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
b17d378
·
verified ·
1 Parent(s): 89c4e47

Add asset desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/affordance_annot.json +446 -0
  3. dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6455,3 +6455,4 @@ dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affo
6455
  dataset/desktop_supplies/office_stationery/aa09b94522e2576a9c2d08dfdc9667c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6456
  dataset/desktop_supplies/office_stationery/aa3b60f04bbc5f628117a21c078e7b2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6457
  dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6455
  dataset/desktop_supplies/office_stationery/aa09b94522e2576a9c2d08dfdc9667c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6456
  dataset/desktop_supplies/office_stationery/aa3b60f04bbc5f628117a21c078e7b2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6457
  dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6458
+ dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/affordance_annot.json ADDED
@@ -0,0 +1,446 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pencil body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pencil body around the middle to pick up and hold the pencil",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "grasp the pencil body to orient the sharpened tip for writing or drawing",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the pencil body to stabilize the pencil while placing it into a holder or moving it",
18
+ "confidence": 0.85
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "support writing and drawing use",
24
+ "house the colored core",
25
+ "provide structural body",
26
+ "indicate tool orientation"
27
+ ],
28
+ "semantic_description": "Long hexagonal yellow-orange painted wooden barrel with a smooth slightly glossy surface, elongated and medium-thick, forming most of the pencil.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_21": {
32
+ "confidence": 0.9942313432693481,
33
+ "position": [
34
+ -0.00431280373595655,
35
+ -0.022677608765661716,
36
+ -0.09586260629293974
37
+ ],
38
+ "orientation": {
39
+ "w": 0.7051058753565808,
40
+ "xyz": [
41
+ -0.034898160148092994,
42
+ -0.11368338298993397,
43
+ -0.6990593046286359
44
+ ]
45
+ }
46
+ },
47
+ "grasp_24": {
48
+ "confidence": 0.9938375353813171,
49
+ "position": [
50
+ -0.015961704775691032,
51
+ -0.011892110109329224,
52
+ -0.09802273077366408
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7058520951486577,
56
+ "xyz": [
57
+ -0.04501283203625826,
58
+ 0.03335734673273738,
59
+ 0.7061401788209464
60
+ ]
61
+ }
62
+ },
63
+ "grasp_25": {
64
+ "confidence": 0.993822455406189,
65
+ "position": [
66
+ -0.013323747087270021,
67
+ 0.0017155586974695325,
68
+ -0.09803710294363555
69
+ ],
70
+ "orientation": {
71
+ "w": 0.7131206328194682,
72
+ "xyz": [
73
+ 0.009386695000566509,
74
+ 0.007078321341277505,
75
+ -0.7009427582699727
76
+ ]
77
+ }
78
+ },
79
+ "grasp_26": {
80
+ "confidence": 0.9938018918037415,
81
+ "position": [
82
+ -0.001665246207267046,
83
+ -0.00230654189363122,
84
+ -0.09908803713915404
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7105265494846275,
88
+ "xyz": [
89
+ -0.012462575113039586,
90
+ -0.0025617252667381463,
91
+ -0.7035553597711263
92
+ ]
93
+ }
94
+ },
95
+ "grasp_27": {
96
+ "confidence": 0.9937595725059509,
97
+ "position": [
98
+ 0.002387847751379013,
99
+ -0.013111270032823086,
100
+ -0.09468250883219298
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6996435138199442,
104
+ "xyz": [
105
+ -0.008742671962048337,
106
+ 0.07441327166283396,
107
+ 0.7105527315105314
108
+ ]
109
+ }
110
+ },
111
+ "grasp_29": {
112
+ "confidence": 0.9937145113945007,
113
+ "position": [
114
+ 0.0037999730557203293,
115
+ -0.004694722592830658,
116
+ -0.09902730745670851
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7036494642788298,
120
+ "xyz": [
121
+ -0.032157932782318155,
122
+ -0.002284747694876521,
123
+ 0.7098155244197284
124
+ ]
125
+ }
126
+ },
127
+ "grasp_33": {
128
+ "confidence": 0.9935445785522461,
129
+ "position": [
130
+ 0.0029817642644047737,
131
+ -0.011338412761688232,
132
+ -0.09877007616159972
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7087232613233065,
136
+ "xyz": [
137
+ 0.011506035519165462,
138
+ -0.07256159858049827,
139
+ -0.7016507424761488
140
+ ]
141
+ }
142
+ },
143
+ "grasp_35": {
144
+ "confidence": 0.9935247898101807,
145
+ "position": [
146
+ -0.017781449481844902,
147
+ -0.016604202799499035,
148
+ -0.0981362627208
149
+ ],
150
+ "orientation": {
151
+ "w": 0.7044918555018258,
152
+ "xyz": [
153
+ -0.04261335559609562,
154
+ 0.06307304035014605,
155
+ 0.7056182530500639
156
+ ]
157
+ }
158
+ },
159
+ "grasp_38": {
160
+ "confidence": 0.9933829307556152,
161
+ "position": [
162
+ -0.019072016701102257,
163
+ -0.0025206757709383965,
164
+ -0.09948595774767455
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7103899794856561,
168
+ "xyz": [
169
+ -0.02198975269689955,
170
+ 0.005631889264745671,
171
+ -0.7034421153485252
172
+ ]
173
+ }
174
+ }
175
+ }
176
+ },
177
+ {
178
+ "part_name": "eraser end cap",
179
+ "mask_color": "Red",
180
+ "graspable": true,
181
+ "grasp_scenarios": [
182
+ {
183
+ "scenario": "pinch the rear end cap briefly to reposition or lift the pencil when an end grasp is sufficient",
184
+ "confidence": 0.52
185
+ },
186
+ {
187
+ "scenario": "grasp the rear end cap briefly to orient the pencil before shifting to a more secure body grasp",
188
+ "confidence": 0.44
189
+ }
190
+ ],
191
+ "functional_labels": [
192
+ "mark the non-writing end",
193
+ "provide a soft contact end",
194
+ "finish the rear end of the pencil"
195
+ ],
196
+ "semantic_description": "Small bright red rounded end cap at the blunt rear end of the pencil, with a smooth matte-to-satin appearance and short cylindrical shape contrasting with the painted wooden body.",
197
+ "id": 0,
198
+ "grasp_group": {
199
+ "grasp_0": {
200
+ "confidence": 0.9628996849060059,
201
+ "position": [
202
+ -0.07333077862858772,
203
+ 0.015117465518414974,
204
+ 0.09440789955260698
205
+ ],
206
+ "orientation": {
207
+ "w": 0.09321519374301745,
208
+ "xyz": [
209
+ 0.7132651229058209,
210
+ 0.6944676772708908,
211
+ -0.016686441429200127
212
+ ]
213
+ }
214
+ },
215
+ "grasp_3": {
216
+ "confidence": 0.9429960250854492,
217
+ "position": [
218
+ -0.07554991915822029,
219
+ 0.0961886728182435,
220
+ -0.006795682231313549
221
+ ],
222
+ "orientation": {
223
+ "w": 0.48556130794827596,
224
+ "xyz": [
225
+ 0.511935500687942,
226
+ -0.45829568888990535,
227
+ 0.5404787885790452
228
+ ]
229
+ }
230
+ },
231
+ "grasp_5": {
232
+ "confidence": 0.9369021654129028,
233
+ "position": [
234
+ -0.11479080095887184,
235
+ 0.002384025137871504,
236
+ 0.08662891226413194
237
+ ],
238
+ "orientation": {
239
+ "w": 0.18699383299604297,
240
+ "xyz": [
241
+ 0.6826201659444351,
242
+ 0.6846637828926383,
243
+ 0.17406470021972464
244
+ ]
245
+ }
246
+ },
247
+ "grasp_7": {
248
+ "confidence": 0.9199506044387817,
249
+ "position": [
250
+ -0.0834619514644146,
251
+ 0.09636990074068308,
252
+ -0.012096815495169722
253
+ ],
254
+ "orientation": {
255
+ "w": 0.5706569045807444,
256
+ "xyz": [
257
+ 0.4433423247276674,
258
+ 0.5171718660698101,
259
+ -0.4586191680526022
260
+ ]
261
+ }
262
+ },
263
+ "grasp_8": {
264
+ "confidence": 0.9163067936897278,
265
+ "position": [
266
+ -0.11618923768401146,
267
+ 0.08573197666555643,
268
+ -0.016956094405031763
269
+ ],
270
+ "orientation": {
271
+ "w": 0.4006937901056668,
272
+ "xyz": [
273
+ 0.5828242953633773,
274
+ -0.29165210780582773,
275
+ 0.6439715640595924
276
+ ]
277
+ }
278
+ },
279
+ "grasp_9": {
280
+ "confidence": 0.9156391620635986,
281
+ "position": [
282
+ -0.1189742274582386,
283
+ -0.009792899712920189,
284
+ 0.08489898430707399
285
+ ],
286
+ "orientation": {
287
+ "w": 0.21411277145900923,
288
+ "xyz": [
289
+ -0.6782604946193205,
290
+ 0.6816341148623966,
291
+ -0.1717362978308723
292
+ ]
293
+ }
294
+ },
295
+ "grasp_10": {
296
+ "confidence": 0.9146386384963989,
297
+ "position": [
298
+ -0.0706201009452343,
299
+ 0.07394823525100946,
300
+ 0.06466635155084077
301
+ ],
302
+ "orientation": {
303
+ "w": 0.32569009901517737,
304
+ "xyz": [
305
+ 0.6514222011033323,
306
+ 0.6363394305779828,
307
+ -0.25425814520849116
308
+ ]
309
+ }
310
+ },
311
+ "grasp_11": {
312
+ "confidence": 0.9121349453926086,
313
+ "position": [
314
+ -0.02623417042195797,
315
+ 0.005485631059855223,
316
+ -0.0896950156748062
317
+ ],
318
+ "orientation": {
319
+ "w": 0.7007366481123388,
320
+ "xyz": [
321
+ 0.17128314098429054,
322
+ -0.14721308319552917,
323
+ -0.6767263433197395
324
+ ]
325
+ }
326
+ },
327
+ "grasp_13": {
328
+ "confidence": 0.9115377068519592,
329
+ "position": [
330
+ -0.11606142297387123,
331
+ -0.011086743324995041,
332
+ 0.08184289770724718
333
+ ],
334
+ "orientation": {
335
+ "w": 0.14833221090765375,
336
+ "xyz": [
337
+ 0.6850855326808938,
338
+ 0.6793662983094166,
339
+ 0.2170640477830086
340
+ ]
341
+ }
342
+ },
343
+ "grasp_14": {
344
+ "confidence": 0.9078607559204102,
345
+ "position": [
346
+ -0.11655442789196968,
347
+ -0.008864366449415684,
348
+ -0.08550334138271865
349
+ ],
350
+ "orientation": {
351
+ "w": 0.6985956806517288,
352
+ "xyz": [
353
+ -0.19561116460976513,
354
+ 0.15149648544603467,
355
+ -0.6713785535391034
356
+ ]
357
+ }
358
+ },
359
+ "grasp_15": {
360
+ "confidence": 0.9073020219802856,
361
+ "position": [
362
+ -0.06790271401405334,
363
+ 0.09325122181326151,
364
+ -0.03217613113520201
365
+ ],
366
+ "orientation": {
367
+ "w": 0.5527125896564743,
368
+ "xyz": [
369
+ 0.4454638375400525,
370
+ -0.4239732606240405,
371
+ 0.5624210495306369
372
+ ]
373
+ }
374
+ },
375
+ "grasp_16": {
376
+ "confidence": 0.905559241771698,
377
+ "position": [
378
+ -0.12363434955477715,
379
+ 0.011852744035422802,
380
+ 0.07874566900136415
381
+ ],
382
+ "orientation": {
383
+ "w": 0.16605837445954086,
384
+ "xyz": [
385
+ -0.6752402413360215,
386
+ 0.6665898133740946,
387
+ -0.26857634567887145
388
+ ]
389
+ }
390
+ },
391
+ "grasp_17": {
392
+ "confidence": 0.9028964638710022,
393
+ "position": [
394
+ -0.11944422498345375,
395
+ 0.010085168294608593,
396
+ 0.08322964447143022
397
+ ],
398
+ "orientation": {
399
+ "w": 0.15023434550655343,
400
+ "xyz": [
401
+ -0.6794280989136118,
402
+ 0.6791936451170335,
403
+ -0.23345897341822128
404
+ ]
405
+ }
406
+ },
407
+ "grasp_18": {
408
+ "confidence": 0.8971604108810425,
409
+ "position": [
410
+ -0.1341482512652874,
411
+ 0.01595792267471552,
412
+ 0.07229020285012666
413
+ ],
414
+ "orientation": {
415
+ "w": 0.31339391837807684,
416
+ "xyz": [
417
+ 0.6472743092358296,
418
+ 0.6656118664695401,
419
+ 0.19945190834346463
420
+ ]
421
+ }
422
+ },
423
+ "grasp_19": {
424
+ "confidence": 0.8943817615509033,
425
+ "position": [
426
+ -0.11764155700802803,
427
+ 0.08388844225555658,
428
+ -0.014702006927109323
429
+ ],
430
+ "orientation": {
431
+ "w": 0.6404510455026262,
432
+ "xyz": [
433
+ 0.3026109402562571,
434
+ 0.5891214824336197,
435
+ -0.388825097038542
436
+ ]
437
+ }
438
+ }
439
+ }
440
+ }
441
+ ],
442
+ "quality_check": {
443
+ "success": false,
444
+ "message": "Rear red part is not an eraser cap; it is just a painted end. Functional labels and description are incorrect."
445
+ }
446
+ }
dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:acc164cd1fc7befc982c1dd3d74608601bfa52100ebd966edfb754f4159e5170
3
+ size 719940