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
856feed
·
verified ·
1 Parent(s): a11f7f2

Add asset desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/affordance/affordance_annot.json +272 -0
  3. dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.urdf +1 -0
.gitattributes CHANGED
@@ -8134,3 +8134,4 @@ dataset/desktop_supplies/electronic_accessories/d5f36050fbda544f8c5b80fa6bc50737
8134
  dataset/desktop_supplies/electronic_accessories/d618ab2888fd55d6b32ecbb9b1425ccf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8135
  dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8136
  dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8134
  dataset/desktop_supplies/electronic_accessories/d618ab2888fd55d6b32ecbb9b1425ccf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8135
  dataset/desktop_supplies/electronic_accessories/d6216d463fdd56bfa0fcfdee474755b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8136
  dataset/desktop_supplies/electronic_accessories/d6bdb0a29c6754f4bbb387f09ba6b477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8137
+ dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,272 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mouse outer 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": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body to reposition the mouse on a desk",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the mouse body while another tool interacts with the buttons or wheel",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal electronics",
24
+ "support hand placement",
25
+ "provide overall structure",
26
+ "protect internal components"
27
+ ],
28
+ "semantic_description": "Large white hard plastic outer body with smooth surfaces and a rounded ergonomic shape, plus black side sections and trim. The top rear shell shows a small multicolor logo.",
29
+ "id": 6,
30
+ "grasp_group": {
31
+ "grasp_27": {
32
+ "confidence": 0.9800657033920288,
33
+ "position": [
34
+ -0.15405153576284647,
35
+ -0.02915498691436369,
36
+ -0.023770875995978713
37
+ ],
38
+ "orientation": {
39
+ "w": 0.061327524371733846,
40
+ "xyz": [
41
+ -0.6335429985629673,
42
+ -0.05093985641344956,
43
+ -0.769589068759982
44
+ ]
45
+ }
46
+ },
47
+ "grasp_38": {
48
+ "confidence": 0.9785850048065186,
49
+ "position": [
50
+ -0.14766319934278727,
51
+ 0.0706171869969694,
52
+ -0.014490364817902446
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7163747517794947,
56
+ "xyz": [
57
+ 0.21343228626328176,
58
+ 0.6453136969672125,
59
+ -0.15755667773789966
60
+ ]
61
+ }
62
+ }
63
+ }
64
+ },
65
+ {
66
+ "part_name": "mouse buttons, scroll wheel, and side buttons",
67
+ "mask_color": "Red",
68
+ "graspable": true,
69
+ "grasp_scenarios": [
70
+ {
71
+ "scenario": "lightly pinch the front button area to orient the mouse during handling",
72
+ "confidence": 0.29
73
+ },
74
+ {
75
+ "scenario": "use a gripper to brace gently against the side-button strip for light stabilization during inspection",
76
+ "confidence": 0.22
77
+ }
78
+ ],
79
+ "functional_labels": [
80
+ "left and right clicking",
81
+ "scroll input",
82
+ "side-button input",
83
+ "user control interface",
84
+ "provide finger contact surfaces"
85
+ ],
86
+ "semantic_description": "Small control components including the left and right main click buttons at the front top, a black ridged scroll wheel between them, and a narrow white side-button strip on the left side. The main buttons have a glossy iridescent pink-blue finish.",
87
+ "id": 0,
88
+ "grasp_group": {
89
+ "grasp_0": {
90
+ "confidence": 0.9674414992332458,
91
+ "position": [
92
+ -0.15350220445543528,
93
+ 0.0018442339933244511,
94
+ -0.010808240389451385
95
+ ],
96
+ "orientation": {
97
+ "w": 0.7301459636213509,
98
+ "xyz": [
99
+ 0.02808781459437665,
100
+ 0.6826577950389981,
101
+ -0.00873391958138883
102
+ ]
103
+ }
104
+ },
105
+ "grasp_1": {
106
+ "confidence": 0.9630967378616333,
107
+ "position": [
108
+ -0.1524904752150178,
109
+ -0.006984921477851458,
110
+ -0.007796171819791198
111
+ ],
112
+ "orientation": {
113
+ "w": 0.03942107068541586,
114
+ "xyz": [
115
+ -0.6862488993722569,
116
+ -0.028077046485552204,
117
+ -0.7257548530716343
118
+ ]
119
+ }
120
+ },
121
+ "grasp_2": {
122
+ "confidence": 0.9616742730140686,
123
+ "position": [
124
+ -0.15280421916395426,
125
+ 0.0014167919725878164,
126
+ -0.015813169768080115
127
+ ],
128
+ "orientation": {
129
+ "w": 0.7363431652860422,
130
+ "xyz": [
131
+ -0.02380516066991179,
132
+ 0.6761890647744175,
133
+ -0.0006371353943033368
134
+ ]
135
+ }
136
+ },
137
+ "grasp_3": {
138
+ "confidence": 0.9611716270446777,
139
+ "position": [
140
+ -0.15320772770792246,
141
+ 0.013506740491720848,
142
+ -0.005438895663246512
143
+ ],
144
+ "orientation": {
145
+ "w": 0.04937495602557538,
146
+ "xyz": [
147
+ 0.6922198197138257,
148
+ -0.029211395415177255,
149
+ 0.7194028977497446
150
+ ]
151
+ }
152
+ },
153
+ "grasp_4": {
154
+ "confidence": 0.9595170021057129,
155
+ "position": [
156
+ -0.15213354770094156,
157
+ 0.008163194332155399,
158
+ -0.0114900057669729
159
+ ],
160
+ "orientation": {
161
+ "w": 0.7245670333072163,
162
+ "xyz": [
163
+ 0.018716881311326226,
164
+ 0.6889495141852864,
165
+ -0.0009270934230815174
166
+ ]
167
+ }
168
+ },
169
+ "grasp_8": {
170
+ "confidence": 0.9473323225975037,
171
+ "position": [
172
+ -0.14955841843038797,
173
+ 0.008174440052243881,
174
+ -0.01920056133531034
175
+ ],
176
+ "orientation": {
177
+ "w": 0.7467874876149413,
178
+ "xyz": [
179
+ 0.03270346254091017,
180
+ 0.6642069464953623,
181
+ -0.008250097387655269
182
+ ]
183
+ }
184
+ },
185
+ "grasp_11": {
186
+ "confidence": 0.946086049079895,
187
+ "position": [
188
+ -0.14581094030290842,
189
+ -0.004287219446268864,
190
+ -0.03313015936873853
191
+ ],
192
+ "orientation": {
193
+ "w": 0.7967840920764215,
194
+ "xyz": [
195
+ 0.0018726922709484321,
196
+ 0.6042501659907648,
197
+ 0.0036524700881228104
198
+ ]
199
+ }
200
+ },
201
+ "grasp_14": {
202
+ "confidence": 0.9426536560058594,
203
+ "position": [
204
+ -0.15011339727789164,
205
+ 0.02346618023875635,
206
+ 0.009039023192599416
207
+ ],
208
+ "orientation": {
209
+ "w": 0.6537435837231172,
210
+ "xyz": [
211
+ 0.09948445823856744,
212
+ 0.7488871476874739,
213
+ -0.043476537791717354
214
+ ]
215
+ }
216
+ },
217
+ "grasp_15": {
218
+ "confidence": 0.9413534998893738,
219
+ "position": [
220
+ -0.1496554845944047,
221
+ 0.011281422499450855,
222
+ -0.00582613586448133
223
+ ],
224
+ "orientation": {
225
+ "w": 0.7194922804137023,
226
+ "xyz": [
227
+ 0.01227492335989391,
228
+ 0.6938246992240575,
229
+ -0.028061921321357673
230
+ ]
231
+ }
232
+ },
233
+ "grasp_17": {
234
+ "confidence": 0.9304609298706055,
235
+ "position": [
236
+ -0.14899178687483072,
237
+ 0.001163975495728664,
238
+ -0.01788833341561258
239
+ ],
240
+ "orientation": {
241
+ "w": 0.7413901043763663,
242
+ "xyz": [
243
+ 0.0009689076581079781,
244
+ 0.6709438113246062,
245
+ 0.013197590536247817
246
+ ]
247
+ }
248
+ },
249
+ "grasp_19": {
250
+ "confidence": 0.9281766414642334,
251
+ "position": [
252
+ -0.14934275392442942,
253
+ -0.004339785620686598,
254
+ -0.019507519667968154
255
+ ],
256
+ "orientation": {
257
+ "w": 0.7391367834741543,
258
+ "xyz": [
259
+ 0.0006379863945736793,
260
+ 0.6732896108783573,
261
+ 0.01890788650566583
262
+ ]
263
+ }
264
+ }
265
+ }
266
+ }
267
+ ],
268
+ "quality_check": {
269
+ "success": false,
270
+ "message": "Button part description and grouping are inaccurate; side buttons and logo are merged incorrectly and colors/materials are wrong."
271
+ }
272
+ }
dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c0fcbe54ef12bb717c9d066693085625002da107d51f05284b77d91742de394
3
+ size 3780936
dataset/desktop_supplies/electronic_accessories/d7d653e650a556ca8d61d24cc44feb6c/mouse_027.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>NO: {"summary":"Scroll wheel and side buttons are marked, but left/right click panels are merged into body and logo is mislabeled as a part.","merge_groups":[]}</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>NO: {"summary":"Scroll wheel and side buttons are marked, but left/right click panels are merged into body and logo is mislabeled as a part.","merge_groups":[]}</PartSegChecker>