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
670af11
·
verified ·
1 Parent(s): ebd5b94

Add asset desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/affordance/affordance_annot.json +425 -0
  3. dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/mouse_021.urdf +1 -0
.gitattributes CHANGED
@@ -6277,3 +6277,4 @@ dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5
6277
  dataset/desktop_supplies/electronic_accessories/b40ad26dcf615a7bb178088990fa0711/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6278
  dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6279
  dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/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
6278
  dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6279
  dataset/desktop_supplies/electronic_accessories/b79fcf41f79d5a8a9e4bb9310ca3c10f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6280
+ dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,425 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mouse body",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the mouse body from the sides to pick up and move the mouse",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the mouse body to place it on a desk or reposition it",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "stabilize the mouse body while pressing top controls with another tool",
18
+ "confidence": 0.62
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main housing",
23
+ "support hand contact",
24
+ "enclose internal electronics",
25
+ "provide primary grasp surface",
26
+ "support desktop sliding"
27
+ ],
28
+ "semantic_description": "The main body is a medium-sized rounded dark gray plastic shell with a matte smooth hard surface, forming most of the mouse housing with white branding printed on the top.",
29
+ "id": 5,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9425925612449646,
33
+ "position": [
34
+ -0.05194618413224816,
35
+ 0.12675945437513292,
36
+ 0.002521246060496196
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5739488020718353,
40
+ "xyz": [
41
+ 0.4505008684863518,
42
+ 0.5418162525446264,
43
+ -0.4172132411271782
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9424335956573486,
49
+ "position": [
50
+ -0.040301153901964426,
51
+ 0.12554445839487016,
52
+ 0.0005571975198108703
53
+ ],
54
+ "orientation": {
55
+ "w": 0.55186206543556,
56
+ "xyz": [
57
+ 0.5056995046572922,
58
+ 0.485215429775651,
59
+ -0.45197594895104404
60
+ ]
61
+ }
62
+ },
63
+ "grasp_24": {
64
+ "confidence": 0.9357609152793884,
65
+ "position": [
66
+ -0.03395419055595994,
67
+ 0.12325102067552507,
68
+ -0.0003141816760034999
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5318474851523316,
72
+ "xyz": [
73
+ 0.5285248348030925,
74
+ 0.4650854974203551,
75
+ -0.47063279913618905
76
+ ]
77
+ }
78
+ },
79
+ "grasp_25": {
80
+ "confidence": 0.9355409145355225,
81
+ "position": [
82
+ -0.10377524280920625,
83
+ 0.10044530755840242,
84
+ -0.003708919190103188
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6476949797281423,
88
+ "xyz": [
89
+ 0.33166168203812113,
90
+ 0.606512778832493,
91
+ -0.32036540233847455
92
+ ]
93
+ }
94
+ },
95
+ "grasp_29": {
96
+ "confidence": 0.9339258670806885,
97
+ "position": [
98
+ -0.12216121191158891,
99
+ 0.08744963980279863,
100
+ -0.0004254566301824525
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6924317493828408,
104
+ "xyz": [
105
+ 0.2642991109858425,
106
+ 0.6391425068577739,
107
+ -0.20538039903133948
108
+ ]
109
+ }
110
+ }
111
+ }
112
+ },
113
+ {
114
+ "part_name": "side grip panel",
115
+ "mask_color": "Orange",
116
+ "graspable": true,
117
+ "grasp_scenarios": [
118
+ {
119
+ "scenario": "pinch the side grip panel together with the opposite side to lift the mouse",
120
+ "confidence": 0.9
121
+ },
122
+ {
123
+ "scenario": "hold one side grip to steady the mouse during repositioning",
124
+ "confidence": 0.67
125
+ }
126
+ ],
127
+ "functional_labels": [
128
+ "improve side grip",
129
+ "support thumb or finger contact",
130
+ "aid stable lifting",
131
+ "provide lateral control surface"
132
+ ],
133
+ "semantic_description": "The side panel is a long curved light blue plastic insert with a smooth slightly matte hard surface, running along each lower side of the mouse as a narrower grip accent.",
134
+ "id": 4,
135
+ "grasp_group": {
136
+ "grasp_0": {
137
+ "confidence": 0.1272955685853958,
138
+ "position": [
139
+ -0.05510923499241471,
140
+ -0.004308900563046336,
141
+ 0.09464534404105507
142
+ ],
143
+ "orientation": {
144
+ "w": 0.10949247707019419,
145
+ "xyz": [
146
+ -0.7262056218150986,
147
+ 0.6746952043810037,
148
+ -0.07364219914189303
149
+ ]
150
+ }
151
+ },
152
+ "grasp_1": {
153
+ "confidence": 0.1206369623541832,
154
+ "position": [
155
+ -0.07259422028437257,
156
+ 0.0034089484252035618,
157
+ 0.0886349979264196
158
+ ],
159
+ "orientation": {
160
+ "w": 0.1571145161858294,
161
+ "xyz": [
162
+ -0.7010439777260775,
163
+ 0.6748337552243733,
164
+ -0.16867653336330468
165
+ ]
166
+ }
167
+ },
168
+ "grasp_2": {
169
+ "confidence": 0.11147071421146393,
170
+ "position": [
171
+ -0.06173790106549859,
172
+ 0.004777467809617519,
173
+ 0.09565003993338905
174
+ ],
175
+ "orientation": {
176
+ "w": 0.13260371716462568,
177
+ "xyz": [
178
+ -0.6901107585466553,
179
+ 0.7019952426076228,
180
+ -0.11561174027125956
181
+ ]
182
+ }
183
+ },
184
+ "grasp_4": {
185
+ "confidence": 0.10405351966619492,
186
+ "position": [
187
+ -0.08333824807778001,
188
+ 0.0006289634038694203,
189
+ 0.08196745099849068
190
+ ],
191
+ "orientation": {
192
+ "w": 0.18863660077534664,
193
+ "xyz": [
194
+ -0.7108746385467128,
195
+ 0.6499265349712874,
196
+ -0.19149146262749828
197
+ ]
198
+ }
199
+ },
200
+ "grasp_5": {
201
+ "confidence": 0.10128293186426163,
202
+ "position": [
203
+ -0.030167527962476015,
204
+ 0.00672041648067534,
205
+ -0.10290406612330116
206
+ ],
207
+ "orientation": {
208
+ "w": 0.676128895700793,
209
+ "xyz": [
210
+ 0.04599727231714925,
211
+ 0.039564792795781734,
212
+ 0.7342810051396089
213
+ ]
214
+ }
215
+ },
216
+ "grasp_6": {
217
+ "confidence": 0.09821552038192749,
218
+ "position": [
219
+ -0.04260135302320123,
220
+ -0.001814642222598195,
221
+ 0.10248068007058464
222
+ ],
223
+ "orientation": {
224
+ "w": 0.06795667826655222,
225
+ "xyz": [
226
+ 0.7228758894790408,
227
+ 0.683686831613579,
228
+ 0.07351635577915631
229
+ ]
230
+ }
231
+ },
232
+ "grasp_7": {
233
+ "confidence": 0.09764399379491806,
234
+ "position": [
235
+ -0.03323940420523286,
236
+ 0.005652651423588395,
237
+ -0.10077869860106148
238
+ ],
239
+ "orientation": {
240
+ "w": 0.7750055212761895,
241
+ "xyz": [
242
+ -0.06055756836468702,
243
+ 0.08084831296039463,
244
+ -0.6238291217926881
245
+ ]
246
+ }
247
+ },
248
+ "grasp_8": {
249
+ "confidence": 0.09021665155887604,
250
+ "position": [
251
+ -0.08601739490404725,
252
+ -0.00783006683923304,
253
+ 0.08035762640065514
254
+ ],
255
+ "orientation": {
256
+ "w": 0.2077563449680526,
257
+ "xyz": [
258
+ -0.7144935297879671,
259
+ 0.6431700026447984,
260
+ -0.18074469484479147
261
+ ]
262
+ }
263
+ },
264
+ "grasp_9": {
265
+ "confidence": 0.08809738606214523,
266
+ "position": [
267
+ 0.06937735294923186,
268
+ 0.005772532196715474,
269
+ 0.09460276397294365
270
+ ],
271
+ "orientation": {
272
+ "w": 0.15424575123243403,
273
+ "xyz": [
274
+ 0.7041845872194956,
275
+ -0.6802587461655386,
276
+ -0.13259092583785623
277
+ ]
278
+ }
279
+ },
280
+ "grasp_10": {
281
+ "confidence": 0.08693186193704605,
282
+ "position": [
283
+ -0.01106444327160716,
284
+ 0.00811494397930801,
285
+ -0.10925902394228615
286
+ ],
287
+ "orientation": {
288
+ "w": 0.6738516398737072,
289
+ "xyz": [
290
+ 0.01039073411971101,
291
+ -0.0032397031666274723,
292
+ 0.7387865080030638
293
+ ]
294
+ }
295
+ },
296
+ "grasp_11": {
297
+ "confidence": 0.07794704288244247,
298
+ "position": [
299
+ -0.007577566429972649,
300
+ -0.002949334681034088,
301
+ 0.10438903453177772
302
+ ],
303
+ "orientation": {
304
+ "w": 0.05701554980732259,
305
+ "xyz": [
306
+ -0.7230749461582765,
307
+ 0.6882081567239852,
308
+ -0.016774454892756422
309
+ ]
310
+ }
311
+ },
312
+ "grasp_12": {
313
+ "confidence": 0.0688866525888443,
314
+ "position": [
315
+ -0.0034494351129978895,
316
+ -0.004265411524102092,
317
+ -0.10488734362297691
318
+ ],
319
+ "orientation": {
320
+ "w": 0.7127947306447032,
321
+ "xyz": [
322
+ -0.023479665496012984,
323
+ 0.010961054709334728,
324
+ -0.7008938810925651
325
+ ]
326
+ }
327
+ },
328
+ "grasp_13": {
329
+ "confidence": 0.06119644641876221,
330
+ "position": [
331
+ 0.030563303735107183,
332
+ 0.01592860254459083,
333
+ -0.10805915264063515
334
+ ],
335
+ "orientation": {
336
+ "w": 0.8285437743730109,
337
+ "xyz": [
338
+ 0.04215762220878172,
339
+ 0.006318743569505569,
340
+ -0.5582992229236311
341
+ ]
342
+ }
343
+ },
344
+ "grasp_15": {
345
+ "confidence": 0.05692163482308388,
346
+ "position": [
347
+ 0.006107951980084181,
348
+ -0.011219696374610066,
349
+ -0.10540603814297356
350
+ ],
351
+ "orientation": {
352
+ "w": 0.6815406539748101,
353
+ "xyz": [
354
+ -0.01277812804550175,
355
+ 0.01257137867227165,
356
+ 0.7315606720303653
357
+ ]
358
+ }
359
+ },
360
+ "grasp_19": {
361
+ "confidence": 0.14189107716083527,
362
+ "position": [
363
+ -0.06604196364060044,
364
+ -0.011479886481538415,
365
+ 0.09041424872702919
366
+ ],
367
+ "orientation": {
368
+ "w": 0.15934132134258128,
369
+ "xyz": [
370
+ 0.6767395286942832,
371
+ 0.6876878862704802,
372
+ 0.20909166576475147
373
+ ]
374
+ }
375
+ }
376
+ }
377
+ },
378
+ {
379
+ "part_name": "scroll wheel",
380
+ "mask_color": "Pink",
381
+ "graspable": false,
382
+ "grasp_scenarios": [],
383
+ "functional_labels": [
384
+ "scroll content",
385
+ "middle-click input",
386
+ "provide tactile rolling control"
387
+ ],
388
+ "semantic_description": "The scroll wheel is a small ribbed wheel positioned centrally between the mouse buttons near the front top, appearing light gray to white with darker ribbed edges.",
389
+ "id": 8,
390
+ "grasp_group": {}
391
+ },
392
+ {
393
+ "part_name": "top button",
394
+ "mask_color": "Cyan",
395
+ "graspable": false,
396
+ "grasp_scenarios": [],
397
+ "functional_labels": [
398
+ "button input",
399
+ "mode switching",
400
+ "secondary control"
401
+ ],
402
+ "semantic_description": "The top button is a tiny dark gray plastic button with a smooth matte finish, set just behind the scroll wheel on the mouse top centerline.",
403
+ "id": 6,
404
+ "grasp_group": {}
405
+ },
406
+ {
407
+ "part_name": "optical sensor window",
408
+ "mask_color": "Pink",
409
+ "graspable": false,
410
+ "grasp_scenarios": [],
411
+ "functional_labels": [
412
+ "track surface motion",
413
+ "support cursor movement sensing",
414
+ "provide underside optical opening"
415
+ ],
416
+ "semantic_description": "The underside sensor window is a small white rectangular inset with a smooth plastic appearance, located near the center-rear area of the mouse bottom.",
417
+ "id": 8,
418
+ "grasp_group": {}
419
+ }
420
+ ],
421
+ "quality_check": {
422
+ "success": false,
423
+ "message": "Mask colors and part identities mismatch; optical sensor color wrong and side panel color/description incorrect."
424
+ }
425
+ }
dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07522d0befb2c83270f439539afdb9a67a79a7aba4693b8331f98d2ef29e447b
3
+ size 3784588
dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/mouse_021.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>