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
389fc8a
·
verified ·
1 Parent(s): 8e5aa50

Add asset desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/affordance_annot.json +462 -0
  3. dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/mouse_014.urdf +1 -0
.gitattributes CHANGED
@@ -6274,3 +6274,4 @@ dataset/desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d
6274
  dataset/desktop_supplies/electronic_accessories/b2e9e0700a115c72b1a64d78bef8ed0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6275
  dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6276
  dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6274
  dataset/desktop_supplies/electronic_accessories/b2e9e0700a115c72b1a64d78bef8ed0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6275
  dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6276
  dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6277
+ dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/affordance_annot.json ADDED
@@ -0,0 +1,462 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mouse top shell",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the mouse body from the sides and top to pick it up",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the mouse shell to reposition it on a desk",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "stabilize the mouse body while another tool presses the controls",
18
+ "confidence": 0.71
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "cover internal components",
24
+ "support hand contact",
25
+ "provide overall structure"
26
+ ],
27
+ "semantic_description": "Large mint-green plastic upper shell with a smooth matte surface, gently domed and rounded, covering most of the mouse body and bearing black printed branding on top.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.47849559783935547,
32
+ "position": [
33
+ 0.11698629171587527,
34
+ 0.007395205437205732,
35
+ -0.0807222161674872
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6546247547038119,
39
+ "xyz": [
40
+ 0.24945458000647106,
41
+ -0.19478870466090914,
42
+ -0.6865101627647582
43
+ ]
44
+ }
45
+ },
46
+ "grasp_9": {
47
+ "confidence": 0.40230607986450195,
48
+ "position": [
49
+ 0.12384583265520632,
50
+ 0.0016669605392962694,
51
+ 0.07249147107359022
52
+ ],
53
+ "orientation": {
54
+ "w": 0.2716857938601491,
55
+ "xyz": [
56
+ -0.6470012493171313,
57
+ -0.6609222781436163,
58
+ 0.26600367488082544
59
+ ]
60
+ }
61
+ },
62
+ "grasp_10": {
63
+ "confidence": 0.39663904905319214,
64
+ "position": [
65
+ -0.09309709607623518,
66
+ 0.005076520028524101,
67
+ 0.09085401555057615
68
+ ],
69
+ "orientation": {
70
+ "w": 0.19564320791781542,
71
+ "xyz": [
72
+ -0.6915806493654532,
73
+ 0.6623541902515744,
74
+ -0.21148727449911833
75
+ ]
76
+ }
77
+ },
78
+ "grasp_11": {
79
+ "confidence": 0.35775983333587646,
80
+ "position": [
81
+ 0.049562266329303384,
82
+ 0.0020301934564486146,
83
+ 0.11172053625341505
84
+ ],
85
+ "orientation": {
86
+ "w": 0.04586060591625439,
87
+ "xyz": [
88
+ 0.7129302142526955,
89
+ -0.6987600268939034,
90
+ -0.03690175125697163
91
+ ]
92
+ }
93
+ },
94
+ "grasp_12": {
95
+ "confidence": 0.14704041182994843,
96
+ "position": [
97
+ 0.036721749464049935,
98
+ -0.018598531954921782,
99
+ 0.11176895012613386
100
+ ],
101
+ "orientation": {
102
+ "w": 0.05618158627982286,
103
+ "xyz": [
104
+ -0.7000653359086162,
105
+ -0.7103386337119038,
106
+ -0.04659592555733536
107
+ ]
108
+ }
109
+ },
110
+ "grasp_13": {
111
+ "confidence": 0.13788560032844543,
112
+ "position": [
113
+ -0.001653158174121927,
114
+ -0.018364650779403746,
115
+ 0.11310108413454145
116
+ ],
117
+ "orientation": {
118
+ "w": 0.054437371592669995,
119
+ "xyz": [
120
+ -0.7102967389717779,
121
+ 0.7017094655464425,
122
+ 0.010906014059484803
123
+ ]
124
+ }
125
+ },
126
+ "grasp_17": {
127
+ "confidence": 0.4758843779563904,
128
+ "position": [
129
+ 0.13737689168192446,
130
+ 0.0035050619626417756,
131
+ 0.053373646340332925
132
+ ],
133
+ "orientation": {
134
+ "w": 0.3595270372233169,
135
+ "xyz": [
136
+ 0.5974149046301358,
137
+ -0.6465206788318134,
138
+ -0.30959126776128565
139
+ ]
140
+ }
141
+ },
142
+ "grasp_18": {
143
+ "confidence": 0.39448386430740356,
144
+ "position": [
145
+ 0.13633255870081484,
146
+ 0.013462417176924646,
147
+ 0.05175746267195791
148
+ ],
149
+ "orientation": {
150
+ "w": 0.3448259595468751,
151
+ "xyz": [
152
+ -0.5696332372184837,
153
+ -0.6539227780924698,
154
+ 0.359162961579273
155
+ ]
156
+ }
157
+ },
158
+ "grasp_19": {
159
+ "confidence": 0.3750377893447876,
160
+ "position": [
161
+ 0.1399829259607941,
162
+ -0.0007188810268417001,
163
+ 0.054851398221217096
164
+ ],
165
+ "orientation": {
166
+ "w": 0.35035988297068765,
167
+ "xyz": [
168
+ 0.6028151564702425,
169
+ -0.648931863057103,
170
+ -0.30454765906793724
171
+ ]
172
+ }
173
+ }
174
+ }
175
+ },
176
+ {
177
+ "part_name": "mouse bottom shell",
178
+ "mask_color": "Yellow",
179
+ "graspable": true,
180
+ "grasp_scenarios": [
181
+ {
182
+ "scenario": "grasp the mouse body around the underside to lift it",
183
+ "confidence": 0.9
184
+ },
185
+ {
186
+ "scenario": "hold the mouse upside down for inspection or maintenance",
187
+ "confidence": 0.82
188
+ }
189
+ ],
190
+ "functional_labels": [
191
+ "support sliding base",
192
+ "enclose internal components",
193
+ "provide structural bottom surface",
194
+ "support pickup from below"
195
+ ],
196
+ "semantic_description": "Broad light gray to warm gray plastic underside with a smooth matte finish, slightly curved and forming the base of the mouse.",
197
+ "id": 3,
198
+ "grasp_group": {
199
+ "grasp_20": {
200
+ "confidence": 0.6972454786300659,
201
+ "position": [
202
+ 0.05357138277031481,
203
+ 0.0031394801335409284,
204
+ -0.10802728275302798
205
+ ],
206
+ "orientation": {
207
+ "w": 0.690363166809871,
208
+ "xyz": [
209
+ 0.05053893600060369,
210
+ -0.022125275617745133,
211
+ -0.7213563516314335
212
+ ]
213
+ }
214
+ },
215
+ "grasp_21": {
216
+ "confidence": 0.6628342866897583,
217
+ "position": [
218
+ 0.048079936066642404,
219
+ -0.007671494618989527,
220
+ -0.10708030650857836
221
+ ],
222
+ "orientation": {
223
+ "w": 0.6794461742987581,
224
+ "xyz": [
225
+ -0.032640648604758946,
226
+ 0.004771784400092627,
227
+ 0.7329834338940281
228
+ ]
229
+ }
230
+ },
231
+ "grasp_22": {
232
+ "confidence": 0.6538750529289246,
233
+ "position": [
234
+ 0.03986422182060778,
235
+ -0.008209377177990973,
236
+ -0.1084215227747336
237
+ ],
238
+ "orientation": {
239
+ "w": 0.6848451943073768,
240
+ "xyz": [
241
+ -0.023241775607283494,
242
+ 0.016420169279922958,
243
+ 0.7281327198674227
244
+ ]
245
+ }
246
+ },
247
+ "grasp_23": {
248
+ "confidence": 0.6535921096801758,
249
+ "position": [
250
+ 0.05964470864273608,
251
+ -0.004252839018590748,
252
+ -0.10756530205253512
253
+ ],
254
+ "orientation": {
255
+ "w": 0.7134279725576653,
256
+ "xyz": [
257
+ 0.04483144493259105,
258
+ -0.04750312484481578,
259
+ -0.6976776638588144
260
+ ]
261
+ }
262
+ },
263
+ "grasp_25": {
264
+ "confidence": 0.627956748008728,
265
+ "position": [
266
+ 0.03717013285495341,
267
+ 6.107991794124246e-05,
268
+ -0.10746912995819002
269
+ ],
270
+ "orientation": {
271
+ "w": 0.6866709387461601,
272
+ "xyz": [
273
+ 0.0024754594837988315,
274
+ 0.0009383509114629929,
275
+ 0.7269635571879639
276
+ ]
277
+ }
278
+ },
279
+ "grasp_27": {
280
+ "confidence": 0.6238534450531006,
281
+ "position": [
282
+ 0.03636563033796847,
283
+ -0.0040102080674842,
284
+ -0.10754290560726076
285
+ ],
286
+ "orientation": {
287
+ "w": 0.688092627633931,
288
+ "xyz": [
289
+ -0.016158753319893443,
290
+ 0.0023726249333904104,
291
+ 0.7254390402631394
292
+ ]
293
+ }
294
+ },
295
+ "grasp_29": {
296
+ "confidence": 0.6164852976799011,
297
+ "position": [
298
+ 0.09621211350895464,
299
+ -0.007772761979140341,
300
+ -0.09190702775958925
301
+ ],
302
+ "orientation": {
303
+ "w": 0.6434071212981625,
304
+ "xyz": [
305
+ -0.21553070930834226,
306
+ -0.150427769190416,
307
+ 0.7189890651910151
308
+ ]
309
+ }
310
+ },
311
+ "grasp_31": {
312
+ "confidence": 0.6113540530204773,
313
+ "position": [
314
+ 0.039145572343841195,
315
+ -0.00409702502656728,
316
+ -0.10356764087919146
317
+ ],
318
+ "orientation": {
319
+ "w": 0.6884800375946566,
320
+ "xyz": [
321
+ -0.007962269877698254,
322
+ 0.006458679311398763,
323
+ 0.72518282215839
324
+ ]
325
+ }
326
+ },
327
+ "grasp_34": {
328
+ "confidence": 0.6005896329879761,
329
+ "position": [
330
+ 0.1179247370455414,
331
+ 0.000626906388788484,
332
+ -0.07751628349069506
333
+ ],
334
+ "orientation": {
335
+ "w": 0.620505455874661,
336
+ "xyz": [
337
+ -0.29266935208989303,
338
+ -0.25122031150489477,
339
+ 0.6827927831080559
340
+ ]
341
+ }
342
+ },
343
+ "grasp_35": {
344
+ "confidence": 0.5990010499954224,
345
+ "position": [
346
+ 0.035835696617141366,
347
+ -0.004159123753197491,
348
+ -0.10624431411270052
349
+ ],
350
+ "orientation": {
351
+ "w": 0.6831573439979906,
352
+ "xyz": [
353
+ -0.002897160008718064,
354
+ 0.007572687280188672,
355
+ 0.730226200716498
356
+ ]
357
+ }
358
+ },
359
+ "grasp_38": {
360
+ "confidence": 0.5910230278968811,
361
+ "position": [
362
+ 0.03689079941250384,
363
+ -0.001001609256491065,
364
+ -0.1093990463996306
365
+ ],
366
+ "orientation": {
367
+ "w": 0.7076754779916311,
368
+ "xyz": [
369
+ 0.01754552580053471,
370
+ -0.002098948833385572,
371
+ -0.7063166193623753
372
+ ]
373
+ }
374
+ }
375
+ }
376
+ },
377
+ {
378
+ "part_name": "center top strip",
379
+ "mask_color": "Blue",
380
+ "graspable": false,
381
+ "grasp_scenarios": [],
382
+ "functional_labels": [
383
+ "separate left and right click areas",
384
+ "house the scroll wheel and top button",
385
+ "guide finger placement",
386
+ "provide top control strip"
387
+ ],
388
+ "semantic_description": "Narrow light gray plastic strip with a smooth matte finish running along the mouse centerline on top, extending from the front edge toward the middle.",
389
+ "id": 2,
390
+ "grasp_group": {}
391
+ },
392
+ {
393
+ "part_name": "scroll wheel",
394
+ "mask_color": "Orange",
395
+ "graspable": false,
396
+ "grasp_scenarios": [],
397
+ "functional_labels": [
398
+ "scroll content",
399
+ "middle click input",
400
+ "provide tactile finger control"
401
+ ],
402
+ "semantic_description": "Small dark gray rubberized wheel with a textured surface, recessed near the front-center of the mouse and sized for fingertip rolling.",
403
+ "id": 4,
404
+ "grasp_group": {}
405
+ },
406
+ {
407
+ "part_name": "top button",
408
+ "mask_color": "Red",
409
+ "graspable": false,
410
+ "grasp_scenarios": [],
411
+ "functional_labels": [
412
+ "press input",
413
+ "trigger device command",
414
+ "support fingertip interaction"
415
+ ],
416
+ "semantic_description": "Small rectangular light gray plastic button with a smooth matte surface, located on the center top strip behind the scroll wheel.",
417
+ "id": 0,
418
+ "grasp_group": {}
419
+ },
420
+ {
421
+ "part_name": "optical sensor window",
422
+ "mask_color": "Purple",
423
+ "graspable": false,
424
+ "grasp_scenarios": [],
425
+ "functional_labels": [
426
+ "track surface motion",
427
+ "support cursor movement",
428
+ "provide optical sensing"
429
+ ],
430
+ "semantic_description": "Small thin dark slit-like sensor opening on the underside, recessed into the base around the middle-to-rear area of the mouse.",
431
+ "id": 5,
432
+ "grasp_group": {}
433
+ },
434
+ {
435
+ "part_name": "side accent strip",
436
+ "mask_color": "Cyan",
437
+ "graspable": true,
438
+ "grasp_scenarios": [
439
+ {
440
+ "scenario": "use the narrow side edge as auxiliary contact while pinching the mouse body to lift it",
441
+ "confidence": 0.58
442
+ },
443
+ {
444
+ "scenario": "touch the side strip while reorienting the mouse during a side grasp",
445
+ "confidence": 0.55
446
+ }
447
+ ],
448
+ "functional_labels": [
449
+ "provide side trim detail",
450
+ "mark the edge between top and bottom shells",
451
+ "offer minor side contact surface"
452
+ ],
453
+ "semantic_description": "Very thin cyan-colored strip running along the lower side edge of the mouse between the mint-green top shell and the light gray underside, with a smooth finish.",
454
+ "id": 6,
455
+ "grasp_group": {}
456
+ }
457
+ ],
458
+ "quality_check": {
459
+ "success": false,
460
+ "message": "Several semantic descriptions use mask colors as real colors; side strip and bottom shell colors/materials are incorrect."
461
+ }
462
+ }
dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2a002e1d0bb645269aca428bba99aa1964468e247d45d85ce05128a52f4bb1e
3
+ size 3787532
dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/mouse_014.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>