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
94da6c0
·
verified ·
1 Parent(s): 38fb1b0

Add asset desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3

Browse files
Files changed (4) hide show
  1. .gitattributes +2 -1
  2. dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/affordance/affordance_annot.json +410 -0
  3. dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.urdf +2 -2
.gitattributes CHANGED
@@ -6336,4 +6336,5 @@ dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/affo
6336
  dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6337
  dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6338
  dataset/desktop_supplies/office_stationery/5927302548905cb6be3a6ee2591f45c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6339
- dataset/desktop_supplies/office_stationery/59cb894d240a57e6898a26c1882e97e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6336
  dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6337
  dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6338
  dataset/desktop_supplies/office_stationery/5927302548905cb6be3a6ee2591f45c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6339
+ dataset/desktop_supplies/office_stationery/59c4ac7eec04545b921d4b99dc0171bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6340
+ dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/affordance/affordance_annot.json ADDED
@@ -0,0 +1,410 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sharpener upper housing",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the white upper body to pick up and reposition the sharpener",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold the upper housing steady while turning the side crank",
14
+ "confidence": 0.93
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main housing",
19
+ "support internal cutter mechanism",
20
+ "provide primary grasp surface",
21
+ "enclose sharpener body"
22
+ ],
23
+ "semantic_description": "Main white plastic upper body with a smooth matte finish and rounded rectangular shape, forming most of the visible body around the top blade plate, side pencil port, and crank mount.",
24
+ "id": 8,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9856782555580139,
28
+ "position": [
29
+ -0.013800817019728129,
30
+ -0.10852901893667877,
31
+ 0.06906740658450872
32
+ ],
33
+ "orientation": {
34
+ "w": 0.035055439143221935,
35
+ "xyz": [
36
+ 0.031696873295574475,
37
+ 0.8722655637604222,
38
+ 0.4867434752387264
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9838608503341675,
44
+ "position": [
45
+ -0.003898600059983437,
46
+ -0.10530952620320022,
47
+ 0.06942630105186254
48
+ ],
49
+ "orientation": {
50
+ "w": 0.47676275210723135,
51
+ "xyz": [
52
+ -0.8789023008417302,
53
+ 0.009175400991136395,
54
+ -0.011993156169392906
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9832383394241333,
60
+ "position": [
61
+ -0.004540516007182305,
62
+ -0.10624718177132308,
63
+ 0.06788470142055303
64
+ ],
65
+ "orientation": {
66
+ "w": 0.4830512108792864,
67
+ "xyz": [
68
+ -0.8753652889194352,
69
+ 0.015081362837070955,
70
+ -0.01302655434202597
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9822747707366943,
76
+ "position": [
77
+ -0.003853009258818929,
78
+ -0.006370941875502467,
79
+ 0.12272081815171987
80
+ ],
81
+ "orientation": {
82
+ "w": 0.017568714504452895,
83
+ "xyz": [
84
+ -0.016811306634232803,
85
+ 0.9997016270044976,
86
+ 0.00231888000367444
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.982177734375,
92
+ "position": [
93
+ -0.006792499161747401,
94
+ -0.106847072718665,
95
+ 0.0625383808510378
96
+ ],
97
+ "orientation": {
98
+ "w": 0.488422849334751,
99
+ "xyz": [
100
+ -0.8723806272169496,
101
+ 0.0128871637907218,
102
+ -0.015135472034777627
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.9818795323371887,
108
+ "position": [
109
+ -0.00991426542350382,
110
+ -0.12261817860417068,
111
+ 0.011217483435757458
112
+ ],
113
+ "orientation": {
114
+ "w": 0.025171675371978838,
115
+ "xyz": [
116
+ 0.027765476569363977,
117
+ 0.7102321397883343,
118
+ 0.7029692544354468
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.9817177057266235,
124
+ "position": [
125
+ 0.000837478784887935,
126
+ -0.0032641913276165724,
127
+ 0.12165163003373891
128
+ ],
129
+ "orientation": {
130
+ "w": 0.015653524248038207,
131
+ "xyz": [
132
+ 0.9998694877503325,
133
+ 0.003961583447304792,
134
+ -0.0005296235397129335
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.9814301133155823,
140
+ "position": [
141
+ -0.01348512660661072,
142
+ -0.11682615685276687,
143
+ 0.010526227881200612
144
+ ],
145
+ "orientation": {
146
+ "w": 0.03531539006688898,
147
+ "xyz": [
148
+ 0.03760019774696373,
149
+ 0.7055569476370022,
150
+ 0.7067732606677826
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.9811576008796692,
156
+ "position": [
157
+ -0.00415070861527056,
158
+ -0.0037867033388465643,
159
+ 0.12253383093047887
160
+ ],
161
+ "orientation": {
162
+ "w": 0.011783402100552889,
163
+ "xyz": [
164
+ 0.9998514019792338,
165
+ -0.011583924421371235,
166
+ -0.004913053032193192
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.9810320734977722,
172
+ "position": [
173
+ -0.005437408517536824,
174
+ -0.10357658821158111,
175
+ 0.0811499907867983
176
+ ],
177
+ "orientation": {
178
+ "w": 0.02738248254386237,
179
+ "xyz": [
180
+ 0.024428310682029733,
181
+ 0.8813218795431793,
182
+ 0.47108937785247795
183
+ ]
184
+ }
185
+ },
186
+ "grasp_10": {
187
+ "confidence": 0.9809067845344543,
188
+ "position": [
189
+ -0.010778665951875155,
190
+ -0.10971538233570755,
191
+ 0.07259068184066564
192
+ ],
193
+ "orientation": {
194
+ "w": 0.03562621838338404,
195
+ "xyz": [
196
+ 0.023762311395350268,
197
+ 0.8726789664101089,
198
+ 0.48641293846508066
199
+ ]
200
+ }
201
+ },
202
+ "grasp_11": {
203
+ "confidence": 0.9807261824607849,
204
+ "position": [
205
+ -0.003996327463028138,
206
+ -0.1062890465836972,
207
+ 0.06425690196920186
208
+ ],
209
+ "orientation": {
210
+ "w": 0.011723803580110801,
211
+ "xyz": [
212
+ -0.015648567523849535,
213
+ -0.867884317156996,
214
+ -0.4963813924765921
215
+ ]
216
+ }
217
+ },
218
+ "grasp_12": {
219
+ "confidence": 0.9800121188163757,
220
+ "position": [
221
+ -0.007816591709342902,
222
+ -0.10244254278950393,
223
+ 0.06317264877725393
224
+ ],
225
+ "orientation": {
226
+ "w": 0.011948255897551635,
227
+ "xyz": [
228
+ 0.03442430195074145,
229
+ 0.8728800363228043,
230
+ 0.4865723469385717
231
+ ]
232
+ }
233
+ },
234
+ "grasp_13": {
235
+ "confidence": 0.9796255230903625,
236
+ "position": [
237
+ -0.0014351051668199943,
238
+ -0.0054777145851403475,
239
+ 0.12382774346042424
240
+ ],
241
+ "orientation": {
242
+ "w": 0.0005251605986530343,
243
+ "xyz": [
244
+ 0.9996656511680355,
245
+ -0.025265057551122325,
246
+ 0.005476033972841618
247
+ ]
248
+ }
249
+ },
250
+ "grasp_14": {
251
+ "confidence": 0.979557454586029,
252
+ "position": [
253
+ -0.0006308141182671534,
254
+ 0.02835305710323155,
255
+ 0.1153505026595667
256
+ ],
257
+ "orientation": {
258
+ "w": 0.16896794221219988,
259
+ "xyz": [
260
+ 0.9856197404046334,
261
+ -0.0016518098793776859,
262
+ -0.0009128819201999035
263
+ ]
264
+ }
265
+ },
266
+ "grasp_15": {
267
+ "confidence": 0.9786328673362732,
268
+ "position": [
269
+ -0.006080759167161887,
270
+ 0.04457373288460076,
271
+ 0.11030488007236272
272
+ ],
273
+ "orientation": {
274
+ "w": 0.018327716004448213,
275
+ "xyz": [
276
+ 0.008813349361287273,
277
+ 0.969380585587658,
278
+ -0.2447196354705231
279
+ ]
280
+ }
281
+ },
282
+ "grasp_16": {
283
+ "confidence": 0.9783431887626648,
284
+ "position": [
285
+ -0.0020976361720386194,
286
+ -0.10539623606018722,
287
+ 0.05857126333285123
288
+ ],
289
+ "orientation": {
290
+ "w": 0.0006465471979939807,
291
+ "xyz": [
292
+ -0.01347069456150194,
293
+ -0.8683456805987964,
294
+ -0.49577605967832383
295
+ ]
296
+ }
297
+ },
298
+ "grasp_17": {
299
+ "confidence": 0.9781041741371155,
300
+ "position": [
301
+ -0.017216906360772555,
302
+ -0.10359335201792419,
303
+ 0.0669363170163706
304
+ ],
305
+ "orientation": {
306
+ "w": 0.4701657130835453,
307
+ "xyz": [
308
+ -0.8789191226214825,
309
+ -0.006429996772092383,
310
+ -0.08002520398246618
311
+ ]
312
+ }
313
+ },
314
+ "grasp_18": {
315
+ "confidence": 0.9770366549491882,
316
+ "position": [
317
+ 0.0034856359106925083,
318
+ -0.10437392699532211,
319
+ 0.07087298028636724
320
+ ],
321
+ "orientation": {
322
+ "w": 0.4722302661555834,
323
+ "xyz": [
324
+ -0.8814042890796747,
325
+ -0.009203620051314365,
326
+ -0.006352030898140052
327
+ ]
328
+ }
329
+ },
330
+ "grasp_19": {
331
+ "confidence": 0.9767864942550659,
332
+ "position": [
333
+ -0.012193381264296477,
334
+ -0.11861852067522705,
335
+ 0.009493492660112679
336
+ ],
337
+ "orientation": {
338
+ "w": 0.02838309366598193,
339
+ "xyz": [
340
+ 0.017502631802062695,
341
+ 0.7082542297043994,
342
+ 0.7051694859959393
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "blade cover plate",
350
+ "mask_color": "Blue",
351
+ "graspable": false,
352
+ "grasp_scenarios": [],
353
+ "functional_labels": [
354
+ "cover blade area",
355
+ "expose sharpening slot",
356
+ "retain blade assembly",
357
+ "protect user from direct blade contact"
358
+ ],
359
+ "semantic_description": "Flat dark gray to black rectangular top plate with a smooth slightly glossy finish, inset into the top surface of the white housing around the sharpening slot.",
360
+ "id": 2,
361
+ "grasp_group": {}
362
+ },
363
+ {
364
+ "part_name": "blade screw",
365
+ "mask_color": "Orange",
366
+ "graspable": false,
367
+ "grasp_scenarios": [],
368
+ "functional_labels": [
369
+ "fasten blade",
370
+ "secure cutting assembly",
371
+ "maintain blade alignment"
372
+ ],
373
+ "semantic_description": "Small round silver metal screw head with a reflective finish, located near the center of the dark top plate.",
374
+ "id": 4,
375
+ "grasp_group": {}
376
+ },
377
+ {
378
+ "part_name": "pencil entry hole",
379
+ "mask_color": "Purple",
380
+ "graspable": false,
381
+ "grasp_scenarios": [],
382
+ "functional_labels": [
383
+ "accept pencil insertion",
384
+ "guide pencil toward cutter",
385
+ "indicate sharpening interface"
386
+ ],
387
+ "semantic_description": "Circular side opening with a dark recessed interior, located on one side of the white housing as the pencil input port.",
388
+ "id": 5,
389
+ "grasp_group": {}
390
+ },
391
+ {
392
+ "part_name": "logo marking",
393
+ "mask_color": "Cyan",
394
+ "graspable": false,
395
+ "grasp_scenarios": [],
396
+ "functional_labels": [
397
+ "brand identification",
398
+ "visual decoration",
399
+ "indicate side orientation"
400
+ ],
401
+ "semantic_description": "Printed black 'deli' logo on the side surfaces of the white housing, flat and non-structural.",
402
+ "id": 6,
403
+ "grasp_group": {}
404
+ }
405
+ ],
406
+ "quality_check": {
407
+ "success": false,
408
+ "message": "Missing major crank/handle and base parts; one graspability claim too broad for housing stabilization."
409
+ }
410
+ }
dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ad82cdf640c51cdb2f895ec2ec99fd425e79a0ca6be448abc7b175658ed7d136
3
+ size 3782192
dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.urdf CHANGED
@@ -47,7 +47,7 @@
47
  </link>
48
  <custom_data>
49
  <affordance>
50
- <part_count>7</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
@@ -57,7 +57,7 @@
57
  <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
- <PartSegChecker>NO: {"summary":"Most functional parts are merged into one body color; missing clear separation of crank, base, and shavings bin.","merge_groups":[]}</PartSegChecker>
61
  </quality>
62
  </custom_data>
63
  </robot>
 
47
  </link>
48
  <custom_data>
49
  <affordance>
50
+ <part_count>6</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
 
57
  <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
+ <PartSegChecker>NO: {"summary":"handle, shavings bin, and body are merged; key missing part boundaries cannot be recovered by merging","merge_groups":[]}</PartSegChecker>
61
  </quality>
62
  </custom_data>
63
  </robot>