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
b7e40b0
·
verified ·
1 Parent(s): 70ada2c

Add asset desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/affordance_annot.json +530 -0
  3. dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6196,4 +6196,4 @@ dataset/desktop_supplies/electronic_accessories/250f4492b04e5be2a7c02dee9e908d23
6196
  dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6197
  dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6198
  dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6199
- dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6196
  dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6197
  dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6198
  dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6199
+ dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/affordance_annot.json ADDED
@@ -0,0 +1,530 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "charger body",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and move the charger",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body while inserting or removing the charger from a wall outlet",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the charger body while aligning a charging cable with the output port",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main housing",
23
+ "enclose internal electronics",
24
+ "provide primary grasp surface",
25
+ "support plug and port mounting"
26
+ ],
27
+ "semantic_description": "Large white hard-plastic housing with a smooth satin finish, rounded rectangular block shape, occupying most of the charger. One side shows a gray Apple logo centered within a subtle circular recessed area.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_14": {
31
+ "confidence": 0.9694095253944397,
32
+ "position": [
33
+ -0.0077928305545356125,
34
+ -0.05259896023198962,
35
+ 0.08604028941772413
36
+ ],
37
+ "orientation": {
38
+ "w": 0.25841743364444947,
39
+ "xyz": [
40
+ -0.9648384305625911,
41
+ 0.04051255492835287,
42
+ -0.025806313012707582
43
+ ]
44
+ }
45
+ },
46
+ "grasp_15": {
47
+ "confidence": 0.9688900113105774,
48
+ "position": [
49
+ -0.015735767869045958,
50
+ -0.05024781031534076,
51
+ 0.08557602138898801
52
+ ],
53
+ "orientation": {
54
+ "w": 0.2561947202987203,
55
+ "xyz": [
56
+ -0.9629735597067671,
57
+ 0.049399646447619516,
58
+ -0.0678665125639167
59
+ ]
60
+ }
61
+ },
62
+ "grasp_16": {
63
+ "confidence": 0.9675365686416626,
64
+ "position": [
65
+ -0.006362259009620175,
66
+ -0.05122553510591388,
67
+ 0.08500459165952634
68
+ ],
69
+ "orientation": {
70
+ "w": 0.257957332829465,
71
+ "xyz": [
72
+ -0.9650544908526321,
73
+ 0.041199113583614444,
74
+ -0.020747943623406786
75
+ ]
76
+ }
77
+ },
78
+ "grasp_17": {
79
+ "confidence": 0.9668228030204773,
80
+ "position": [
81
+ -0.010996256110956892,
82
+ -0.04993732599541545,
83
+ 0.08702888460538816
84
+ ],
85
+ "orientation": {
86
+ "w": 0.25909473979943515,
87
+ "xyz": [
88
+ -0.9626024672655162,
89
+ 0.06822658436705908,
90
+ -0.040143978480071195
91
+ ]
92
+ }
93
+ },
94
+ "grasp_18": {
95
+ "confidence": 0.9665534496307373,
96
+ "position": [
97
+ -0.012691070412984118,
98
+ -0.050984356086701155,
99
+ 0.08498109252832364
100
+ ],
101
+ "orientation": {
102
+ "w": 0.24964954592031202,
103
+ "xyz": [
104
+ -0.9659339336915528,
105
+ 0.046534879483762615,
106
+ -0.049812096486460455
107
+ ]
108
+ }
109
+ },
110
+ "grasp_19": {
111
+ "confidence": 0.9663141369819641,
112
+ "position": [
113
+ -0.009942055767169222,
114
+ -0.052633683662861586,
115
+ 0.08588578672788572
116
+ ],
117
+ "orientation": {
118
+ "w": 0.2522632442288974,
119
+ "xyz": [
120
+ -0.9660417895458511,
121
+ 0.04204478022816277,
122
+ -0.036861265818292265
123
+ ]
124
+ }
125
+ },
126
+ "grasp_20": {
127
+ "confidence": 0.9653973579406738,
128
+ "position": [
129
+ -0.004849899181863293,
130
+ -0.0014694991987198591,
131
+ 0.10112755121372174
132
+ ],
133
+ "orientation": {
134
+ "w": 0.01571824443470181,
135
+ "xyz": [
136
+ -0.998101350423108,
137
+ 0.05503625394196507,
138
+ -0.02275174339462002
139
+ ]
140
+ }
141
+ },
142
+ "grasp_21": {
143
+ "confidence": 0.9648419618606567,
144
+ "position": [
145
+ -0.016891075385501608,
146
+ -0.04378926707431674,
147
+ 0.08920820923231076
148
+ ],
149
+ "orientation": {
150
+ "w": 0.2449629878596045,
151
+ "xyz": [
152
+ -0.9653884900361731,
153
+ 0.04704289105238102,
154
+ -0.07619162871343947
155
+ ]
156
+ }
157
+ },
158
+ "grasp_22": {
159
+ "confidence": 0.9645559191703796,
160
+ "position": [
161
+ 0.09961216142983176,
162
+ -0.013297845143824816,
163
+ 0.001954079416464083
164
+ ],
165
+ "orientation": {
166
+ "w": 0.011628323089051977,
167
+ "xyz": [
168
+ -0.7069361751054097,
169
+ 0.04397869118548625,
170
+ 0.7058129363727204
171
+ ]
172
+ }
173
+ },
174
+ "grasp_23": {
175
+ "confidence": 0.96288001537323,
176
+ "position": [
177
+ 0.10128685823292471,
178
+ 0.00421243067830801,
179
+ 0.005274372917483561
180
+ ],
181
+ "orientation": {
182
+ "w": 0.686712984895868,
183
+ "xyz": [
184
+ -0.007653712783429715,
185
+ -0.7263581582628802,
186
+ -0.027758295714853276
187
+ ]
188
+ }
189
+ },
190
+ "grasp_24": {
191
+ "confidence": 0.9627983570098877,
192
+ "position": [
193
+ -0.027203559962799773,
194
+ -0.08170597581192851,
195
+ 0.05123873175762128
196
+ ],
197
+ "orientation": {
198
+ "w": 0.48244280879200574,
199
+ "xyz": [
200
+ -0.8656262441943521,
201
+ 0.05578557809631113,
202
+ -0.12177073081541549
203
+ ]
204
+ }
205
+ },
206
+ "grasp_25": {
207
+ "confidence": 0.9627355933189392,
208
+ "position": [
209
+ -0.002432168083032593,
210
+ 0.0078748376108706,
211
+ 0.10068348915956449
212
+ ],
213
+ "orientation": {
214
+ "w": 0.018535700809350124,
215
+ "xyz": [
216
+ 0.06153120373167442,
217
+ 0.9979320359445688,
218
+ 0.0014108147877992876
219
+ ]
220
+ }
221
+ },
222
+ "grasp_27": {
223
+ "confidence": 0.9618698954582214,
224
+ "position": [
225
+ -0.016725652007153258,
226
+ -0.05577569408342242,
227
+ 0.08371670664928388
228
+ ],
229
+ "orientation": {
230
+ "w": 0.25675192989557927,
231
+ "xyz": [
232
+ -0.9631748061406994,
233
+ 0.04424215326451697,
234
+ -0.06644825945982893
235
+ ]
236
+ }
237
+ },
238
+ "grasp_28": {
239
+ "confidence": 0.9609196782112122,
240
+ "position": [
241
+ -0.011542009277036414,
242
+ -0.0991351711563766,
243
+ -0.0026973015192197636
244
+ ],
245
+ "orientation": {
246
+ "w": 0.7081170565495031,
247
+ "xyz": [
248
+ -0.7037268495825565,
249
+ 0.02471657010779993,
250
+ -0.05222879055065097
251
+ ]
252
+ }
253
+ },
254
+ "grasp_29": {
255
+ "confidence": 0.9609106779098511,
256
+ "position": [
257
+ -0.0018270800064783543,
258
+ -0.00027674937155097723,
259
+ 0.10098995389125776
260
+ ],
261
+ "orientation": {
262
+ "w": 0.013321438019739038,
263
+ "xyz": [
264
+ 0.0454193327738658,
265
+ 0.9986753500681748,
266
+ 0.020178420792303885
267
+ ]
268
+ }
269
+ },
270
+ "grasp_30": {
271
+ "confidence": 0.9608421921730042,
272
+ "position": [
273
+ 0.0019374072144273669,
274
+ 0.007911820895969868,
275
+ 0.10045305015228223
276
+ ],
277
+ "orientation": {
278
+ "w": 0.007817859817061503,
279
+ "xyz": [
280
+ 0.08100685531753629,
281
+ 0.9966816647709229,
282
+ -0.0015587074474014294
283
+ ]
284
+ }
285
+ },
286
+ "grasp_31": {
287
+ "confidence": 0.9604715704917908,
288
+ "position": [
289
+ 0.09955956033081748,
290
+ -0.0009138307068496943,
291
+ 0.006314104699413292
292
+ ],
293
+ "orientation": {
294
+ "w": 0.6816080030993046,
295
+ "xyz": [
296
+ -0.021229661489694924,
297
+ -0.7307112132164271,
298
+ -0.031952378061543836
299
+ ]
300
+ }
301
+ },
302
+ "grasp_32": {
303
+ "confidence": 0.960336446762085,
304
+ "position": [
305
+ 0.09959211191744544,
306
+ -0.0006872607627883554,
307
+ 0.004368472189526074
308
+ ],
309
+ "orientation": {
310
+ "w": 0.6888314314806895,
311
+ "xyz": [
312
+ -0.02181896073893713,
313
+ -0.7242501540387913,
314
+ -0.022291395903445702
315
+ ]
316
+ }
317
+ },
318
+ "grasp_33": {
319
+ "confidence": 0.9601349830627441,
320
+ "position": [
321
+ 0.10150347641319968,
322
+ -0.01472352771088481,
323
+ 0.0012703071552095935
324
+ ],
325
+ "orientation": {
326
+ "w": 0.018737729403777048,
327
+ "xyz": [
328
+ -0.710867964186113,
329
+ 0.04176902751943001,
330
+ 0.7018340140879202
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "plug blade",
338
+ "mask_color": "Red",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "pinch a blade lightly to orient the charger during careful manipulation",
343
+ "confidence": 0.28
344
+ },
345
+ {
346
+ "scenario": "hold a blade briefly while extracting a partially exposed charger",
347
+ "confidence": 0.18
348
+ }
349
+ ],
350
+ "functional_labels": [
351
+ "conduct AC power",
352
+ "insert into wall outlet",
353
+ "provide electrical connection",
354
+ "set plug orientation"
355
+ ],
356
+ "semantic_description": "One of the two narrow silver-gray metal prongs with a smooth reflective surface, flat rectangular shape, and small protruding size extending from the charger plug end.",
357
+ "id": 0,
358
+ "grasp_group": {
359
+ "grasp_2": {
360
+ "confidence": 0.7288124561309814,
361
+ "position": [
362
+ 0.0699293687066529,
363
+ 0.04842630075290799,
364
+ 0.05694145830057096
365
+ ],
366
+ "orientation": {
367
+ "w": 0.439273397598552,
368
+ "xyz": [
369
+ 0.7141865147799772,
370
+ -0.5158732291671511,
371
+ -0.17564542606430067
372
+ ]
373
+ }
374
+ },
375
+ "grasp_6": {
376
+ "confidence": 0.5330740809440613,
377
+ "position": [
378
+ -0.08718827375560068,
379
+ 0.0831848424859345,
380
+ -0.007313500813324936
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6999362881167158,
384
+ "xyz": [
385
+ 0.21684722977139168,
386
+ 0.6484936363557289,
387
+ -0.2062097842586284
388
+ ]
389
+ }
390
+ },
391
+ "grasp_7": {
392
+ "confidence": 0.3681773841381073,
393
+ "position": [
394
+ -0.0491935946920421,
395
+ 0.11331614525988698,
396
+ 0.026276403383235447
397
+ ],
398
+ "orientation": {
399
+ "w": 0.3123280376904637,
400
+ "xyz": [
401
+ 0.6421435204107506,
402
+ -0.4295881126248271,
403
+ 0.5527720593141
404
+ ]
405
+ }
406
+ }
407
+ }
408
+ },
409
+ {
410
+ "part_name": "plug blade",
411
+ "mask_color": "Green",
412
+ "graspable": true,
413
+ "grasp_scenarios": [
414
+ {
415
+ "scenario": "pinch a blade lightly to orient the charger during careful manipulation",
416
+ "confidence": 0.28
417
+ },
418
+ {
419
+ "scenario": "hold a blade briefly while extracting a partially exposed charger",
420
+ "confidence": 0.18
421
+ }
422
+ ],
423
+ "functional_labels": [
424
+ "conduct AC power",
425
+ "insert into wall outlet",
426
+ "provide electrical connection",
427
+ "set plug orientation"
428
+ ],
429
+ "semantic_description": "One of the two narrow silver-gray metal prongs with a smooth reflective surface, flat rectangular shape, and small protruding size extending from the charger plug end.",
430
+ "id": 1,
431
+ "grasp_group": {
432
+ "grasp_11": {
433
+ "confidence": 0.6069458723068237,
434
+ "position": [
435
+ 0.027335623191902414,
436
+ 0.11355991335585713,
437
+ 0.01970276729844045
438
+ ],
439
+ "orientation": {
440
+ "w": 0.47495682889692786,
441
+ "xyz": [
442
+ 0.6399351699972573,
443
+ 0.3786054236280241,
444
+ -0.4706983344820759
445
+ ]
446
+ }
447
+ },
448
+ "grasp_12": {
449
+ "confidence": 0.7875144481658936,
450
+ "position": [
451
+ -0.00199647931731306,
452
+ 0.007719887420535088,
453
+ 0.10291630150459241
454
+ ],
455
+ "orientation": {
456
+ "w": 0.024114018285342823,
457
+ "xyz": [
458
+ -0.6650817443915149,
459
+ 0.7460263800626397,
460
+ -0.023009294858980883
461
+ ]
462
+ }
463
+ }
464
+ }
465
+ },
466
+ {
467
+ "part_name": "plug base face",
468
+ "mask_color": "Yellow",
469
+ "graspable": false,
470
+ "grasp_scenarios": [],
471
+ "functional_labels": [
472
+ "support plug blade mounting",
473
+ "insulate around prongs",
474
+ "define insertion face",
475
+ "separate body from outlet interface"
476
+ ],
477
+ "semantic_description": "Small white plastic end face with a smooth satin surface and rounded rectangular outline, located around the two metal blades at the plug end.",
478
+ "id": 3,
479
+ "grasp_group": {}
480
+ },
481
+ {
482
+ "part_name": "output face",
483
+ "mask_color": "Orange",
484
+ "graspable": false,
485
+ "grasp_scenarios": [],
486
+ "functional_labels": [
487
+ "hold output port",
488
+ "provide device charging interface",
489
+ "indicate connector location",
490
+ "support cable insertion"
491
+ ],
492
+ "semantic_description": "White plastic end panel with a smooth satin finish, rounded rectangular shape, printed specification text, and a centrally placed USB-C style port on the charger end.",
493
+ "id": 4,
494
+ "grasp_group": {}
495
+ },
496
+ {
497
+ "part_name": "USB-C port",
498
+ "mask_color": "Purple",
499
+ "graspable": false,
500
+ "grasp_scenarios": [],
501
+ "functional_labels": [
502
+ "connect charging cable",
503
+ "deliver output power",
504
+ "align cable insertion",
505
+ "provide electrical interface"
506
+ ],
507
+ "semantic_description": "Very small dark recessed oblong connector opening centered on the output face and sized for USB-C cable insertion.",
508
+ "id": 5,
509
+ "grasp_group": {}
510
+ },
511
+ {
512
+ "part_name": "logo",
513
+ "mask_color": "Magenta",
514
+ "graspable": false,
515
+ "grasp_scenarios": [],
516
+ "functional_labels": [
517
+ "brand marking",
518
+ "visual identification",
519
+ "indicate branded side"
520
+ ],
521
+ "semantic_description": "Gray Apple logo on the white side face of the charger, small relative to the body and centered within a subtle circular recessed area.",
522
+ "id": 7,
523
+ "grasp_group": {}
524
+ }
525
+ ],
526
+ "quality_check": {
527
+ "success": true,
528
+ "message": "YES"
529
+ }
530
+ }
dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a1876e0f88c4a8c8e2287f8e54ba1dc6bfaa6141c4fa898115e08c7cad23f02
3
+ size 3784084