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
b4b13ac
·
verified ·
1 Parent(s): 3b149a1

Add asset desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27/affordance/affordance_annot.json +366 -0
  3. dataset/desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6330,4 +6330,4 @@ dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/affo
6330
  dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6331
  dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6332
  dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6333
- dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6330
  dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6331
  dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6332
  dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6333
+ dataset/desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27/affordance/affordance_annot.json ADDED
@@ -0,0 +1,366 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap top",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "contact the top surface lightly while stabilizing the glue stick from above",
10
+ "confidence": 0.24
11
+ }
12
+ ],
13
+ "functional_labels": [
14
+ "close the top opening as part of the cap assembly",
15
+ "provide the cap's top end surface"
16
+ ],
17
+ "semantic_description": "Flat circular top surface of the cap, light pinkish-white in appearance, smooth plastic, located at the very top of the glue stick.",
18
+ "id": 0,
19
+ "grasp_group": {}
20
+ },
21
+ {
22
+ "part_name": "glue stick body",
23
+ "mask_color": "Green",
24
+ "graspable": true,
25
+ "grasp_scenarios": [
26
+ {
27
+ "scenario": "grasp the cylindrical body to pick up and hold the glue stick during use",
28
+ "confidence": 0.96
29
+ },
30
+ {
31
+ "scenario": "hold the body while removing or replacing the cap",
32
+ "confidence": 0.94
33
+ },
34
+ {
35
+ "scenario": "grasp the body to reposition or place the glue stick on a surface",
36
+ "confidence": 0.89
37
+ }
38
+ ],
39
+ "functional_labels": [
40
+ "main grasp surface",
41
+ "contain the glue and internal mechanism",
42
+ "support handling during application",
43
+ "display product label"
44
+ ],
45
+ "semantic_description": "Tall cylindrical main section with a printed paper label that is mostly light blue with white areas and visible branding/text, wrapped over hard plastic; surface is smooth and slightly glossy and forms most of the object's length.",
46
+ "id": 1,
47
+ "grasp_group": {
48
+ "grasp_0": {
49
+ "confidence": 0.9939857125282288,
50
+ "position": [
51
+ 0.025263368734158576,
52
+ 0.08313720158184879,
53
+ -0.07313100295141339
54
+ ],
55
+ "orientation": {
56
+ "w": 0.15632850691441513,
57
+ "xyz": [
58
+ -0.0556458339960601,
59
+ -0.5086378141282989,
60
+ 0.8448387497762985
61
+ ]
62
+ }
63
+ },
64
+ "grasp_1": {
65
+ "confidence": 0.993681788444519,
66
+ "position": [
67
+ -0.08826532249804586,
68
+ -0.03617273786221631,
69
+ 0.014135266188532114
70
+ ],
71
+ "orientation": {
72
+ "w": 0.5087752115787247,
73
+ "xyz": [
74
+ -0.6494379749600409,
75
+ 0.43812364045581675,
76
+ -0.3569674725189501
77
+ ]
78
+ }
79
+ },
80
+ "grasp_2": {
81
+ "confidence": 0.9936351776123047,
82
+ "position": [
83
+ -0.08406472986098379,
84
+ -0.04372970902477391,
85
+ 0.026111125480383635
86
+ ],
87
+ "orientation": {
88
+ "w": 0.5065831137905993,
89
+ "xyz": [
90
+ -0.6807825808627129,
91
+ 0.4310315955695696,
92
+ -0.3067904660136547
93
+ ]
94
+ }
95
+ },
96
+ "grasp_3": {
97
+ "confidence": 0.9935583472251892,
98
+ "position": [
99
+ 0.031073387362994254,
100
+ 0.08147877684677951,
101
+ -0.07427788572385907
102
+ ],
103
+ "orientation": {
104
+ "w": 0.8541194235508206,
105
+ "xyz": [
106
+ 0.4896252859391764,
107
+ -0.09584162598429291,
108
+ -0.14683825254639998
109
+ ]
110
+ }
111
+ },
112
+ "grasp_4": {
113
+ "confidence": 0.9933452606201172,
114
+ "position": [
115
+ -0.08613575284834951,
116
+ -0.03005733111058362,
117
+ 0.036372322123497725
118
+ ],
119
+ "orientation": {
120
+ "w": 0.4425160617238343,
121
+ "xyz": [
122
+ -0.6755078720464985,
123
+ 0.4942830312811597,
124
+ -0.321796418418768
125
+ ]
126
+ }
127
+ },
128
+ "grasp_5": {
129
+ "confidence": 0.9933362007141113,
130
+ "position": [
131
+ -0.016847497201524675,
132
+ -0.08413488187943585,
133
+ -0.08055230276659131
134
+ ],
135
+ "orientation": {
136
+ "w": 0.8641877830584571,
137
+ "xyz": [
138
+ -0.48761203631796673,
139
+ 0.052397526419267426,
140
+ -0.11255432855069299
141
+ ]
142
+ }
143
+ },
144
+ "grasp_6": {
145
+ "confidence": 0.9933311343193054,
146
+ "position": [
147
+ -0.07927914743777364,
148
+ -0.040101980353938416,
149
+ 0.04328325716778636
150
+ ],
151
+ "orientation": {
152
+ "w": 0.430921584780348,
153
+ "xyz": [
154
+ -0.7338360175248354,
155
+ 0.4450810560955083,
156
+ -0.27873668696206694
157
+ ]
158
+ }
159
+ },
160
+ "grasp_7": {
161
+ "confidence": 0.9932156205177307,
162
+ "position": [
163
+ 0.020098494016565382,
164
+ 0.08607915273751132,
165
+ -0.06619449751451612
166
+ ],
167
+ "orientation": {
168
+ "w": 0.11976541965697965,
169
+ "xyz": [
170
+ -0.045355728084331484,
171
+ -0.5182739263844285,
172
+ 0.8455715460056562
173
+ ]
174
+ }
175
+ },
176
+ "grasp_8": {
177
+ "confidence": 0.9931775331497192,
178
+ "position": [
179
+ 0.025055851438082755,
180
+ 0.08504703125800006,
181
+ -0.06999853299930692
182
+ ],
183
+ "orientation": {
184
+ "w": 0.8542724432742372,
185
+ "xyz": [
186
+ 0.5005996920584298,
187
+ -0.07398349079930777,
188
+ -0.11893268710669765
189
+ ]
190
+ }
191
+ },
192
+ "grasp_9": {
193
+ "confidence": 0.9931687116622925,
194
+ "position": [
195
+ 0.024108742945827544,
196
+ 0.08296723893727176,
197
+ -0.06263455422595143
198
+ ],
199
+ "orientation": {
200
+ "w": 0.1232190125645758,
201
+ "xyz": [
202
+ -0.06198257398766422,
203
+ -0.5038188003686055,
204
+ 0.8527261294575262
205
+ ]
206
+ }
207
+ },
208
+ "grasp_10": {
209
+ "confidence": 0.9929909706115723,
210
+ "position": [
211
+ -0.09121867304202169,
212
+ -0.028031982044922188,
213
+ 0.0007039564661681652
214
+ ],
215
+ "orientation": {
216
+ "w": 0.5127023763093165,
217
+ "xyz": [
218
+ -0.6220183358763213,
219
+ 0.4575600930641347,
220
+ -0.3753241590886106
221
+ ]
222
+ }
223
+ },
224
+ "grasp_11": {
225
+ "confidence": 0.9928890466690063,
226
+ "position": [
227
+ -0.07631793653126806,
228
+ -0.04788838097010739,
229
+ 0.03867168305441737
230
+ ],
231
+ "orientation": {
232
+ "w": 0.45762367299824747,
233
+ "xyz": [
234
+ -0.7358228732788323,
235
+ 0.42804423570664984,
236
+ -0.25675553616151403
237
+ ]
238
+ }
239
+ },
240
+ "grasp_12": {
241
+ "confidence": 0.9928861260414124,
242
+ "position": [
243
+ 0.02880960109177977,
244
+ 0.07972803196753375,
245
+ -0.07161881076171994
246
+ ],
247
+ "orientation": {
248
+ "w": 0.8633792741525337,
249
+ "xyz": [
250
+ 0.47824939825151586,
251
+ -0.08331887634726887,
252
+ -0.13751984176887128
253
+ ]
254
+ }
255
+ },
256
+ "grasp_13": {
257
+ "confidence": 0.9928483963012695,
258
+ "position": [
259
+ -0.09503836219664663,
260
+ -0.02145302065764554,
261
+ -0.03559950040653348
262
+ ],
263
+ "orientation": {
264
+ "w": 0.5832406318822102,
265
+ "xyz": [
266
+ -0.5059940261473821,
267
+ 0.4011861696497575,
268
+ -0.4927982022152264
269
+ ]
270
+ }
271
+ },
272
+ "grasp_14": {
273
+ "confidence": 0.9928324222564697,
274
+ "position": [
275
+ 0.019351675757206976,
276
+ 0.09042473367298953,
277
+ -0.06809880631044507
278
+ ],
279
+ "orientation": {
280
+ "w": 0.8484555447354002,
281
+ "xyz": [
282
+ 0.5207111748031726,
283
+ -0.047925981548535335,
284
+ -0.08176895092554777
285
+ ]
286
+ }
287
+ },
288
+ "grasp_16": {
289
+ "confidence": 0.9927432537078857,
290
+ "position": [
291
+ -0.08435687457676977,
292
+ -0.03490996875916608,
293
+ 0.02839283784851432
294
+ ],
295
+ "orientation": {
296
+ "w": 0.45322040440761235,
297
+ "xyz": [
298
+ -0.6902251529298028,
299
+ 0.46493079621847777,
300
+ -0.31940547587554413
301
+ ]
302
+ }
303
+ },
304
+ "grasp_18": {
305
+ "confidence": 0.9926292896270752,
306
+ "position": [
307
+ 0.018912877538241446,
308
+ 0.09272246292675845,
309
+ -0.0591134955175221
310
+ ],
311
+ "orientation": {
312
+ "w": 0.09990657444828394,
313
+ "xyz": [
314
+ -0.04975711396981434,
315
+ -0.5722290386548444,
316
+ 0.8124634350612686
317
+ ]
318
+ }
319
+ },
320
+ "grasp_19": {
321
+ "confidence": 0.9926241636276245,
322
+ "position": [
323
+ -0.06701034342404455,
324
+ -0.06258735575829633,
325
+ 0.044696326833218336
326
+ ],
327
+ "orientation": {
328
+ "w": 0.4916355523258004,
329
+ "xyz": [
330
+ -0.7724739464529863,
331
+ 0.3281781348533729,
332
+ -0.23211548320785363
333
+ ]
334
+ }
335
+ }
336
+ }
337
+ },
338
+ {
339
+ "part_name": "base dial",
340
+ "mask_color": "Blue",
341
+ "graspable": true,
342
+ "grasp_scenarios": [
343
+ {
344
+ "scenario": "grasp or pinch the bottom dial to rotate it and advance or retract the glue stick mechanism",
345
+ "confidence": 0.87
346
+ },
347
+ {
348
+ "scenario": "hold the bottom end to stabilize or lift the glue stick",
349
+ "confidence": 0.58
350
+ }
351
+ ],
352
+ "functional_labels": [
353
+ "twist mechanism for advancing or retracting glue",
354
+ "support standing upright",
355
+ "form the bottom end of the container"
356
+ ],
357
+ "semantic_description": "Dark blue plastic bottom dial at the lower end, circular and slightly protruding, with a smooth somewhat glossy finish; its underside appears pale blue/whitish from the bottom view.",
358
+ "id": 2,
359
+ "grasp_group": {}
360
+ }
361
+ ],
362
+ "quality_check": {
363
+ "success": true,
364
+ "message": "YES"
365
+ }
366
+ }
dataset/desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c461abaf4a4ef205a44fb37a8c6028694398f6b55d2e90546d242f14cec4eed
3
+ size 3780552