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
9de5387
·
verified ·
1 Parent(s): fa2fb1b

Add asset desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/affordance_annot.json +362 -0
  3. dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/correction_tape_014.urdf +1 -0
.gitattributes CHANGED
@@ -6426,4 +6426,4 @@ dataset/desktop_supplies/office_stationery/960b345e73835a318c15f7015bdd72e5/affo
6426
  dataset/desktop_supplies/office_stationery/9647eb53f2ff5028b3659cf5ca59542a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6427
  dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6428
  dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6429
- dataset/desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6426
  dataset/desktop_supplies/office_stationery/9647eb53f2ff5028b3659cf5ca59542a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6427
  dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6428
  dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6429
+ dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "outer housing",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the housing body to pick up and move the correction tape dispenser",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the housing to stabilize the dispenser while applying tape",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "reorient the dispenser by gripping the side body",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "enclose internal mechanism",
23
+ "main grasp surface",
24
+ "support tape application",
25
+ "protect internal parts"
26
+ ],
27
+ "semantic_description": "Large teardrop-shaped black plastic body with a mostly matte to satin finish, hard smooth surface, and printed white branding/text on the side, forming the main outer shell of the dispenser.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9217684268951416,
32
+ "position": [
33
+ 0.05245028555509634,
34
+ -0.09240050241351128,
35
+ -0.0033457225472375285
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6091979232940654,
39
+ "xyz": [
40
+ -0.3626533950211579,
41
+ -0.5990301826357046,
42
+ -0.37218711104128815
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.8944182991981506,
48
+ "position": [
49
+ 0.05106908947345801,
50
+ -0.09602602943778038,
51
+ -0.005891385935683502
52
+ ],
53
+ "orientation": {
54
+ "w": 0.38366428178396894,
55
+ "xyz": [
56
+ -0.585214800189641,
57
+ 0.3735169078065328,
58
+ 0.6089420958554564
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.8894227147102356,
64
+ "position": [
65
+ 0.04921692729112692,
66
+ -0.0933842845261097,
67
+ -0.0013224347312643658
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5880997676815912,
71
+ "xyz": [
72
+ -0.3718444214115094,
73
+ -0.6011079363404346,
74
+ -0.39311529910007614
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.8865222930908203,
80
+ "position": [
81
+ 0.04110377773758955,
82
+ -0.09771312400698662,
83
+ -0.003077782672335161
84
+ ],
85
+ "orientation": {
86
+ "w": 0.40559287586341153,
87
+ "xyz": [
88
+ -0.5785516867953354,
89
+ 0.40514251930250833,
90
+ 0.5801998826338526
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.8813170790672302,
96
+ "position": [
97
+ -0.02025395884993486,
98
+ -0.09723800048232079,
99
+ 0.040281556564877974
100
+ ],
101
+ "orientation": {
102
+ "w": 0.0633735859850289,
103
+ "xyz": [
104
+ 0.08783074091928514,
105
+ 0.836333295861866,
106
+ 0.5374161960545999
107
+ ]
108
+ }
109
+ },
110
+ "grasp_6": {
111
+ "confidence": 0.8811832666397095,
112
+ "position": [
113
+ 0.039516371936770156,
114
+ -0.09499594941735268,
115
+ -0.0021772547443106305
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4084588313609518,
119
+ "xyz": [
120
+ -0.5797954756356712,
121
+ 0.4057748560948756,
122
+ 0.5764940205039724
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.8782448172569275,
128
+ "position": [
129
+ 0.04039117813226767,
130
+ -0.09670674428343773,
131
+ -0.002795311371301068
132
+ ],
133
+ "orientation": {
134
+ "w": 0.4070827204839706,
135
+ "xyz": [
136
+ -0.5712132197137096,
137
+ 0.41136868553662975,
138
+ 0.5820437448057768
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.8743578791618347,
144
+ "position": [
145
+ -0.031050004734424874,
146
+ -0.09036821499466896,
147
+ 0.04763980584175442
148
+ ],
149
+ "orientation": {
150
+ "w": 0.09706493883978827,
151
+ "xyz": [
152
+ 0.1303480549453416,
153
+ 0.8486688306768456,
154
+ 0.5033378567697744
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.872580349445343,
160
+ "position": [
161
+ -0.004729283245978877,
162
+ -0.10744983330368996,
163
+ -0.002137470040906919
164
+ ],
165
+ "orientation": {
166
+ "w": 0.528302625461637,
167
+ "xyz": [
168
+ -0.4578363586983177,
169
+ 0.5377081789519889,
170
+ 0.4713301590948144
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.8659414052963257,
176
+ "position": [
177
+ 0.0400910091411788,
178
+ -0.10391088202595711,
179
+ -0.0029103767410560977
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5746232921154293,
183
+ "xyz": [
184
+ -0.4035945731219439,
185
+ -0.5692484425859898,
186
+ -0.4276396886613393
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.8579670190811157,
192
+ "position": [
193
+ -0.003450832999078557,
194
+ -0.10654408857226372,
195
+ -0.001408749358233763
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5266841931638235,
199
+ "xyz": [
200
+ -0.4588500627116607,
201
+ 0.5371401541641609,
202
+ 0.472801052669491
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.8572491407394409,
208
+ "position": [
209
+ 0.03973148882505484,
210
+ -0.10172263905405998,
211
+ -0.002648661127750529
212
+ ],
213
+ "orientation": {
214
+ "w": 0.41560581462960444,
215
+ "xyz": [
216
+ -0.5720623204862479,
217
+ 0.4165952634867681,
218
+ 0.5713710657412953
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.855066180229187,
224
+ "position": [
225
+ 0.04063652947661467,
226
+ -0.09319816902279854,
227
+ -0.0018905328870459925
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5783028438439781,
231
+ "xyz": [
232
+ -0.3903610426165502,
233
+ -0.5807289531584705,
234
+ -0.4194495919329932
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.8537389039993286,
240
+ "position": [
241
+ -0.020352092309622094,
242
+ -0.09073900058865547,
243
+ 0.0446840152326331
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5182369726581749,
247
+ "xyz": [
248
+ -0.8467923771184831,
249
+ 0.09371415791824378,
250
+ -0.0747714305720649
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "tape reel",
258
+ "mask_color": "Orange",
259
+ "graspable": false,
260
+ "grasp_scenarios": [],
261
+ "functional_labels": [
262
+ "store correction tape",
263
+ "feed tape through the mechanism",
264
+ "enable tape rotation"
265
+ ],
266
+ "semantic_description": "Round off-white plastic spool with fine toothed edges and a black central hub, visible through the side opening as a medium-sized internal rotating part near the wider end.",
267
+ "id": 4,
268
+ "grasp_group": {}
269
+ },
270
+ {
271
+ "part_name": "label panel",
272
+ "mask_color": "Purple",
273
+ "graspable": false,
274
+ "grasp_scenarios": [],
275
+ "functional_labels": [
276
+ "provide product identification",
277
+ "display branding",
278
+ "indicate orientation"
279
+ ],
280
+ "semantic_description": "Flat black side panel area with white printed text and logo, smooth and slightly glossy, occupying a medium triangular patch on one face of the housing.",
281
+ "id": 5,
282
+ "grasp_group": {}
283
+ },
284
+ {
285
+ "part_name": "applicator tip assembly",
286
+ "mask_color": "Yellow",
287
+ "graspable": true,
288
+ "grasp_scenarios": [
289
+ {
290
+ "scenario": "delicately grasp the front tip assembly to orient the dispenser during fine manipulation",
291
+ "confidence": 0.32
292
+ },
293
+ {
294
+ "scenario": "lightly hold the front end during inspection or careful placement",
295
+ "confidence": 0.27
296
+ }
297
+ ],
298
+ "functional_labels": [
299
+ "apply correction tape",
300
+ "guide tape onto paper",
301
+ "define contact point",
302
+ "connect the dispensing tip to the housing"
303
+ ],
304
+ "semantic_description": "Small white plastic front dispensing tip with a smooth hard finish and wedge-like angular shape, protruding from the narrow end; the masked region also includes the small adjoining base/collar area at the front of the housing.",
305
+ "id": 3,
306
+ "grasp_group": {
307
+ "grasp_20": {
308
+ "confidence": 0.3429194986820221,
309
+ "position": [
310
+ -0.012472107744542882,
311
+ 0.12895475700497627,
312
+ 0.01616574825675343
313
+ ],
314
+ "orientation": {
315
+ "w": 0.51077620527255,
316
+ "xyz": [
317
+ 0.4498019013027269,
318
+ 0.5897714717317004,
319
+ -0.43469015268723243
320
+ ]
321
+ }
322
+ },
323
+ "grasp_28": {
324
+ "confidence": 0.6453266739845276,
325
+ "position": [
326
+ 0.019131050707073882,
327
+ 0.12785625830292702,
328
+ 0.0018114550221071113
329
+ ],
330
+ "orientation": {
331
+ "w": 0.4476523409978276,
332
+ "xyz": [
333
+ 0.533530100679282,
334
+ 0.47741461612023073,
335
+ -0.5357502193962155
336
+ ]
337
+ }
338
+ },
339
+ "grasp_29": {
340
+ "confidence": 0.8630675077438354,
341
+ "position": [
342
+ -0.021954628376988694,
343
+ 0.11804724112153053,
344
+ -0.0011850074915855657
345
+ ],
346
+ "orientation": {
347
+ "w": 0.5979010790200363,
348
+ "xyz": [
349
+ 0.44254223027549966,
350
+ 0.5312943705021596,
351
+ -0.4054589572351023
352
+ ]
353
+ }
354
+ }
355
+ }
356
+ }
357
+ ],
358
+ "quality_check": {
359
+ "success": true,
360
+ "message": "YES"
361
+ }
362
+ }
dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0573c3128791fb498bdc177c72cac6af741bf294a359c42dd83d825822693641
3
+ size 3787384
dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/correction_tape_014.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":"Tape housing and applicator tip are reasonable, but printed label is wrongly segmented as a functional 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":"Tape housing and applicator tip are reasonable, but printed label is wrongly segmented as a functional part.","merge_groups":[]}</PartSegChecker>