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
25044b5
·
verified ·
1 Parent(s): ba3ebb4

Add asset desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/affordance/affordance_annot.json +518 -0
  3. dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/ballpoint_pen_028.urdf +1 -0
.gitattributes CHANGED
@@ -8170,3 +8170,4 @@ dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affo
8170
  dataset/desktop_supplies/office_stationery/09b4f19c0be9527883c97921b7f5d736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8171
  dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8172
  dataset/desktop_supplies/office_stationery/0b32a2ba04fe51638bf37032e495731e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8170
  dataset/desktop_supplies/office_stationery/09b4f19c0be9527883c97921b7f5d736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8171
  dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8172
  dataset/desktop_supplies/office_stationery/0b32a2ba04fe51638bf37032e495731e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8173
+ dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,518 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pen barrel",
5
+ "mask_color": "Lime Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the barrel at the center to pick up and hold the pen",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "grasp the barrel to stabilize the pen while pressing the click button",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "grasp the barrel near the tip to orient the writing point for placement or writing",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the ink mechanism",
24
+ "support writing use",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Long cylindrical pen body with a mostly light gray plastic barrel, a black rubberized grip near the tip, smooth hard surfaces, and red printed branding along the side.",
28
+ "id": 9,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.9146047234535217,
32
+ "position": [
33
+ 0.03721231066083419,
34
+ -0.13458195875864476,
35
+ 0.03428413768415339
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4835789133291962,
39
+ "xyz": [
40
+ -0.8135197822779172,
41
+ 0.12514122357099278,
42
+ 0.29778628677123287
43
+ ]
44
+ }
45
+ },
46
+ "grasp_41": {
47
+ "confidence": 0.9091149568557739,
48
+ "position": [
49
+ 0.033754324842448113,
50
+ -0.13896896492224187,
51
+ 0.0342514147341717
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5034075765968463,
55
+ "xyz": [
56
+ -0.821445842494315,
57
+ 0.09399143389519904,
58
+ 0.2509445158357112
59
+ ]
60
+ }
61
+ },
62
+ "grasp_42": {
63
+ "confidence": 0.9089942574501038,
64
+ "position": [
65
+ 0.039880628068203805,
66
+ -0.136232232558541,
67
+ 0.03331561808590777
68
+ ],
69
+ "orientation": {
70
+ "w": 0.48575085313310057,
71
+ "xyz": [
72
+ -0.8222964131418811,
73
+ 0.09145907409863951,
74
+ 0.28197509709100466
75
+ ]
76
+ }
77
+ },
78
+ "grasp_46": {
79
+ "confidence": 0.871862530708313,
80
+ "position": [
81
+ 0.03088684410249698,
82
+ -0.13381249259691685,
83
+ 0.035913236933993176
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5012337789196445,
87
+ "xyz": [
88
+ -0.8236349175987119,
89
+ 0.09972060139139405,
90
+ 0.24585772926681598
91
+ ]
92
+ }
93
+ },
94
+ "grasp_48": {
95
+ "confidence": 0.870309591293335,
96
+ "position": [
97
+ 0.05067754008268821,
98
+ -0.1312549317954108,
99
+ 0.005774689867394045
100
+ ],
101
+ "orientation": {
102
+ "w": 0.40826613956288577,
103
+ "xyz": [
104
+ -0.6788768779636365,
105
+ 0.28210278398691313,
106
+ 0.5411681468079926
107
+ ]
108
+ }
109
+ },
110
+ "grasp_50": {
111
+ "confidence": 0.8611881136894226,
112
+ "position": [
113
+ 0.05281833030676353,
114
+ -0.12999666284304112,
115
+ 0.0026896258641500026
116
+ ],
117
+ "orientation": {
118
+ "w": 0.40810660972590573,
119
+ "xyz": [
120
+ -0.6575893188962176,
121
+ 0.28212977141813655,
122
+ 0.5669462715735821
123
+ ]
124
+ }
125
+ },
126
+ "grasp_51": {
127
+ "confidence": 0.8603366017341614,
128
+ "position": [
129
+ 0.05129225023483741,
130
+ -0.13153765152674168,
131
+ 0.008248623955296353
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5317916579894565,
135
+ "xyz": [
136
+ -0.2935748972334632,
137
+ -0.6846508326127826,
138
+ -0.4028208654101843
139
+ ]
140
+ }
141
+ },
142
+ "grasp_52": {
143
+ "confidence": 0.8523428440093994,
144
+ "position": [
145
+ 0.0173998422214936,
146
+ -0.13688335369806737,
147
+ 0.04363030617241748
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5121179299070742,
151
+ "xyz": [
152
+ -0.8534438550654297,
153
+ 0.01311324639857081,
154
+ 0.09590023403329777
155
+ ]
156
+ }
157
+ },
158
+ "grasp_53": {
159
+ "confidence": 0.8519689440727234,
160
+ "position": [
161
+ 0.03249347053861129,
162
+ -0.12817253719549626,
163
+ 0.04105722581152804
164
+ ],
165
+ "orientation": {
166
+ "w": 0.49252717174138705,
167
+ "xyz": [
168
+ -0.8380303923854074,
169
+ 0.0780832560612742,
170
+ 0.22141601490782012
171
+ ]
172
+ }
173
+ },
174
+ "grasp_54": {
175
+ "confidence": 0.8476547002792358,
176
+ "position": [
177
+ 0.015530016575212358,
178
+ -0.13862149964552373,
179
+ 0.0432410245120991
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5130640523138282,
183
+ "xyz": [
184
+ -0.8545195023014434,
185
+ -0.0023684573920752516,
186
+ 0.08096967839499523
187
+ ]
188
+ }
189
+ },
190
+ "grasp_55": {
191
+ "confidence": 0.8445512056350708,
192
+ "position": [
193
+ -0.01720009155178559,
194
+ -0.1379373128293082,
195
+ 0.046008110541151837
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4748855084628539,
199
+ "xyz": [
200
+ -0.852393370576022,
201
+ -0.13103419679116823,
202
+ -0.17532636687423514
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "clip",
210
+ "mask_color": "Red",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "pinch the clip area lightly to orient or reposition the pen",
215
+ "confidence": 0.39
216
+ },
217
+ {
218
+ "scenario": "use the clip end to pull the pen from a pocket or holder",
219
+ "confidence": 0.46
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "attach to pocket",
224
+ "retain pen on edge",
225
+ "indicate top side"
226
+ ],
227
+ "semantic_description": "Small red plastic clip mounted along the top end of the pen, glossy, smooth, slightly curved, and protruding from the barrel beside the click button.",
228
+ "id": 0,
229
+ "grasp_group": {
230
+ "grasp_1": {
231
+ "confidence": 0.9663858413696289,
232
+ "position": [
233
+ -0.011627204414253356,
234
+ 0.10158731241244823,
235
+ 0.08340126325492747
236
+ ],
237
+ "orientation": {
238
+ "w": 0.27480288837233696,
239
+ "xyz": [
240
+ 0.9588906098436234,
241
+ -0.008428484356969967,
242
+ 0.07029318279455833
243
+ ]
244
+ }
245
+ },
246
+ "grasp_2": {
247
+ "confidence": 0.9642449617385864,
248
+ "position": [
249
+ 0.042661091614718316,
250
+ 0.11099935520906001,
251
+ 0.06743704577093013
252
+ ],
253
+ "orientation": {
254
+ "w": 0.2726273462982895,
255
+ "xyz": [
256
+ 0.8947295483796536,
257
+ 0.18216018314211346,
258
+ -0.303234287283488
259
+ ]
260
+ }
261
+ },
262
+ "grasp_3": {
263
+ "confidence": 0.9632860422134399,
264
+ "position": [
265
+ 0.0530295989701699,
266
+ 0.006803507101722062,
267
+ 0.072961524623679
268
+ ],
269
+ "orientation": {
270
+ "w": 0.3361899123694465,
271
+ "xyz": [
272
+ -0.048334145160897325,
273
+ -0.9173090492875557,
274
+ -0.20780823209813004
275
+ ]
276
+ }
277
+ },
278
+ "grasp_6": {
279
+ "confidence": 0.9027292728424072,
280
+ "position": [
281
+ -0.04661765478158486,
282
+ 0.12952206481713802,
283
+ -0.02101348477299325
284
+ ],
285
+ "orientation": {
286
+ "w": 0.22802113484037276,
287
+ "xyz": [
288
+ 0.4401590953092556,
289
+ -0.4245903733234695,
290
+ 0.7576208469700939
291
+ ]
292
+ }
293
+ },
294
+ "grasp_7": {
295
+ "confidence": 0.8962327837944031,
296
+ "position": [
297
+ -0.01293673708642018,
298
+ 0.13590290595311671,
299
+ 0.05470840309862979
300
+ ],
301
+ "orientation": {
302
+ "w": 0.08375817004448714,
303
+ "xyz": [
304
+ 0.019644530276092254,
305
+ 0.8704633357318532,
306
+ -0.4846568296512547
307
+ ]
308
+ }
309
+ },
310
+ "grasp_12": {
311
+ "confidence": 0.8731010556221008,
312
+ "position": [
313
+ -0.00305752309577656,
314
+ 0.14673792768735439,
315
+ 0.013210161152528599
316
+ ],
317
+ "orientation": {
318
+ "w": 0.08414174356469087,
319
+ "xyz": [
320
+ 0.05516961695420433,
321
+ 0.7256224923256769,
322
+ -0.6806970537515885
323
+ ]
324
+ }
325
+ },
326
+ "grasp_14": {
327
+ "confidence": 0.8353760838508606,
328
+ "position": [
329
+ -0.024709783192520263,
330
+ 0.13292525161523372,
331
+ -0.04033918629284017
332
+ ],
333
+ "orientation": {
334
+ "w": 0.7973460856440885,
335
+ "xyz": [
336
+ 0.4527669568790765,
337
+ 0.3194435135215804,
338
+ -0.23915924430282445
339
+ ]
340
+ }
341
+ },
342
+ "grasp_19": {
343
+ "confidence": 0.920449435710907,
344
+ "position": [
345
+ 0.019084617797489045,
346
+ 0.13371927489060909,
347
+ 0.05065386419300921
348
+ ],
349
+ "orientation": {
350
+ "w": 0.18078855654989678,
351
+ "xyz": [
352
+ 0.13486682305712874,
353
+ -0.8499113477053148,
354
+ 0.4762112334886878
355
+ ]
356
+ }
357
+ }
358
+ }
359
+ },
360
+ {
361
+ "part_name": "click button",
362
+ "mask_color": "Blue",
363
+ "graspable": true,
364
+ "grasp_scenarios": [
365
+ {
366
+ "scenario": "press the top button to extend or retract the pen tip",
367
+ "confidence": 0.95
368
+ },
369
+ {
370
+ "scenario": "use a fingertip or small gripper to tap the button while stabilizing the barrel",
371
+ "confidence": 0.78
372
+ }
373
+ ],
374
+ "functional_labels": [
375
+ "retract pen tip",
376
+ "extend pen tip",
377
+ "actuate writing mechanism",
378
+ "provide top-end control"
379
+ ],
380
+ "semantic_description": "Small red plastic push button at the pen top, hard, smooth, and rounded, positioned centrally at the end above the barrel.",
381
+ "id": 2,
382
+ "grasp_group": {
383
+ "grasp_20": {
384
+ "confidence": 0.8883723020553589,
385
+ "position": [
386
+ -0.005402163300459506,
387
+ 0.15630447317380458,
388
+ 0.004545376665191725
389
+ ],
390
+ "orientation": {
391
+ "w": 0.1425119174542076,
392
+ "xyz": [
393
+ 0.16817863841206704,
394
+ -0.6967439163622827,
395
+ 0.6826083899114757
396
+ ]
397
+ }
398
+ },
399
+ "grasp_23": {
400
+ "confidence": 0.7520403265953064,
401
+ "position": [
402
+ -0.04045007533932221,
403
+ 0.13908002723474056,
404
+ 0.030598599958466366
405
+ ],
406
+ "orientation": {
407
+ "w": 0.3807993731271758,
408
+ "xyz": [
409
+ 0.18830137883847375,
410
+ 0.7887741595627115,
411
+ -0.4442631577788309
412
+ ]
413
+ }
414
+ },
415
+ "grasp_25": {
416
+ "confidence": 0.8794214725494385,
417
+ "position": [
418
+ -0.035576602142100455,
419
+ 0.14309846807736903,
420
+ -0.03045513990218751
421
+ ],
422
+ "orientation": {
423
+ "w": 0.13301583603943448,
424
+ "xyz": [
425
+ 0.3044801382762347,
426
+ -0.4898281991118568,
427
+ 0.8060192107591798
428
+ ]
429
+ }
430
+ },
431
+ "grasp_27": {
432
+ "confidence": 0.8565648794174194,
433
+ "position": [
434
+ 0.009604363072867272,
435
+ 0.1432295684935525,
436
+ 0.050663836795138195
437
+ ],
438
+ "orientation": {
439
+ "w": 0.18214831113843227,
440
+ "xyz": [
441
+ 0.16518944341609734,
442
+ -0.8488468747671086,
443
+ 0.4679673319062026
444
+ ]
445
+ }
446
+ },
447
+ "grasp_28": {
448
+ "confidence": 0.8405093550682068,
449
+ "position": [
450
+ -0.013637971762364032,
451
+ 0.1437915061833337,
452
+ 0.047027379769133404
453
+ ],
454
+ "orientation": {
455
+ "w": 0.10786067990498674,
456
+ "xyz": [
457
+ 0.04219469813792218,
458
+ 0.8602050108162954,
459
+ -0.4966216070068045
460
+ ]
461
+ }
462
+ },
463
+ "grasp_34": {
464
+ "confidence": 0.7315742373466492,
465
+ "position": [
466
+ -0.044572455506568076,
467
+ 0.14110347081441432,
468
+ 0.030770695331739262
469
+ ],
470
+ "orientation": {
471
+ "w": 0.3671282575592477,
472
+ "xyz": [
473
+ 0.13354162209607967,
474
+ 0.7951241415183877,
475
+ -0.46385458631353965
476
+ ]
477
+ }
478
+ },
479
+ "grasp_36": {
480
+ "confidence": 0.9194520711898804,
481
+ "position": [
482
+ -0.04724844701195252,
483
+ 0.11380952049512416,
484
+ -0.06575993399019353
485
+ ],
486
+ "orientation": {
487
+ "w": 0.90833692678701,
488
+ "xyz": [
489
+ 0.28325809198603163,
490
+ 0.29972938892463585,
491
+ -0.06965037095684927
492
+ ]
493
+ }
494
+ },
495
+ "grasp_37": {
496
+ "confidence": 0.852593719959259,
497
+ "position": [
498
+ -0.04584571502709878,
499
+ 0.13878267456311733,
500
+ 0.02322220292990096
501
+ ],
502
+ "orientation": {
503
+ "w": 0.4205083883843072,
504
+ "xyz": [
505
+ 0.7447120427822386,
506
+ -0.24487726155579248,
507
+ 0.4567404026429826
508
+ ]
509
+ }
510
+ }
511
+ }
512
+ }
513
+ ],
514
+ "quality_check": {
515
+ "success": true,
516
+ "message": "YES"
517
+ }
518
+ }
dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e477b22e8f1f2acf8d53d9b75f93beef8056e194e5299bb167e262ae76a3813
3
+ size 3789112
dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/ballpoint_pen_028.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>NO: {"summary":"Mask misses clear pen tip and grip as separate parts; only clip/button/body are segmented.","merge_groups":[]}</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>NO: {"summary":"Mask misses clear pen tip and grip as separate parts; only clip/button/body are segmented.","merge_groups":[]}</PartSegChecker>