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
8b1c9c8
·
verified ·
1 Parent(s): ebb7719

Add asset desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/affordance_annot.json +534 -0
  3. dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6465,3 +6465,4 @@ dataset/desktop_supplies/office_stationery/b25e4be50e185a99b79c44502bc797c0/affo
6465
  dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6466
  dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6467
  dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6465
  dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6466
  dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6467
  dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6468
+ dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,534 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cover panels",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp an outer edge or corner of the hard cover to pick up or reposition the notebook",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold a cover panel while opening or closing the notebook",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "stabilize the notebook by pinching a cover edge during page turning",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "protect the pages",
23
+ "provide structural support",
24
+ "serve as exterior grip surface",
25
+ "enable opening and closing"
26
+ ],
27
+ "semantic_description": "Large dark brown hard cover panels on the notebook exterior, smooth slightly glossy finish, likely leather or faux leather, with several black horizontal bands visible on the outside.",
28
+ "id": 1,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "left page set",
33
+ "mask_color": "Yellow",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "pinch the page edge to turn or separate pages",
38
+ "confidence": 0.78
39
+ },
40
+ {
41
+ "scenario": "lightly hold the page set to keep the notebook open",
42
+ "confidence": 0.64
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "provide writing surface",
47
+ "store notes",
48
+ "turn for access to different pages",
49
+ "display faint ruling"
50
+ ],
51
+ "semantic_description": "Off-white paper pages on the left side of the open notebook, matte and smooth with faint horizontal lines and small printed marks near a corner.",
52
+ "id": 3,
53
+ "grasp_group": {}
54
+ },
55
+ {
56
+ "part_name": "right page set",
57
+ "mask_color": "Orange",
58
+ "graspable": true,
59
+ "grasp_scenarios": [
60
+ {
61
+ "scenario": "pinch the outer page edge to turn pages",
62
+ "confidence": 0.78
63
+ },
64
+ {
65
+ "scenario": "carefully grasp the page set to separate sections",
66
+ "confidence": 0.61
67
+ }
68
+ ],
69
+ "functional_labels": [
70
+ "provide writing surface",
71
+ "store notes",
72
+ "turn for access to different pages",
73
+ "display faint ruling"
74
+ ],
75
+ "semantic_description": "Off-white paper pages on the right side of the open notebook, matte and smooth with faint horizontal lines and small printed corner marks visible in some views.",
76
+ "id": 4,
77
+ "grasp_group": {
78
+ "grasp_93": {
79
+ "confidence": 0.9344419836997986,
80
+ "position": [
81
+ -0.19803497567772865,
82
+ -0.0035897043999284506,
83
+ -0.00893156137317419
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7266236582732593,
87
+ "xyz": [
88
+ -0.03736430069935365,
89
+ 0.6849448921524341,
90
+ 0.038372685404122996
91
+ ]
92
+ }
93
+ },
94
+ "grasp_94": {
95
+ "confidence": 0.9340278506278992,
96
+ "position": [
97
+ -0.19534914568066597,
98
+ -0.03630567225627601,
99
+ -0.0020256649586372077
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6880712011011313,
103
+ "xyz": [
104
+ -0.15387168690638323,
105
+ 0.6904163181820112,
106
+ 0.16188524877772778
107
+ ]
108
+ }
109
+ }
110
+ }
111
+ },
112
+ {
113
+ "part_name": "spine",
114
+ "mask_color": "Blue",
115
+ "graspable": true,
116
+ "grasp_scenarios": [
117
+ {
118
+ "scenario": "grasp the spine area to pick up or carry the notebook from the center",
119
+ "confidence": 0.77
120
+ },
121
+ {
122
+ "scenario": "hold the spine to stabilize the notebook while opening",
123
+ "confidence": 0.84
124
+ }
125
+ ],
126
+ "functional_labels": [
127
+ "bind the covers and pages",
128
+ "act as rotation axis",
129
+ "support opening and closing",
130
+ "provide central structural reinforcement"
131
+ ],
132
+ "semantic_description": "Narrow central binding strip running along the notebook fold, dark brown in the RGB views with a smooth hard finish and slightly raised rounded profile.",
133
+ "id": 2,
134
+ "grasp_group": {
135
+ "grasp_37": {
136
+ "confidence": 0.5497280359268188,
137
+ "position": [
138
+ 0.1862344853579998,
139
+ 0.00466651888564229,
140
+ -0.0030153251136653125
141
+ ],
142
+ "orientation": {
143
+ "w": 0.6844010816230832,
144
+ "xyz": [
145
+ 0.02789524293069341,
146
+ -0.7282288920333331,
147
+ 0.02235387444930354
148
+ ]
149
+ }
150
+ },
151
+ "grasp_40": {
152
+ "confidence": 0.6163131594657898,
153
+ "position": [
154
+ 0.18982833251357079,
155
+ 0.008254645159468055,
156
+ -0.009013600181788206
157
+ ],
158
+ "orientation": {
159
+ "w": 0.6944594178598889,
160
+ "xyz": [
161
+ 0.026085159095855345,
162
+ -0.7183575229810691,
163
+ 0.031751387326392586
164
+ ]
165
+ }
166
+ },
167
+ "grasp_42": {
168
+ "confidence": 0.9499266147613525,
169
+ "position": [
170
+ -0.2012113220989704,
171
+ 0.006685913074761629,
172
+ 0.0028151520527899265
173
+ ],
174
+ "orientation": {
175
+ "w": 0.7061769742408631,
176
+ "xyz": [
177
+ 0.008895571311277507,
178
+ 0.7079094918884176,
179
+ -0.00995495642117092
180
+ ]
181
+ }
182
+ },
183
+ "grasp_43": {
184
+ "confidence": 0.949552595615387,
185
+ "position": [
186
+ -0.2038019336760044,
187
+ 0.00370789977023378,
188
+ 0.0037647197023034096
189
+ ],
190
+ "orientation": {
191
+ "w": 0.0408777077115606,
192
+ "xyz": [
193
+ 0.709763369419725,
194
+ -0.013916540503671304,
195
+ 0.7031154260451244
196
+ ]
197
+ }
198
+ },
199
+ "grasp_44": {
200
+ "confidence": 0.9455852508544922,
201
+ "position": [
202
+ -0.20062818005681038,
203
+ -0.019820217741653323,
204
+ -0.002593564277049154
205
+ ],
206
+ "orientation": {
207
+ "w": 0.07174445552209385,
208
+ "xyz": [
209
+ -0.6955839891087351,
210
+ -0.05569276072760021,
211
+ -0.7126808287024112
212
+ ]
213
+ }
214
+ },
215
+ "grasp_45": {
216
+ "confidence": 0.9454178810119629,
217
+ "position": [
218
+ -0.20109258964657784,
219
+ -0.0033491740468889475,
220
+ -0.004089262918569148
221
+ ],
222
+ "orientation": {
223
+ "w": 0.7131086123342797,
224
+ "xyz": [
225
+ 0.0003275840990353132,
226
+ 0.700879588245976,
227
+ 0.015614175722315441
228
+ ]
229
+ }
230
+ },
231
+ "grasp_46": {
232
+ "confidence": 0.9447200894355774,
233
+ "position": [
234
+ -0.20436132326722145,
235
+ 0.0036826581927016377,
236
+ -0.0032025121618062258
237
+ ],
238
+ "orientation": {
239
+ "w": 0.7068172991675168,
240
+ "xyz": [
241
+ 0.002146349698873553,
242
+ 0.7073897402867994,
243
+ -0.0021104780221997705
244
+ ]
245
+ }
246
+ },
247
+ "grasp_47": {
248
+ "confidence": 0.9427892565727234,
249
+ "position": [
250
+ -0.20163320377469063,
251
+ 0.010576406260952353,
252
+ 0.0011993458028882742
253
+ ],
254
+ "orientation": {
255
+ "w": 0.04381023901730189,
256
+ "xyz": [
257
+ 0.7077709810985219,
258
+ 0.011932190201035753,
259
+ 0.7049812225223374
260
+ ]
261
+ }
262
+ },
263
+ "grasp_48": {
264
+ "confidence": 0.9383428692817688,
265
+ "position": [
266
+ -0.20213571563363075,
267
+ -0.007398091023787856,
268
+ 0.004884474910795689
269
+ ],
270
+ "orientation": {
271
+ "w": 0.7046334871754295,
272
+ "xyz": [
273
+ -0.02871118135108497,
274
+ 0.7079475681332662,
275
+ 0.03843901131159267
276
+ ]
277
+ }
278
+ },
279
+ "grasp_49": {
280
+ "confidence": 0.9376552700996399,
281
+ "position": [
282
+ -0.19795610383152962,
283
+ -0.03645283239893615,
284
+ -0.0021569662206673
285
+ ],
286
+ "orientation": {
287
+ "w": 0.6811568616175036,
288
+ "xyz": [
289
+ -0.14021026991632504,
290
+ 0.7015057599913477,
291
+ 0.15574363158840612
292
+ ]
293
+ }
294
+ },
295
+ "grasp_50": {
296
+ "confidence": 0.9345195293426514,
297
+ "position": [
298
+ -0.19847816601395607,
299
+ -0.048774297116324306,
300
+ -0.0002979002892971039
301
+ ],
302
+ "orientation": {
303
+ "w": 0.6961636374869176,
304
+ "xyz": [
305
+ -0.16142454546782986,
306
+ 0.6728747441264432,
307
+ 0.19114885476576213
308
+ ]
309
+ }
310
+ },
311
+ "grasp_51": {
312
+ "confidence": 0.9328210949897766,
313
+ "position": [
314
+ -0.19708840921521187,
315
+ -0.010649909963831306,
316
+ 0.002640658989548683
317
+ ],
318
+ "orientation": {
319
+ "w": 0.6978164272297817,
320
+ "xyz": [
321
+ -0.03231906257457666,
322
+ 0.7142721013396403,
323
+ 0.042697509651241077
324
+ ]
325
+ }
326
+ },
327
+ "grasp_52": {
328
+ "confidence": 0.9322137236595154,
329
+ "position": [
330
+ -0.1959959901869297,
331
+ -0.02047395776025951,
332
+ 0.000377109507098794
333
+ ],
334
+ "orientation": {
335
+ "w": 0.07341718562662868,
336
+ "xyz": [
337
+ -0.700452032127101,
338
+ -0.05782816568512883,
339
+ -0.7075540762352884
340
+ ]
341
+ }
342
+ },
343
+ "grasp_53": {
344
+ "confidence": 0.9312463998794556,
345
+ "position": [
346
+ -0.2092471607029438,
347
+ 0.011786495568230748,
348
+ 0.0017707129009068012
349
+ ],
350
+ "orientation": {
351
+ "w": 0.6998396013060192,
352
+ "xyz": [
353
+ 0.05034623456674629,
354
+ 0.7112588172793455,
355
+ -0.0424344665474752
356
+ ]
357
+ }
358
+ },
359
+ "grasp_54": {
360
+ "confidence": 0.9273366928100586,
361
+ "position": [
362
+ -0.19400348141789436,
363
+ -0.047105497447773814,
364
+ -0.010233821347355843
365
+ ],
366
+ "orientation": {
367
+ "w": 0.17271963008158375,
368
+ "xyz": [
369
+ -0.666490950822258,
370
+ -0.1773371052035101,
371
+ -0.7032135472063674
372
+ ]
373
+ }
374
+ }
375
+ }
376
+ },
377
+ {
378
+ "part_name": "bookmark ribbon",
379
+ "mask_color": "Red",
380
+ "graspable": true,
381
+ "grasp_scenarios": [
382
+ {
383
+ "scenario": "pinch the ribbon tip to pull it free and open to a marked page",
384
+ "confidence": 0.8
385
+ },
386
+ {
387
+ "scenario": "grasp the ribbon lightly to locate the marked section",
388
+ "confidence": 0.52
389
+ }
390
+ ],
391
+ "functional_labels": [
392
+ "mark a page",
393
+ "assist quick opening to a saved place",
394
+ "provide a small pull tab"
395
+ ],
396
+ "semantic_description": "Small pink ribbon tab with a soft satin-like appearance, protruding from the notebook edge near the spine as a flexible bookmark.",
397
+ "id": 0,
398
+ "grasp_group": {
399
+ "grasp_0": {
400
+ "confidence": 0.6669606566429138,
401
+ "position": [
402
+ 0.18732058629393578,
403
+ 0.05606247601099312,
404
+ 0.0035481262020766735
405
+ ],
406
+ "orientation": {
407
+ "w": 0.1915630493054716,
408
+ "xyz": [
409
+ 0.6773164902661352,
410
+ 0.21723205588343664,
411
+ -0.6762811575454469
412
+ ]
413
+ }
414
+ },
415
+ "grasp_4": {
416
+ "confidence": 0.6398270726203918,
417
+ "position": [
418
+ 0.18661988899111748,
419
+ 0.04720972594805062,
420
+ -0.00010923598892986774
421
+ ],
422
+ "orientation": {
423
+ "w": 0.17667931111236115,
424
+ "xyz": [
425
+ 0.6840866822580628,
426
+ 0.18799652102202535,
427
+ -0.682251522728702
428
+ ]
429
+ }
430
+ },
431
+ "grasp_6": {
432
+ "confidence": 0.6860756278038025,
433
+ "position": [
434
+ 0.20044822618365288,
435
+ 0.012945408234372735,
436
+ 0.018571583554148674
437
+ ],
438
+ "orientation": {
439
+ "w": 0.6363325351721285,
440
+ "xyz": [
441
+ 0.03154718044921398,
442
+ -0.7705135430989704,
443
+ 0.019863534131342602
444
+ ]
445
+ }
446
+ },
447
+ "grasp_9": {
448
+ "confidence": 0.7610369324684143,
449
+ "position": [
450
+ 0.19762925431132317,
451
+ -0.0016078802291303873,
452
+ -0.001943906449014321
453
+ ],
454
+ "orientation": {
455
+ "w": 0.044974837306272955,
456
+ "xyz": [
457
+ -0.704541547167952,
458
+ -0.06013853890297016,
459
+ 0.7056782754641656
460
+ ]
461
+ }
462
+ },
463
+ "grasp_10": {
464
+ "confidence": 0.7566974759101868,
465
+ "position": [
466
+ 0.1955765299499035,
467
+ -0.008663490181788802,
468
+ -0.0022680621841573156
469
+ ],
470
+ "orientation": {
471
+ "w": 0.048006862557795744,
472
+ "xyz": [
473
+ -0.7080899950549734,
474
+ -0.011404875656640168,
475
+ 0.7043960738545192
476
+ ]
477
+ }
478
+ },
479
+ "grasp_11": {
480
+ "confidence": 0.7652198672294617,
481
+ "position": [
482
+ 0.19918949529528618,
483
+ -0.012989750830456614,
484
+ -0.004828615579754114
485
+ ],
486
+ "orientation": {
487
+ "w": 0.04512500747892942,
488
+ "xyz": [
489
+ -0.7042962247079756,
490
+ 0.005501467691419237,
491
+ 0.7084492186567503
492
+ ]
493
+ }
494
+ },
495
+ "grasp_12": {
496
+ "confidence": 0.7065547704696655,
497
+ "position": [
498
+ 0.19028094038367271,
499
+ 0.016679406398907304,
500
+ 0.017305415123701096
501
+ ],
502
+ "orientation": {
503
+ "w": 0.6237104446090804,
504
+ "xyz": [
505
+ 0.07652272198679183,
506
+ -0.7733207685554516,
507
+ 0.08428845250733394
508
+ ]
509
+ }
510
+ },
511
+ "grasp_13": {
512
+ "confidence": 0.4061391055583954,
513
+ "position": [
514
+ 0.1793668232858181,
515
+ 0.04812345397658646,
516
+ -0.0025560330250300467
517
+ ],
518
+ "orientation": {
519
+ "w": 0.2003382465592215,
520
+ "xyz": [
521
+ 0.6596622223724586,
522
+ 0.1995673597624117,
523
+ -0.696335557226303
524
+ ]
525
+ }
526
+ }
527
+ }
528
+ }
529
+ ],
530
+ "quality_check": {
531
+ "success": true,
532
+ "message": "YES"
533
+ }
534
+ }
dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a14ca11d993eb6d495a8d3f30e27cd0f8b71f80b1128122f8a61ab6480cec265
3
+ size 707668