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
66701ba
·
verified ·
1 Parent(s): 597f111

Add asset desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958/affordance/affordance_annot.json +318 -0
  3. dataset/desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958/tv_remote_033.urdf +4 -3
.gitattributes CHANGED
@@ -6175,3 +6175,4 @@ dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/affordance
6175
  dataset/desktop_supplies/decorations/ff0d20ea4d905234b8557682abe95da0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6176
  dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6177
  dataset/desktop_supplies/electronic_accessories/01f3e05429e4577c8ffdf83e35ce8201/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6175
  dataset/desktop_supplies/decorations/ff0d20ea4d905234b8557682abe95da0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6176
  dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6177
  dataset/desktop_supplies/electronic_accessories/01f3e05429e4577c8ffdf83e35ce8201/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6178
+ dataset/desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958/affordance/affordance_annot.json ADDED
@@ -0,0 +1,318 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "remote housing",
5
+ "mask_color": "Burnt Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the remote body from the sides to pick it up",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the housing to stabilize the remote while pressing buttons",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "grasp one end of the housing to reorient or place the remote",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal electronics",
24
+ "support control interface",
25
+ "protect the device",
26
+ "provide overall structure"
27
+ ],
28
+ "semantic_description": "Slim elongated off-white or cream plastic housing with rounded corners and a smooth matte finish, forming the outer shell, sides, and back of the remote.",
29
+ "id": 18,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.8962149620056152,
33
+ "position": [
34
+ 0.005068479367764667,
35
+ 0.05010512750595808,
36
+ -0.10189683316275477
37
+ ],
38
+ "orientation": {
39
+ "w": 0.9998079768215056,
40
+ "xyz": [
41
+ 0.0041281260993522246,
42
+ 0.005478945174764771,
43
+ 0.018356176583572498
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.8915858864784241,
49
+ "position": [
50
+ 0.007183220965089276,
51
+ 0.04631575848907232,
52
+ -0.09773101983591914
53
+ ],
54
+ "orientation": {
55
+ "w": 0.999874817526302,
56
+ "xyz": [
57
+ 0.009082209071925128,
58
+ 0.008197657832671124,
59
+ 0.010033003596978722
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.8874844908714294,
65
+ "position": [
66
+ 0.0014694088895339519,
67
+ 0.051120164804160595,
68
+ -0.10216284124180675
69
+ ],
70
+ "orientation": {
71
+ "w": 0.9997868653942545,
72
+ "xyz": [
73
+ 0.0001791315519482806,
74
+ 0.0025920306909118507,
75
+ 0.020481041817133203
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.8863356709480286,
81
+ "position": [
82
+ 0.011304693092824891,
83
+ 0.02594048995524645,
84
+ -0.1002897429279983
85
+ ],
86
+ "orientation": {
87
+ "w": 0.9992930805320535,
88
+ "xyz": [
89
+ 0.016357666082815785,
90
+ -0.018702257727590488,
91
+ 0.028213321622469353
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.8843581080436707,
97
+ "position": [
98
+ -0.001050785038387403,
99
+ 0.03883862774819136,
100
+ -0.10106847761198878
101
+ ],
102
+ "orientation": {
103
+ "w": 0.9993167322659607,
104
+ "xyz": [
105
+ -0.004224098859305426,
106
+ 0.027201727850149404,
107
+ 0.02466356835650445
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.8837982416152954,
113
+ "position": [
114
+ 0.011563312989892438,
115
+ 0.045423063449561596,
116
+ -0.0941828521899879
117
+ ],
118
+ "orientation": {
119
+ "w": 0.9901202305819188,
120
+ "xyz": [
121
+ 0.1388140993115969,
122
+ -0.019327740389947556,
123
+ 0.004360421554885178
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.8796584606170654,
129
+ "position": [
130
+ 0.009316033479990438,
131
+ 0.049383397214114666,
132
+ -0.09761120704934001
133
+ ],
134
+ "orientation": {
135
+ "w": 0.9997820802329568,
136
+ "xyz": [
137
+ -0.001951934016289679,
138
+ -0.013240367236836303,
139
+ 0.01602106969249038
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.878667950630188,
145
+ "position": [
146
+ 0.010571767372312024,
147
+ 0.020700381137430668,
148
+ -0.09926507202908397
149
+ ],
150
+ "orientation": {
151
+ "w": 0.006032983093130753,
152
+ "xyz": [
153
+ -0.011166683808669168,
154
+ -0.001448646633063877,
155
+ 0.9999184015261682
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.8729276061058044,
161
+ "position": [
162
+ 0.0164379857305903,
163
+ -0.04143019486218691,
164
+ 0.0885057863779366
165
+ ],
166
+ "orientation": {
167
+ "w": 0.08858706038369699,
168
+ "xyz": [
169
+ 0.02123754922968234,
170
+ -0.9860267369005544,
171
+ -0.13947248242049903
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.8723169565200806,
177
+ "position": [
178
+ 0.0039631247345823795,
179
+ 0.015583268366754055,
180
+ -0.09978391556069255
181
+ ],
182
+ "orientation": {
183
+ "w": 0.034291531978463824,
184
+ "xyz": [
185
+ -0.0034683728497632567,
186
+ -0.0029212075241431545,
187
+ -0.9994015848351182
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.8648677468299866,
193
+ "position": [
194
+ 0.008859574591042474,
195
+ 0.019378499127924442,
196
+ -0.09862166224047542
197
+ ],
198
+ "orientation": {
199
+ "w": 0.9990237981285988,
200
+ "xyz": [
201
+ -0.03718116130329429,
202
+ -0.02031985190337071,
203
+ 0.012494624262920256
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.8645574450492859,
209
+ "position": [
210
+ 0.007699003239395097,
211
+ 0.008184024132788181,
212
+ -0.09809448895975947
213
+ ],
214
+ "orientation": {
215
+ "w": 0.9998239246937584,
216
+ "xyz": [
217
+ -0.003524114873570995,
218
+ -0.007444318157363461,
219
+ 0.01686067470478817
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.8607854247093201,
225
+ "position": [
226
+ 0.005994756502332166,
227
+ 0.048611066304147243,
228
+ -0.10008965758606791
229
+ ],
230
+ "orientation": {
231
+ "w": 0.0403766088758735,
232
+ "xyz": [
233
+ 0.01905488687658031,
234
+ 0.006519911657451027,
235
+ -0.9989815471237614
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.8601228594779968,
241
+ "position": [
242
+ 0.011579228361370042,
243
+ 0.013790608383715153,
244
+ -0.09865887789055705
245
+ ],
246
+ "orientation": {
247
+ "w": 0.9996747402617422,
248
+ "xyz": [
249
+ 0.004436010791836275,
250
+ -0.018727837771105316,
251
+ 0.016733307601670522
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.8568360209465027,
257
+ "position": [
258
+ 0.013820462656440213,
259
+ 0.07695780601352453,
260
+ -0.09522984502837062
261
+ ],
262
+ "orientation": {
263
+ "w": 0.9897745381660471,
264
+ "xyz": [
265
+ 0.13450744159292943,
266
+ -0.036760813233366774,
267
+ 0.03004587100974025
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.8539426326751709,
273
+ "position": [
274
+ 0.004263705370249227,
275
+ 0.04861562605947256,
276
+ -0.0991598623804748
277
+ ],
278
+ "orientation": {
279
+ "w": 0.03920165822665877,
280
+ "xyz": [
281
+ 0.016130164209970592,
282
+ 0.0038196661045980518,
283
+ -0.9990938183902895
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "front control pad and front-face inserts",
291
+ "mask_color": "Violet",
292
+ "graspable": false,
293
+ "grasp_scenarios": [
294
+ {
295
+ "scenario": "press the raised front buttons to send commands",
296
+ "confidence": 0.98
297
+ },
298
+ {
299
+ "scenario": "target the dark front window area for sensing or emission alignment rather than grasping",
300
+ "confidence": 0.72
301
+ }
302
+ ],
303
+ "functional_labels": [
304
+ "input user commands",
305
+ "provide tactile button targets",
306
+ "control device functions",
307
+ "house the front dark window/opening area"
308
+ ],
309
+ "semantic_description": "Light blue rectangular control pad on the front face with many small raised rounded buttons, including a red power button near one end and a small dark rectangular window at the same end; this violet mask also covers small front-face inserts visible in some views.",
310
+ "id": 20,
311
+ "grasp_group": {}
312
+ }
313
+ ],
314
+ "quality_check": {
315
+ "success": false,
316
+ "message": "Violet part identity and description mismatch mask; it mostly marks black back panel and small inserts, not front control pad."
317
+ }
318
+ }
dataset/desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:995d6a6eba65dd076dd54d094127ab295b60ed535a4813485bebec15ee4b820a
3
+ size 3831552
dataset/desktop_supplies/electronic_accessories/02456c4e92f05a179de412dbc69c1958/tv_remote_033.urdf CHANGED
@@ -51,16 +51,17 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>0</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
- <mesh filename="None" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>2</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
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>NO: {"summary":"Functional parts are misassigned: front button area and small features are merged with casing while true front/back roles are inconsistent.","merge_groups":[]}</PartSegChecker>
65
  </quality>
66
  </custom_data>
67
  </robot>