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
8a7d232
·
verified ·
1 Parent(s): e8d5c7e

Add asset desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/affordance/affordance_annot.json +472 -0
  3. dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6194,3 +6194,4 @@ dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b
6194
  dataset/desktop_supplies/electronic_accessories/217aac92d2a05b8098cc617b4a4dc4df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6195
  dataset/desktop_supplies/electronic_accessories/250f4492b04e5be2a7c02dee9e908d23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6196
  dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6194
  dataset/desktop_supplies/electronic_accessories/217aac92d2a05b8098cc617b4a4dc4df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6195
  dataset/desktop_supplies/electronic_accessories/250f4492b04e5be2a7c02dee9e908d23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6196
  dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6197
+ dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/affordance/affordance_annot.json ADDED
@@ -0,0 +1,472 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "usb plug",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the USB plug to align it with a port for insertion",
10
+ "confidence": 0.72
11
+ },
12
+ {
13
+ "scenario": "grasp the metal plug lightly to pull the drive out of a port when the housing is hard to access",
14
+ "confidence": 0.5
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "connect to USB port",
19
+ "transfer data through connector",
20
+ "provide electrical interface",
21
+ "enable insertion and removal"
22
+ ],
23
+ "semantic_description": "Small silver metal USB-A connector protruding from one end of the drive, with a smooth reflective finish and standard rectangular shell openings.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_3": {
27
+ "confidence": 0.3571367561817169,
28
+ "position": [
29
+ -0.04721468564821407,
30
+ -0.10625026893103495,
31
+ -0.0021391749614849687
32
+ ],
33
+ "orientation": {
34
+ "w": 0.6049195380448591,
35
+ "xyz": [
36
+ -0.3663414420358883,
37
+ 0.6080626844401846,
38
+ 0.3607299157680956
39
+ ]
40
+ }
41
+ },
42
+ "grasp_4": {
43
+ "confidence": 0.328872412443161,
44
+ "position": [
45
+ -0.05363000062061474,
46
+ -0.10591607313835993,
47
+ -0.007292049005627632
48
+ ],
49
+ "orientation": {
50
+ "w": 0.3402823376339913,
51
+ "xyz": [
52
+ -0.5974941048670886,
53
+ -0.3464290054975485,
54
+ -0.6381188521689373
55
+ ]
56
+ }
57
+ },
58
+ "grasp_7": {
59
+ "confidence": 0.617320716381073,
60
+ "position": [
61
+ 0.047643688798416406,
62
+ -0.10201657336438075,
63
+ 0.011566934641450644
64
+ ],
65
+ "orientation": {
66
+ "w": 0.3809204507336227,
67
+ "xyz": [
68
+ -0.6755654038067969,
69
+ 0.3281860112901449,
70
+ 0.5392633284265848
71
+ ]
72
+ }
73
+ },
74
+ "grasp_8": {
75
+ "confidence": 0.5624425411224365,
76
+ "position": [
77
+ -0.0022638708469457924,
78
+ -0.11496393900597468,
79
+ -0.004532993771135807
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5124690726924095,
83
+ "xyz": [
84
+ -0.48551776274353525,
85
+ 0.5022614046848719,
86
+ 0.49938104985899723
87
+ ]
88
+ }
89
+ },
90
+ "grasp_9": {
91
+ "confidence": 0.5308467149734497,
92
+ "position": [
93
+ -0.005974047060590237,
94
+ -0.11586067598545924,
95
+ -0.003216022392734885
96
+ ],
97
+ "orientation": {
98
+ "w": 0.5041926146652033,
99
+ "xyz": [
100
+ -0.4601316735977643,
101
+ 0.5256844332275058,
102
+ 0.5076657630089525
103
+ ]
104
+ }
105
+ },
106
+ "grasp_11": {
107
+ "confidence": 0.4810826778411865,
108
+ "position": [
109
+ -0.04944823932601139,
110
+ -0.10092158388579264,
111
+ 0.000916043296456337
112
+ ],
113
+ "orientation": {
114
+ "w": 0.3538841727095973,
115
+ "xyz": [
116
+ -0.6234965434144976,
117
+ -0.3440175559683738,
118
+ -0.6063579585041861
119
+ ]
120
+ }
121
+ },
122
+ "grasp_12": {
123
+ "confidence": 0.47633981704711914,
124
+ "position": [
125
+ -0.048913321166764945,
126
+ -0.10362150293076411,
127
+ -0.002372793387621641
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6093113882241595,
131
+ "xyz": [
132
+ -0.3631492476132336,
133
+ 0.6057154408797994,
134
+ 0.3605149938880214
135
+ ]
136
+ }
137
+ }
138
+ }
139
+ },
140
+ {
141
+ "part_name": "usb drive housing",
142
+ "mask_color": "Blue",
143
+ "graspable": true,
144
+ "grasp_scenarios": [
145
+ {
146
+ "scenario": "grasp the main housing to pick up and carry the USB drive",
147
+ "confidence": 0.96
148
+ },
149
+ {
150
+ "scenario": "hold the housing to stabilize the drive while inserting the plug",
151
+ "confidence": 0.93
152
+ },
153
+ {
154
+ "scenario": "grasp the housing to pull the drive from a port",
155
+ "confidence": 0.9
156
+ }
157
+ ],
158
+ "functional_labels": [
159
+ "protect internal electronics",
160
+ "main grasp surface",
161
+ "support handling and insertion",
162
+ "provide device body"
163
+ ],
164
+ "semantic_description": "Rounded rectangular main body made of glossy translucent purple plastic, with a cyan-tinted gradient area near one end and a white printed logo on the broad face.",
165
+ "id": 2,
166
+ "grasp_group": {
167
+ "grasp_20": {
168
+ "confidence": 0.9285945296287537,
169
+ "position": [
170
+ 0.09699171531246975,
171
+ 0.006755376176442951,
172
+ 0.0035203546285629272
173
+ ],
174
+ "orientation": {
175
+ "w": 0.6949227628803875,
176
+ "xyz": [
177
+ 0.00959771872849122,
178
+ -0.7187427284515824,
179
+ -0.01997818119531072
180
+ ]
181
+ }
182
+ },
183
+ "grasp_21": {
184
+ "confidence": 0.9220103621482849,
185
+ "position": [
186
+ 0.09609559673117474,
187
+ -0.01915054168784991,
188
+ 0.010908338706940413
189
+ ],
190
+ "orientation": {
191
+ "w": 0.6618517766473342,
192
+ "xyz": [
193
+ -0.027755785911210917,
194
+ -0.7469403323723267,
195
+ -0.057113763426486476
196
+ ]
197
+ }
198
+ },
199
+ "grasp_22": {
200
+ "confidence": 0.9208618998527527,
201
+ "position": [
202
+ 0.09885879355715588,
203
+ 0.006094620970543474,
204
+ 0.0036221472546458244
205
+ ],
206
+ "orientation": {
207
+ "w": 0.007030862812745431,
208
+ "xyz": [
209
+ -0.7105152875360169,
210
+ -0.005295684084106966,
211
+ 0.7036267113148855
212
+ ]
213
+ }
214
+ },
215
+ "grasp_24": {
216
+ "confidence": 0.9196272492408752,
217
+ "position": [
218
+ 0.09900122630642727,
219
+ -0.010692894051317126,
220
+ -0.0014911883044987917
221
+ ],
222
+ "orientation": {
223
+ "w": 0.016154496677955127,
224
+ "xyz": [
225
+ -0.7004655122417881,
226
+ 0.007249518056217319,
227
+ 0.713466567461212
228
+ ]
229
+ }
230
+ },
231
+ "grasp_25": {
232
+ "confidence": 0.9165395498275757,
233
+ "position": [
234
+ 0.09735136973904446,
235
+ -0.016729732567910105,
236
+ 0.005530535709112883
237
+ ],
238
+ "orientation": {
239
+ "w": 0.03719408844033139,
240
+ "xyz": [
241
+ -0.719729640638605,
242
+ 0.018260407969457937,
243
+ 0.6930168841176282
244
+ ]
245
+ }
246
+ },
247
+ "grasp_26": {
248
+ "confidence": 0.9047523736953735,
249
+ "position": [
250
+ 0.09887069213436916,
251
+ 0.009225806628819555,
252
+ -0.00042523653246462345
253
+ ],
254
+ "orientation": {
255
+ "w": 0.017522349206589502,
256
+ "xyz": [
257
+ 0.7062326783159492,
258
+ -0.004226024515370352,
259
+ -0.7077503176076712
260
+ ]
261
+ }
262
+ },
263
+ "grasp_29": {
264
+ "confidence": 0.9003866314888,
265
+ "position": [
266
+ 0.09901671606348827,
267
+ -0.012128880771342665,
268
+ 0.002568507567048073
269
+ ],
270
+ "orientation": {
271
+ "w": 0.7029840918323073,
272
+ "xyz": [
273
+ -0.010116412649878528,
274
+ -0.7106190016578237,
275
+ -0.027049201626693564
276
+ ]
277
+ }
278
+ },
279
+ "grasp_30": {
280
+ "confidence": 0.8996231555938721,
281
+ "position": [
282
+ 0.0832613383536227,
283
+ -0.059251641447190195,
284
+ 0.0032320998143404722
285
+ ],
286
+ "orientation": {
287
+ "w": 0.6486532036725923,
288
+ "xyz": [
289
+ -0.17240846297195,
290
+ -0.7065533453961128,
291
+ -0.2242915811404728
292
+ ]
293
+ }
294
+ },
295
+ "grasp_31": {
296
+ "confidence": 0.8991154432296753,
297
+ "position": [
298
+ 0.09913742291973904,
299
+ 0.015879185346420854,
300
+ 0.0021442328579723835
301
+ ],
302
+ "orientation": {
303
+ "w": 0.702115035624808,
304
+ "xyz": [
305
+ 0.02992592691766514,
306
+ -0.7113414937305851,
307
+ 0.011497606047917318
308
+ ]
309
+ }
310
+ },
311
+ "grasp_33": {
312
+ "confidence": 0.8959234356880188,
313
+ "position": [
314
+ 0.08233091729925945,
315
+ 0.058050228690262884,
316
+ -0.0036794086918234825
317
+ ],
318
+ "orientation": {
319
+ "w": 0.700465706928796,
320
+ "xyz": [
321
+ 0.19374970572844158,
322
+ -0.6605070424746323,
323
+ 0.18851867755821713
324
+ ]
325
+ }
326
+ },
327
+ "grasp_34": {
328
+ "confidence": 0.8934638500213623,
329
+ "position": [
330
+ 0.004351039242465049,
331
+ 0.10088392574107274,
332
+ -0.003862041747197509
333
+ ],
334
+ "orientation": {
335
+ "w": 0.46292291699669946,
336
+ "xyz": [
337
+ 0.4052153999760966,
338
+ -0.5652207139060562,
339
+ 0.5495711028729651
340
+ ]
341
+ }
342
+ },
343
+ "grasp_35": {
344
+ "confidence": 0.8927570581436157,
345
+ "position": [
346
+ 0.08038919168757275,
347
+ 0.055304347013588995,
348
+ 0.02260164776816964
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5809368765687503,
352
+ "xyz": [
353
+ 0.13069825411238686,
354
+ -0.7699962240264993,
355
+ 0.22920760632983198
356
+ ]
357
+ }
358
+ },
359
+ "grasp_36": {
360
+ "confidence": 0.8917312622070312,
361
+ "position": [
362
+ 0.08225587505148724,
363
+ -0.06054089363897219,
364
+ 0.011197883170098066
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6310715624634198,
368
+ "xyz": [
369
+ -0.19568484787833734,
370
+ -0.7211833063807847,
371
+ -0.2082084579417693
372
+ ]
373
+ }
374
+ },
375
+ "grasp_37": {
376
+ "confidence": 0.889535129070282,
377
+ "position": [
378
+ -0.08832998079014942,
379
+ -0.051997078175190836,
380
+ -0.001201546227093786
381
+ ],
382
+ "orientation": {
383
+ "w": 0.17329130929083758,
384
+ "xyz": [
385
+ -0.6828568622178963,
386
+ -0.16577380054081847,
387
+ -0.6900693261553134
388
+ ]
389
+ }
390
+ },
391
+ "grasp_38": {
392
+ "confidence": 0.88637775182724,
393
+ "position": [
394
+ 0.09773601341294125,
395
+ -0.015456499124411494,
396
+ -0.0015074089169502258
397
+ ],
398
+ "orientation": {
399
+ "w": 0.013618600872777414,
400
+ "xyz": [
401
+ -0.6978157175907989,
402
+ 0.013134742589853587,
403
+ 0.7160273992876282
404
+ ]
405
+ }
406
+ },
407
+ "grasp_39": {
408
+ "confidence": 0.8849450945854187,
409
+ "position": [
410
+ -0.08626711618853733,
411
+ 0.05443823564564809,
412
+ -0.007820104248821735
413
+ ],
414
+ "orientation": {
415
+ "w": 0.17274617919991228,
416
+ "xyz": [
417
+ 0.6546941741840623,
418
+ -0.17389304662399685,
419
+ 0.7150493019345627
420
+ ]
421
+ }
422
+ }
423
+ }
424
+ },
425
+ {
426
+ "part_name": "lanyard hole",
427
+ "mask_color": "Yellow",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "attach keyring or strap",
432
+ "provide hanging point",
433
+ "indicate attachment end"
434
+ ],
435
+ "semantic_description": "Small rounded rectangular opening near the end opposite the USB plug, molded through the purple plastic housing.",
436
+ "id": 3,
437
+ "grasp_group": {}
438
+ },
439
+ {
440
+ "part_name": "side translucent strip",
441
+ "mask_color": "Cyan",
442
+ "graspable": false,
443
+ "grasp_scenarios": [],
444
+ "functional_labels": [
445
+ "form side wall of housing",
446
+ "provide translucent styling detail",
447
+ "allow light transmission through the casing edge"
448
+ ],
449
+ "semantic_description": "Translucent lighter cyan-purple side section running along the housing edge and wrapping the rounded end, flush with the glossy plastic body.",
450
+ "id": 6,
451
+ "grasp_group": {}
452
+ },
453
+ {
454
+ "part_name": "logo mark",
455
+ "mask_color": "Orange",
456
+ "graspable": false,
457
+ "grasp_scenarios": [],
458
+ "functional_labels": [
459
+ "brand identification",
460
+ "indicate front face orientation",
461
+ "decorate housing"
462
+ ],
463
+ "semantic_description": "White printed angular emblem on the broad top face of the housing, flat against the glossy purple plastic surface.",
464
+ "id": 4,
465
+ "grasp_group": {}
466
+ }
467
+ ],
468
+ "quality_check": {
469
+ "success": false,
470
+ "message": "Housing color/appearance mismatched; cyan strip overstated as separate functional part."
471
+ }
472
+ }
dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2f6372028a942f54e391471ed46afbf777b51f1b44d0388bad22277d972435f
3
+ size 3399508