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
22f8f61
·
verified ·
1 Parent(s): cd0ac20

Add asset desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/affordance/affordance_annot.json +488 -0
  3. dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6258,3 +6258,4 @@ dataset/desktop_supplies/electronic_accessories/91703c22b9de5f55a0c9f4f0ba75afc2
6258
  dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6259
  dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6260
  dataset/desktop_supplies/electronic_accessories/9513616d0b515483b6fe61c31f865ee9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6258
  dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6259
  dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6260
  dataset/desktop_supplies/electronic_accessories/9513616d0b515483b6fe61c31f865ee9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6261
+ dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,488 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "charger body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the charger body to pick up and move the adapter",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body while aligning the plug with a wall socket",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the adapter body while unplugging it from a socket",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "house internal electronics",
23
+ "main grasp surface",
24
+ "support plug insertion",
25
+ "protect internal components"
26
+ ],
27
+ "semantic_description": "Large dark gray plastic housing with a matte smooth hard surface, slightly tapered rectangular shape, centered Vivo branding, and rounded edges forming the main outer shell.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.976897120475769,
32
+ "position": [
33
+ -0.001059163267200347,
34
+ -0.0013028793036937714,
35
+ 0.10132984063238837
36
+ ],
37
+ "orientation": {
38
+ "w": 0.027565757955919562,
39
+ "xyz": [
40
+ -0.9983584778517841,
41
+ 0.048407079294171,
42
+ -0.013312902162649309
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9748361110687256,
48
+ "position": [
49
+ -0.0016677172607160173,
50
+ 0.016162412706762552,
51
+ 0.09886578461737372
52
+ ],
53
+ "orientation": {
54
+ "w": 0.016379059198024952,
55
+ "xyz": [
56
+ 0.9995014013809752,
57
+ -0.022872251686047992,
58
+ 0.014336497482450741
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9739863872528076,
64
+ "position": [
65
+ 0.09784610101633007,
66
+ 0.0018812804482877254,
67
+ 0.0004341421590652317
68
+ ],
69
+ "orientation": {
70
+ "w": 0.06199490492878392,
71
+ "xyz": [
72
+ -0.7026416447262475,
73
+ -0.025745795794612114,
74
+ 0.708370316189327
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9737386107444763,
80
+ "position": [
81
+ -0.0016263021607301198,
82
+ -0.004700318444520235,
83
+ 0.10179181388230063
84
+ ],
85
+ "orientation": {
86
+ "w": 0.01821985044142467,
87
+ "xyz": [
88
+ -0.9993339228722771,
89
+ 0.028859402243426875,
90
+ -0.012918302858743595
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9732906222343445,
96
+ "position": [
97
+ 0.00038847956602694467,
98
+ -0.0031812498345971107,
99
+ 0.10132326176972128
100
+ ],
101
+ "orientation": {
102
+ "w": 0.025970357793745097,
103
+ "xyz": [
104
+ -0.9980394342315454,
105
+ 0.0561452620546424,
106
+ -0.00951513445291949
107
+ ]
108
+ }
109
+ },
110
+ "grasp_6": {
111
+ "confidence": 0.9729520678520203,
112
+ "position": [
113
+ -0.0038773464257246815,
114
+ 0.004938265949022025,
115
+ 0.09801853439421393
116
+ ],
117
+ "orientation": {
118
+ "w": 0.012079855925016805,
119
+ "xyz": [
120
+ 0.9983076073498995,
121
+ -0.056322507612411477,
122
+ 0.007985820208314611
123
+ ]
124
+ }
125
+ },
126
+ "grasp_7": {
127
+ "confidence": 0.9725480079650879,
128
+ "position": [
129
+ -0.0017338934339932166,
130
+ 0.006813186453655362,
131
+ 0.10094657531590201
132
+ ],
133
+ "orientation": {
134
+ "w": 0.016560113336693338,
135
+ "xyz": [
136
+ 0.0387764566258298,
137
+ 0.9991075891311649,
138
+ -0.0024848336628255085
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.9720778465270996,
144
+ "position": [
145
+ 0.0013997225105413236,
146
+ 0.006141665042378008,
147
+ 0.09715995928854682
148
+ ],
149
+ "orientation": {
150
+ "w": 0.004206839569043992,
151
+ "xyz": [
152
+ 0.9996283095498388,
153
+ -0.02681609150110004,
154
+ -0.0025382048728161636
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.9719721078872681,
160
+ "position": [
161
+ -0.0037428015129989944,
162
+ 0.0026818388141691685,
163
+ 0.10073940447182395
164
+ ],
165
+ "orientation": {
166
+ "w": 0.014636784121530508,
167
+ "xyz": [
168
+ 0.9986956665440453,
169
+ 0.04308322233420181,
170
+ 0.023163897125191128
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.9717059135437012,
176
+ "position": [
177
+ -0.005206579364312347,
178
+ 0.0006951733957976103,
179
+ 0.10036849221796729
180
+ ],
181
+ "orientation": {
182
+ "w": 0.03541582499063397,
183
+ "xyz": [
184
+ 0.015808901245129386,
185
+ 0.9991933550086126,
186
+ 0.010413322634301447
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.9715604186058044,
192
+ "position": [
193
+ -0.004393386210722383,
194
+ -0.0003795986995100975,
195
+ 0.10083101681084372
196
+ ],
197
+ "orientation": {
198
+ "w": 0.043922791196744165,
199
+ "xyz": [
200
+ -0.9988166198289703,
201
+ -0.013329203176698966,
202
+ -0.01607733527646362
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.9710205793380737,
208
+ "position": [
209
+ -0.016773139148426708,
210
+ -0.07194719417020679,
211
+ 0.07106811544508673
212
+ ],
213
+ "orientation": {
214
+ "w": 0.37940169234605403,
215
+ "xyz": [
216
+ -0.9220391683846594,
217
+ 0.023402325011797287,
218
+ -0.07314683173944017
219
+ ]
220
+ }
221
+ },
222
+ "grasp_16": {
223
+ "confidence": 0.9705320000648499,
224
+ "position": [
225
+ -0.0036141886594123207,
226
+ 0.001312099862843752,
227
+ 0.10054555526585318
228
+ ],
229
+ "orientation": {
230
+ "w": 0.020657576377726153,
231
+ "xyz": [
232
+ 0.04936333298035696,
233
+ 0.9985671988064831,
234
+ -0.0002745232990715373
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.9704411625862122,
240
+ "position": [
241
+ 0.00020482743275351822,
242
+ 0.0019157954957336187,
243
+ 0.0989414080104325
244
+ ],
245
+ "orientation": {
246
+ "w": 0.0017607956420488352,
247
+ "xyz": [
248
+ 0.9996736415372885,
249
+ -0.024604202978652265,
250
+ 0.006644035676376911
251
+ ]
252
+ }
253
+ },
254
+ "grasp_19": {
255
+ "confidence": 0.969786524772644,
256
+ "position": [
257
+ -0.0029248956343508326,
258
+ 0.014602311421185732,
259
+ 0.1022041066607926
260
+ ],
261
+ "orientation": {
262
+ "w": 0.014502448276059676,
263
+ "xyz": [
264
+ 0.9995368499994767,
265
+ -0.013855906580592384,
266
+ 0.02288620414034904
267
+ ]
268
+ }
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "part_name": "plug prongs",
274
+ "mask_color": "Orange",
275
+ "graspable": false,
276
+ "grasp_scenarios": [],
277
+ "functional_labels": [
278
+ "conduct electrical power",
279
+ "plug into wall socket",
280
+ "provide mains connection"
281
+ ],
282
+ "semantic_description": "Two small silver metal plug prongs with smooth reflective surfaces protruding from one end, parallel and evenly spaced for wall-outlet insertion; each prong appears as a flat blade with rounded tip.",
283
+ "id": 4,
284
+ "grasp_group": {}
285
+ },
286
+ {
287
+ "part_name": "plug base",
288
+ "mask_color": "Cyan",
289
+ "graspable": true,
290
+ "grasp_scenarios": [
291
+ {
292
+ "scenario": "pinch the insulated plastic around the prong roots to help pull the charger out of a socket",
293
+ "confidence": 0.58
294
+ },
295
+ {
296
+ "scenario": "steady the plug end while orienting the charger for insertion",
297
+ "confidence": 0.52
298
+ }
299
+ ],
300
+ "functional_labels": [
301
+ "support plug prongs",
302
+ "insulate around electrical contacts",
303
+ "position prongs",
304
+ "connect prongs to charger body"
305
+ ],
306
+ "semantic_description": "Small dark gray plastic collars around the prong roots with a matte smooth hard finish, slightly raised from the plug end and serving as insulated supports.",
307
+ "id": 6,
308
+ "grasp_group": {
309
+ "grasp_20": {
310
+ "confidence": 0.8978973031044006,
311
+ "position": [
312
+ -0.053296827732992824,
313
+ 0.10515060322359204,
314
+ -0.004959758458426222
315
+ ],
316
+ "orientation": {
317
+ "w": 0.6269350227688076,
318
+ "xyz": [
319
+ 0.36283940180846636,
320
+ 0.5943447846321822,
321
+ -0.34936273799830736
322
+ ]
323
+ }
324
+ },
325
+ "grasp_22": {
326
+ "confidence": 0.9139425754547119,
327
+ "position": [
328
+ -0.017900840401125606,
329
+ 0.0729563538916409,
330
+ 0.08370220652432181
331
+ ],
332
+ "orientation": {
333
+ "w": 0.10334479170251974,
334
+ "xyz": [
335
+ -0.010494086691310966,
336
+ 0.9546226372434157,
337
+ -0.2791152963112282
338
+ ]
339
+ }
340
+ },
341
+ "grasp_24": {
342
+ "confidence": 0.8979506492614746,
343
+ "position": [
344
+ 0.031628775388526265,
345
+ 0.1161159654147923,
346
+ 0.011191449972102419
347
+ ],
348
+ "orientation": {
349
+ "w": 0.43526695461366355,
350
+ "xyz": [
351
+ 0.6120143237593485,
352
+ 0.4112898795624468,
353
+ -0.5165479461814195
354
+ ]
355
+ }
356
+ },
357
+ "grasp_25": {
358
+ "confidence": 0.8969409465789795,
359
+ "position": [
360
+ -0.05132409280486172,
361
+ 0.10582629637792706,
362
+ -0.0052454314136411995
363
+ ],
364
+ "orientation": {
365
+ "w": 0.6146175088480283,
366
+ "xyz": [
367
+ 0.3570699330847398,
368
+ 0.6002030256372227,
369
+ -0.36674610934572444
370
+ ]
371
+ }
372
+ },
373
+ "grasp_26": {
374
+ "confidence": 0.8967999219894409,
375
+ "position": [
376
+ -0.010130031056178268,
377
+ 0.10376156913116574,
378
+ -0.04699457818060182
379
+ ],
380
+ "orientation": {
381
+ "w": 0.03802392183314748,
382
+ "xyz": [
383
+ -0.050375896867760145,
384
+ 0.5000979174018201,
385
+ -0.8636657474935294
386
+ ]
387
+ }
388
+ },
389
+ "grasp_29": {
390
+ "confidence": 0.7466930150985718,
391
+ "position": [
392
+ 0.02539358751528198,
393
+ 0.10267193662002683,
394
+ -0.045092016545822844
395
+ ],
396
+ "orientation": {
397
+ "w": 0.8582391597459668,
398
+ "xyz": [
399
+ 0.5053604657491341,
400
+ -0.08585737626262391,
401
+ -0.02578478771783416
402
+ ]
403
+ }
404
+ },
405
+ "grasp_33": {
406
+ "confidence": 0.9357016086578369,
407
+ "position": [
408
+ 0.08546910712175304,
409
+ 0.0698968623764813,
410
+ 0.005726931529352441
411
+ ],
412
+ "orientation": {
413
+ "w": 0.6620783900066317,
414
+ "xyz": [
415
+ 0.17044310370403315,
416
+ -0.7042525896037107,
417
+ 0.19138872464811016
418
+ ]
419
+ }
420
+ },
421
+ "grasp_35": {
422
+ "confidence": 0.9209015965461731,
423
+ "position": [
424
+ 0.001975534345547203,
425
+ 0.11957941995933652,
426
+ -0.000897563440958038
427
+ ],
428
+ "orientation": {
429
+ "w": 0.7056991846093522,
430
+ "xyz": [
431
+ 0.7082873744280209,
432
+ -0.01637804002298271,
433
+ 0.007029642420611757
434
+ ]
435
+ }
436
+ },
437
+ "grasp_38": {
438
+ "confidence": 0.9038586020469666,
439
+ "position": [
440
+ -0.09970115593023365,
441
+ 0.023933388758450747,
442
+ -0.004593731922795996
443
+ ],
444
+ "orientation": {
445
+ "w": 0.03165498775573332,
446
+ "xyz": [
447
+ -0.6766382449996885,
448
+ 0.06081649127602062,
449
+ -0.7331166357018506
450
+ ]
451
+ }
452
+ }
453
+ }
454
+ },
455
+ {
456
+ "part_name": "output face",
457
+ "mask_color": "Pink",
458
+ "graspable": false,
459
+ "grasp_scenarios": [],
460
+ "functional_labels": [
461
+ "provide USB charging port access",
462
+ "present connector interface",
463
+ "indicate charging end"
464
+ ],
465
+ "semantic_description": "Flat dark gray plastic end panel with a smooth matte surface, occupying the small front face and containing the visible USB output opening and fine printed markings.",
466
+ "id": 8,
467
+ "grasp_group": {}
468
+ },
469
+ {
470
+ "part_name": "plug-end panel",
471
+ "mask_color": "Magenta",
472
+ "graspable": false,
473
+ "grasp_scenarios": [],
474
+ "functional_labels": [
475
+ "mount plug assembly",
476
+ "insulate plug end",
477
+ "define insertion-side orientation"
478
+ ],
479
+ "semantic_description": "Flat dark gray plastic panel at the prong side with a smooth matte hard surface, framing the two insulated prong mounts on the charger's rear end.",
480
+ "id": 7,
481
+ "grasp_group": {}
482
+ }
483
+ ],
484
+ "quality_check": {
485
+ "success": true,
486
+ "message": "YES"
487
+ }
488
+ }
dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f5c3d3525943225c5c6b62ff31c209e337cd8df89a65c07c72fede0c47683fe
3
+ size 3782328