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
740f969
·
verified ·
1 Parent(s): a84eaeb

Add asset desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/affordance_annot.json +407 -0
  3. dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/mouse_030.urdf +1 -0
.gitattributes CHANGED
@@ -8143,4 +8143,4 @@ dataset/desktop_supplies/electronic_accessories/e0b92f733d435d778bbab8c864a5ffc3
8143
  dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8144
  dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8145
  dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8146
- dataset/desktop_supplies/electronic_accessories/e609f83707925a7dae0434448470d42c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
8143
  dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8144
  dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8145
  dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8146
+ dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/affordance_annot.json ADDED
@@ -0,0 +1,407 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mouse body shell",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the mouse body from the sides to pick it up",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the mouse body to reposition it on a desk",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the mouse body while inspecting or servicing other parts",
18
+ "confidence": 0.79
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal components",
24
+ "support hand contact",
25
+ "provide overall structure"
26
+ ],
27
+ "semantic_description": "Large light gray plastic outer shell with a smooth matte finish, forming most of the rounded top and side body of the mouse and bearing a black printed logo on the upper surface.",
28
+ "id": 6,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "left side grip",
33
+ "mask_color": "Orange",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "pinch the textured side grip to lift or reorient the mouse",
38
+ "confidence": 0.67
39
+ },
40
+ {
41
+ "scenario": "hold the side grip to stabilize the mouse during manipulation",
42
+ "confidence": 0.74
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "improve side traction",
47
+ "support finger contact",
48
+ "aid handling stability",
49
+ "indicate side placement"
50
+ ],
51
+ "semantic_description": "Elongated dark gray textured side panel with a matte finely pebbled surface, mounted along one flank of the mouse as a medium-sized inset grip area.",
52
+ "id": 4,
53
+ "grasp_group": {
54
+ "grasp_33": {
55
+ "confidence": 0.07683750241994858,
56
+ "position": [
57
+ -0.08390368474647403,
58
+ -0.03230740994331427,
59
+ 0.08616869364050217
60
+ ],
61
+ "orientation": {
62
+ "w": 0.1291811308033899,
63
+ "xyz": [
64
+ 0.6266769740644622,
65
+ 0.7256841121130759,
66
+ 0.2529244453358032
67
+ ]
68
+ }
69
+ },
70
+ "grasp_38": {
71
+ "confidence": 0.06401264667510986,
72
+ "position": [
73
+ 0.01692468347027898,
74
+ -0.003956598724471405,
75
+ -0.10606334891053848
76
+ ],
77
+ "orientation": {
78
+ "w": 0.6180886632656971,
79
+ "xyz": [
80
+ -0.011996942858488926,
81
+ -0.004774434638222691,
82
+ 0.7860023425399947
83
+ ]
84
+ }
85
+ },
86
+ "grasp_39": {
87
+ "confidence": 0.7232385277748108,
88
+ "position": [
89
+ 0.04176264302805066,
90
+ -0.12462873131153174,
91
+ -0.02576665740343742
92
+ ],
93
+ "orientation": {
94
+ "w": 0.5089183727839727,
95
+ "xyz": [
96
+ -0.4542440145942052,
97
+ 0.3963702630710685,
98
+ 0.6144551078811413
99
+ ]
100
+ }
101
+ }
102
+ }
103
+ },
104
+ {
105
+ "part_name": "right side grip",
106
+ "mask_color": "Blue",
107
+ "graspable": true,
108
+ "grasp_scenarios": [
109
+ {
110
+ "scenario": "pinch the textured side grip to lift or reorient the mouse",
111
+ "confidence": 0.63
112
+ },
113
+ {
114
+ "scenario": "hold the side grip to stabilize the mouse during manipulation",
115
+ "confidence": 0.71
116
+ }
117
+ ],
118
+ "functional_labels": [
119
+ "improve side traction",
120
+ "support finger contact",
121
+ "aid handling stability",
122
+ "indicate side placement"
123
+ ],
124
+ "semantic_description": "Elongated dark gray textured side panel with a matte finely pebbled surface, mounted along the opposite flank of the mouse as a medium-sized inset grip area.",
125
+ "id": 2,
126
+ "grasp_group": {
127
+ "grasp_10": {
128
+ "confidence": 0.07483472675085068,
129
+ "position": [
130
+ 0.04898705380037427,
131
+ 0.024453091173199937,
132
+ -0.09603466626140289
133
+ ],
134
+ "orientation": {
135
+ "w": 0.6237975083940576,
136
+ "xyz": [
137
+ -0.06043353132987346,
138
+ -0.16190074316109693,
139
+ 0.7622418291961227
140
+ ]
141
+ }
142
+ }
143
+ }
144
+ },
145
+ {
146
+ "part_name": "scroll wheel",
147
+ "mask_color": "Magenta",
148
+ "graspable": false,
149
+ "grasp_scenarios": [],
150
+ "functional_labels": [
151
+ "scroll content",
152
+ "middle-click input",
153
+ "provide tactile rolling control"
154
+ ],
155
+ "semantic_description": "Small dark gray wheel seated in the top center channel, with a ribbed texture and narrow cylindrical shape for finger rolling.",
156
+ "id": 7,
157
+ "grasp_group": {}
158
+ },
159
+ {
160
+ "part_name": "primary button strip",
161
+ "mask_color": "Lime Green",
162
+ "graspable": false,
163
+ "grasp_scenarios": [],
164
+ "functional_labels": [
165
+ "support left and right click surfaces",
166
+ "surround the wheel opening",
167
+ "form the top center button area"
168
+ ],
169
+ "semantic_description": "Narrow light gray top-center strip running around the scroll wheel and toward the front, separating the left and right upper button regions.",
170
+ "id": 9,
171
+ "grasp_group": {}
172
+ },
173
+ {
174
+ "part_name": "dpi button",
175
+ "mask_color": "Red",
176
+ "graspable": false,
177
+ "grasp_scenarios": [],
178
+ "functional_labels": [
179
+ "change sensitivity setting",
180
+ "secondary input control",
181
+ "mode switching"
182
+ ],
183
+ "semantic_description": "Small dark gray rectangular button with a smooth matte finish, positioned just behind the scroll wheel on the top center strip.",
184
+ "id": 0,
185
+ "grasp_group": {}
186
+ },
187
+ {
188
+ "part_name": "logo mark",
189
+ "mask_color": "Purple",
190
+ "graspable": false,
191
+ "grasp_scenarios": [],
192
+ "functional_labels": [
193
+ "brand identification",
194
+ "visual decoration",
195
+ "indicate top orientation"
196
+ ],
197
+ "semantic_description": "Small black printed logo graphic on the upper shell, positioned toward the rear top area as a visual marking.",
198
+ "id": 5,
199
+ "grasp_group": {}
200
+ },
201
+ {
202
+ "part_name": "bottom panel",
203
+ "mask_color": "Pink",
204
+ "graspable": true,
205
+ "grasp_scenarios": [
206
+ {
207
+ "scenario": "grasp the mouse from below during pickup from a shelf or bin",
208
+ "confidence": 0.43
209
+ },
210
+ {
211
+ "scenario": "support the mouse by the underside while turning it over",
212
+ "confidence": 0.69
213
+ }
214
+ ],
215
+ "functional_labels": [
216
+ "cover underside",
217
+ "support sliding base",
218
+ "enclose internal components",
219
+ "provide inspection surface"
220
+ ],
221
+ "semantic_description": "Broad light gray plastic underside panel with a smooth matte hard surface, covering most of the mouse bottom as a large flat rounded base area.",
222
+ "id": 8,
223
+ "grasp_group": {
224
+ "grasp_62": {
225
+ "confidence": 0.8464353680610657,
226
+ "position": [
227
+ 0.010768338572233915,
228
+ -0.13175206005689688,
229
+ -0.0010777706338558346
230
+ ],
231
+ "orientation": {
232
+ "w": 0.529713496282435,
233
+ "xyz": [
234
+ -0.45960674585370537,
235
+ -0.5234132181238981,
236
+ -0.48394612728607606
237
+ ]
238
+ }
239
+ },
240
+ "grasp_64": {
241
+ "confidence": 0.8443065881729126,
242
+ "position": [
243
+ 0.022550801280885935,
244
+ -0.12524050593492575,
245
+ 0.00011388733400963247
246
+ ],
247
+ "orientation": {
248
+ "w": 0.5478169118515354,
249
+ "xyz": [
250
+ -0.4427306418810502,
251
+ -0.5325368211296995,
252
+ -0.4693514077640709
253
+ ]
254
+ }
255
+ },
256
+ "grasp_65": {
257
+ "confidence": 0.8394709825515747,
258
+ "position": [
259
+ 0.05821690009906888,
260
+ -0.1144083452236373,
261
+ 0.0024692714505363256
262
+ ],
263
+ "orientation": {
264
+ "w": 0.6255765600404729,
265
+ "xyz": [
266
+ -0.31786688484654224,
267
+ -0.6203809708426126,
268
+ -0.3503456322865488
269
+ ]
270
+ }
271
+ },
272
+ "grasp_66": {
273
+ "confidence": 0.8337713479995728,
274
+ "position": [
275
+ 0.05127606960013509,
276
+ -0.11848069101688452,
277
+ -0.0006336592632578686
278
+ ],
279
+ "orientation": {
280
+ "w": 0.6078106424395957,
281
+ "xyz": [
282
+ -0.3576124131790514,
283
+ -0.5837341709170856,
284
+ -0.4024102416454684
285
+ ]
286
+ }
287
+ },
288
+ "grasp_67": {
289
+ "confidence": 0.8230511546134949,
290
+ "position": [
291
+ 0.02225500950589776,
292
+ 0.12735900163534097,
293
+ -2.067012246698141e-05
294
+ ],
295
+ "orientation": {
296
+ "w": 0.47266263718863505,
297
+ "xyz": [
298
+ 0.5751509852560119,
299
+ 0.3990271388620391,
300
+ -0.535321135409857
301
+ ]
302
+ }
303
+ },
304
+ "grasp_71": {
305
+ "confidence": 0.8128960728645325,
306
+ "position": [
307
+ 0.0051392135210335255,
308
+ 0.13139471292379312,
309
+ 0.0011153265659231693
310
+ ],
311
+ "orientation": {
312
+ "w": 0.5346093010164635,
313
+ "xyz": [
314
+ 0.4962759556449422,
315
+ 0.49502975103658076,
316
+ -0.4720684449357409
317
+ ]
318
+ }
319
+ },
320
+ "grasp_74": {
321
+ "confidence": 0.8045234084129333,
322
+ "position": [
323
+ 0.05236420454457402,
324
+ 0.1171655866492074,
325
+ 0.011293433868559077
326
+ ],
327
+ "orientation": {
328
+ "w": 0.39530249292967984,
329
+ "xyz": [
330
+ 0.626875818140659,
331
+ 0.3655717845781361,
332
+ -0.5631340142758352
333
+ ]
334
+ }
335
+ },
336
+ "grasp_76": {
337
+ "confidence": 0.7991802096366882,
338
+ "position": [
339
+ 0.02823400730267167,
340
+ -0.12363259613630362,
341
+ -0.00014599377755075693
342
+ ],
343
+ "orientation": {
344
+ "w": 0.5464085113185081,
345
+ "xyz": [
346
+ -0.4416566990836056,
347
+ -0.5343955003719928,
348
+ -0.4698920600472329
349
+ ]
350
+ }
351
+ },
352
+ "grasp_77": {
353
+ "confidence": 0.7972733974456787,
354
+ "position": [
355
+ 0.05344016896560788,
356
+ -0.1203805965196807,
357
+ -0.006874480488477275
358
+ ],
359
+ "orientation": {
360
+ "w": 0.6164943653197493,
361
+ "xyz": [
362
+ -0.36210346256687326,
363
+ -0.5725536519476558,
364
+ -0.4012456798116124
365
+ ]
366
+ }
367
+ },
368
+ "grasp_78": {
369
+ "confidence": 0.7961292266845703,
370
+ "position": [
371
+ 0.02760343672707677,
372
+ -0.12622343123075552,
373
+ -0.001423698355210945
374
+ ],
375
+ "orientation": {
376
+ "w": 0.5430169565666081,
377
+ "xyz": [
378
+ -0.4478677555275701,
379
+ -0.5246222432491374,
380
+ -0.4788721753537974
381
+ ]
382
+ }
383
+ },
384
+ "grasp_79": {
385
+ "confidence": 0.7951683402061462,
386
+ "position": [
387
+ 0.022532023955136538,
388
+ 0.12493248164537363,
389
+ 0.004753427376272157
390
+ ],
391
+ "orientation": {
392
+ "w": 0.4696622319765219,
393
+ "xyz": [
394
+ 0.5417014201916516,
395
+ 0.4491850205132514,
396
+ -0.5331132868009287
397
+ ]
398
+ }
399
+ }
400
+ }
401
+ }
402
+ ],
403
+ "quality_check": {
404
+ "success": false,
405
+ "message": "Several mask-color/part identities are swapped; top strip and DPI button labels do not match segmented regions."
406
+ }
407
+ }
dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7e8846caa93eb6a5011407a3fdd2bf93236900167505cd3988870a6d9d022e4
3
+ size 3794860
dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/mouse_030.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>