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
7e2d8a8
·
verified ·
1 Parent(s): 1b2de1f

Add asset desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/affordance/affordance_annot.json +357 -0
  3. dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6255,3 +6255,4 @@ dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807
6255
  dataset/desktop_supplies/electronic_accessories/902d2e5e0f0f5a9f9295b539d8827d63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6256
  dataset/desktop_supplies/electronic_accessories/90913747fd455f4fb4830dcb4ac3f15e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6257
  dataset/desktop_supplies/electronic_accessories/91703c22b9de5f55a0c9f4f0ba75afc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6255
  dataset/desktop_supplies/electronic_accessories/902d2e5e0f0f5a9f9295b539d8827d63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6256
  dataset/desktop_supplies/electronic_accessories/90913747fd455f4fb4830dcb4ac3f15e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6257
  dataset/desktop_supplies/electronic_accessories/91703c22b9de5f55a0c9f4f0ba75afc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6258
+ dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/affordance/affordance_annot.json ADDED
@@ -0,0 +1,357 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "charger body",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the charger body to pick up and move the adapter",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body while aligning the plug pins with a wall socket",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "stabilize the adapter body while inserting or removing a charging cable",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main housing",
23
+ "contain electronics",
24
+ "main grasp surface",
25
+ "support plug insertion",
26
+ "protect internal components"
27
+ ],
28
+ "semantic_description": "Large mint-green plastic housing with a smooth matte finish, forming the main tapered rectangular body of the wall charger with white OPPO branding on the side.",
29
+ "id": 2,
30
+ "grasp_group": {
31
+ "grasp_21": {
32
+ "confidence": 0.9681149125099182,
33
+ "position": [
34
+ 0.0974184744845843,
35
+ -0.027202357188798487,
36
+ 0.0003388605109648779
37
+ ],
38
+ "orientation": {
39
+ "w": 0.11233677289270519,
40
+ "xyz": [
41
+ -0.7018704510501043,
42
+ 0.09195882969716773,
43
+ 0.697353492168429
44
+ ]
45
+ }
46
+ },
47
+ "grasp_24": {
48
+ "confidence": 0.9674071669578552,
49
+ "position": [
50
+ 0.09794044726004358,
51
+ 0.004276829888112843,
52
+ -0.003775606252020225
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7169145665252734,
56
+ "xyz": [
57
+ 0.03686259855015276,
58
+ -0.6937196423232312,
59
+ -0.058546656496666606
60
+ ]
61
+ }
62
+ },
63
+ "grasp_33": {
64
+ "confidence": 0.9646750688552856,
65
+ "position": [
66
+ 0.10160375617851969,
67
+ 0.0006314109195955098,
68
+ -0.004679412901168689
69
+ ],
70
+ "orientation": {
71
+ "w": 0.014165598487142642,
72
+ "xyz": [
73
+ -0.7003215574180613,
74
+ -0.01141917138684434,
75
+ 0.7135955819369115
76
+ ]
77
+ }
78
+ }
79
+ }
80
+ },
81
+ {
82
+ "part_name": "plug base",
83
+ "mask_color": "Red",
84
+ "graspable": true,
85
+ "grasp_scenarios": [
86
+ {
87
+ "scenario": "pinch the plug base to orient the adapter for socket insertion",
88
+ "confidence": 0.74
89
+ },
90
+ {
91
+ "scenario": "grasp the plug base to help pull the charger out of a socket",
92
+ "confidence": 0.68
93
+ }
94
+ ],
95
+ "functional_labels": [
96
+ "support prongs",
97
+ "connect body to wall plug",
98
+ "provide insertion alignment",
99
+ "transfer load to prongs"
100
+ ],
101
+ "semantic_description": "Mint-green plastic block at the plug end of the charger, connecting the main body to the two round power prongs.",
102
+ "id": 0,
103
+ "grasp_group": {
104
+ "grasp_0": {
105
+ "confidence": 0.861725389957428,
106
+ "position": [
107
+ 0.0007088323909556493,
108
+ 0.07388842792715877,
109
+ 0.08273761594318785
110
+ ],
111
+ "orientation": {
112
+ "w": 0.2919040065096645,
113
+ "xyz": [
114
+ 0.9562291150503345,
115
+ -0.017847145851018376,
116
+ 0.00997045127526898
117
+ ]
118
+ }
119
+ },
120
+ "grasp_1": {
121
+ "confidence": 0.9091361165046692,
122
+ "position": [
123
+ -0.08906464047322515,
124
+ 0.06777585239615291,
125
+ -0.0009354841604363173
126
+ ],
127
+ "orientation": {
128
+ "w": 0.6831783686246086,
129
+ "xyz": [
130
+ 0.1901499349703083,
131
+ 0.681539225990483,
132
+ -0.18059513368443633
133
+ ]
134
+ }
135
+ },
136
+ "grasp_3": {
137
+ "confidence": 0.9172091484069824,
138
+ "position": [
139
+ -0.08018493420968298,
140
+ 0.07790806086268276,
141
+ 0.0021422675636131316
142
+ ],
143
+ "orientation": {
144
+ "w": 0.6670248195563907,
145
+ "xyz": [
146
+ 0.22501659030863663,
147
+ 0.673443154648573,
148
+ -0.2256540308494783
149
+ ]
150
+ }
151
+ },
152
+ "grasp_4": {
153
+ "confidence": 0.9082066416740417,
154
+ "position": [
155
+ -0.0513348779786611,
156
+ 0.10711381526198238,
157
+ -0.0041189737094100565
158
+ ],
159
+ "orientation": {
160
+ "w": 0.6145302636202986,
161
+ "xyz": [
162
+ 0.36102483253057427,
163
+ 0.6035946485991713,
164
+ -0.35733335356985596
165
+ ]
166
+ }
167
+ },
168
+ "grasp_7": {
169
+ "confidence": 0.826932966709137,
170
+ "position": [
171
+ -0.006762643824913539,
172
+ 0.10100824327673763,
173
+ -0.06305717056966387
174
+ ],
175
+ "orientation": {
176
+ "w": 0.8902831170223432,
177
+ "xyz": [
178
+ 0.4542901393170993,
179
+ 0.029344674856853326,
180
+ 0.012463182650377687
181
+ ]
182
+ }
183
+ },
184
+ "grasp_9": {
185
+ "confidence": 0.3718605041503906,
186
+ "position": [
187
+ 0.028956111971638165,
188
+ 0.10969645471777767,
189
+ 0.027871998638147488
190
+ ],
191
+ "orientation": {
192
+ "w": 0.4382674414204963,
193
+ "xyz": [
194
+ 0.2866098622460076,
195
+ -0.7242200971916304,
196
+ 0.4486442772150359
197
+ ]
198
+ }
199
+ },
200
+ "grasp_10": {
201
+ "confidence": 0.9216251373291016,
202
+ "position": [
203
+ 0.030527329523465596,
204
+ 0.10954057367052883,
205
+ 0.023311462864512578
206
+ ],
207
+ "orientation": {
208
+ "w": 0.5167449263749545,
209
+ "xyz": [
210
+ 0.45175862726351385,
211
+ -0.6257025311129023,
212
+ 0.37065505030639506
213
+ ]
214
+ }
215
+ },
216
+ "grasp_11": {
217
+ "confidence": 0.9151836633682251,
218
+ "position": [
219
+ 0.03701286994328257,
220
+ 0.10809356661047786,
221
+ -0.011315360985463485
222
+ ],
223
+ "orientation": {
224
+ "w": 0.4134892311184501,
225
+ "xyz": [
226
+ 0.5678520210569661,
227
+ 0.3689755698914703,
228
+ -0.6086277735643164
229
+ ]
230
+ }
231
+ },
232
+ "grasp_12": {
233
+ "confidence": 0.9140257239341736,
234
+ "position": [
235
+ -0.040575889419415034,
236
+ 0.10613106878008693,
237
+ 0.013719194248551503
238
+ ],
239
+ "orientation": {
240
+ "w": 0.34904851475415466,
241
+ "xyz": [
242
+ 0.6124854356895976,
243
+ -0.41388993524586837,
244
+ 0.57595299019817
245
+ ]
246
+ }
247
+ },
248
+ "grasp_14": {
249
+ "confidence": 0.9002577662467957,
250
+ "position": [
251
+ -0.05382805458793882,
252
+ 0.10164343507494777,
253
+ -0.014464940264588222
254
+ ],
255
+ "orientation": {
256
+ "w": 0.6416659273954847,
257
+ "xyz": [
258
+ 0.3293345151011206,
259
+ 0.5873029527524948,
260
+ -0.36725856895517606
261
+ ]
262
+ }
263
+ },
264
+ "grasp_15": {
265
+ "confidence": 0.8898647427558899,
266
+ "position": [
267
+ -0.04922852433810476,
268
+ 0.10517635883297771,
269
+ -0.014686613663798198
270
+ ],
271
+ "orientation": {
272
+ "w": 0.6362161548530743,
273
+ "xyz": [
274
+ 0.3357690847075284,
275
+ 0.5812163279863035,
276
+ -0.380362598241146
277
+ ]
278
+ }
279
+ }
280
+ }
281
+ },
282
+ {
283
+ "part_name": "power prong 1",
284
+ "mask_color": "Green",
285
+ "graspable": false,
286
+ "grasp_scenarios": [],
287
+ "functional_labels": [
288
+ "conduct AC power",
289
+ "plug into wall socket",
290
+ "provide electrical connection"
291
+ ],
292
+ "semantic_description": "One cylindrical metal power pin with a silver body and dark tip cap, protruding from the plug base as one of the two wall prongs.",
293
+ "id": 1,
294
+ "grasp_group": {}
295
+ },
296
+ {
297
+ "part_name": "power prong 2",
298
+ "mask_color": "Orange",
299
+ "graspable": false,
300
+ "grasp_scenarios": [],
301
+ "functional_labels": [
302
+ "conduct AC power",
303
+ "plug into wall socket",
304
+ "provide electrical connection"
305
+ ],
306
+ "semantic_description": "One cylindrical metal power pin with a silver body and dark tip cap, protruding parallel to the other prong from the plug base.",
307
+ "id": 4,
308
+ "grasp_group": {}
309
+ },
310
+ {
311
+ "part_name": "rear transition rim",
312
+ "mask_color": "Purple",
313
+ "graspable": false,
314
+ "grasp_scenarios": [],
315
+ "functional_labels": [
316
+ "join housing to plug section",
317
+ "reinforce transition",
318
+ "cover seam"
319
+ ],
320
+ "semantic_description": "Thin mint-green rim around the rear junction where the main body meets the plug base, visible as a narrow transition edge.",
321
+ "id": 5,
322
+ "grasp_group": {}
323
+ },
324
+ {
325
+ "part_name": "USB output port face",
326
+ "mask_color": "Cyan",
327
+ "graspable": false,
328
+ "grasp_scenarios": [],
329
+ "functional_labels": [
330
+ "connect charging cable",
331
+ "output power",
332
+ "guide cable insertion"
333
+ ],
334
+ "semantic_description": "Flat mint-green end face of the charger containing a single recessed USB-A output opening; the opening shows an orange interior insert near the top.",
335
+ "id": 6,
336
+ "grasp_group": {}
337
+ },
338
+ {
339
+ "part_name": "USB port insert",
340
+ "mask_color": "Yellow",
341
+ "graspable": false,
342
+ "grasp_scenarios": [],
343
+ "functional_labels": [
344
+ "support cable mating",
345
+ "position connector",
346
+ "carry electrical contacts"
347
+ ],
348
+ "semantic_description": "Small orange internal insert visible inside the USB-A port opening on the charger's output face.",
349
+ "id": 3,
350
+ "grasp_group": {}
351
+ }
352
+ ],
353
+ "quality_check": {
354
+ "success": true,
355
+ "message": "YES"
356
+ }
357
+ }
dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7123859d1fc089f9bb1e02fc6a6c22c181444b84b575d08df82335eadec68273
3
+ size 3785588