820267,
259
+ 0.14546471927314997
260
+ ],
261
+ "orientation": {
262
+ "w": 0.03144492404253919,
263
+ "xyz": [
264
+ 0.38596116188960966,
265
+ 0.9196607291311597,
266
+ -0.06534019864314303
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.951898992061615,
272
+ "position": [
273
+ 0.03334433224517852,
274
+ -0.036395196977537125,
275
+ 0.14828014466911554
276
+ ],
277
+ "orientation": {
278
+ "w": 0.008038628833284281,
279
+ "xyz": [
280
+ -0.9478217819178238,
281
+ 0.3186650189177254,
282
+ -0.004675027996472384
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9516332149505615,
288
+ "position": [
289
+ -0.009629408712498844,
290
+ -0.057375715288799256,
291
+ 0.13827692065387964
292
+ ],
293
+ "orientation": {
294
+ "w": 0.04124241762088645,
295
+ "xyz": [
296
+ -0.6975849598346726,
297
+ -0.7125088844191193,
298
+ -0.06328804330254059
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9516236186027527,
304
+ "position": [
305
+ -0.03768718603532761,
306
+ 0.04550583550008014,
307
+ 0.1490916023030877
308
+ ],
309
+ "orientation": {
310
+ "w": 0.06402647940932031,
311
+ "xyz": [
312
+ 0.5698521732273447,
313
+ 0.8187768541979988,
314
+ 0.02781319169295771
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9516212344169617,
320
+ "position": [
321
+ -0.011363745550625026,
322
+ 0.0624797631171532,
323
+ 0.1416041860356927
324
+ ],
325
+ "orientation": {
326
+ "w": 0.16043331926089643,
327
+ "xyz": [
328
+ 0.851684420882879,
329
+ -0.49889219179600075,
330
+ 0.0011739937430591833
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9507615566253662,
336
+ "position": [
337
+ -0.0665992273716256,
338
+ 0.009494172234553844,
339
+ 0.13835606072098017
340
+ ],
341
+ "orientation": {
342
+ "w": 0.07314421968556253,
343
+ "xyz": [
344
+ 0.15021653376393695,
345
+ 0.985552710047117,
346
+ 0.02776277776667658
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "vented lower ring",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the lower ring to lift the pen holder from near the base",
359
+ "confidence": 0.72
360
+ },
361
+ {
362
+ "scenario": "hold the lower ring to stabilize the object during placement",
363
+ "confidence": 0.68
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "support lower structure",
368
+ "provide airflow through slots",
369
+ "add grip texture",
370
+ "visually separate the base section"
371
+ ],
372
+ "semantic_description": "Medium-sized white plastic ring around the lower exterior with a matte hard finish, smooth edges, and evenly spaced vertical slots that give it a slightly ribbed texture.",
373
+ "id": 1,
374
+ "grasp_group": {
375
+ "grasp_38": {
376
+ "confidence": 0.2196093648672104,
377
+ "position": [
378
+ 0.03410311427433044,
379
+ 0.025837586086709052,
380
+ -0.15580008830875158
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6489432743850241,
384
+ "xyz": [
385
+ 0.027212911000155958,
386
+ -0.06073208963165122,
387
+ -0.7579206405649034
388
+ ]
389
+ }
390
+ }
391
+ }
392
+ },
393
+ {
394
+ "part_name": "bottom base",
395
+ "mask_color": "Blue",
396
+ "graspable": false,
397
+ "grasp_scenarios": [],
398
+ "functional_labels": [
399
+ "support on a flat surface",
400
+ "provide stability",
401
+ "form the bottom closure"
402
+ ],
403
+ "semantic_description": "Flat circular white plastic bottom with a matte hard surface and dense swirled textured patterning, located underneath the holder as the ground-contacting base.",
404
+ "id": 2,
405
+ "grasp_group": {}
406
+ },
407
+ {
408
+ "part_name": "logo mark",
409
+ "mask_color": "Yellow",
410
+ "graspable": false,
411
+ "grasp_scenarios": [],
412
+ "functional_labels": [
413
+ "brand marking",
414
+ "visual identification",
415
+ "indicate front side"
416
+ ],
417
+ "semantic_description": "Small gray printed logo on the upper sidewall, appearing as a flat smooth graphic marking with no visible thickness or separate structure.",
418
+ "id": 3,
419
+ "grasp_group": {}
420
+ }
421
+ ],
422
+ "quality_check": {
423
+ "success": true,
424
+ "message": "YES"
425
+ }
426
+ }
dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b87332e4aeaf1b4a0bf6a3d9be5b0a19674dce7c76d5edf4f37a79f8cdf2c46
3
+ size 3784936