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
bce144e
·
verified ·
1 Parent(s): f82a812

Add asset desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/affordance/affordance_annot.json +545 -0
  3. dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6325,3 +6325,4 @@ dataset/desktop_supplies/office_stationery/476422810f315b16828845719d2fc9fe/affo
6325
  dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6326
  dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6327
  dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6325
  dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6326
  dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6327
  dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6328
+ dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,545 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "head",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the head to pick up and reposition the eraser",
10
+ "confidence": 0.76
11
+ },
12
+ {
13
+ "scenario": "hold the head to stabilize the eraser while orienting it",
14
+ "confidence": 0.68
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "support character shape",
20
+ "indicate front orientation"
21
+ ],
22
+ "semantic_description": "Large rounded light cream-colored rubber head with a matte smooth surface, forming the upper portion of the bear and carrying the facial features.",
23
+ "id": 3,
24
+ "grasp_group": {
25
+ "grasp_0": {
26
+ "confidence": 0.9188531041145325,
27
+ "position": [
28
+ -0.056638180278241634,
29
+ 0.04882776498243402,
30
+ 0.07696313003543764
31
+ ],
32
+ "orientation": {
33
+ "w": 0.36594490473590363,
34
+ "xyz": [
35
+ 0.7966842797006929,
36
+ 0.4623451727540199,
37
+ 0.13272311933749167
38
+ ]
39
+ }
40
+ },
41
+ "grasp_2": {
42
+ "confidence": 0.9148063659667969,
43
+ "position": [
44
+ -0.03335466515272856,
45
+ 0.042029691333027586,
46
+ 0.09491463343147188
47
+ ],
48
+ "orientation": {
49
+ "w": 0.24022387512299495,
50
+ "xyz": [
51
+ 0.8964415832985277,
52
+ 0.3659695420139622,
53
+ 0.06892947027368677
54
+ ]
55
+ }
56
+ },
57
+ "grasp_3": {
58
+ "confidence": 0.9107954502105713,
59
+ "position": [
60
+ -0.06241492461413145,
61
+ -0.06083289027765204,
62
+ 0.05994219670537859
63
+ ],
64
+ "orientation": {
65
+ "w": 0.18553285593697252,
66
+ "xyz": [
67
+ 0.3541506521207516,
68
+ 0.8047870313107442,
69
+ 0.43871711751920145
70
+ ]
71
+ }
72
+ },
73
+ "grasp_4": {
74
+ "confidence": 0.9088804125785828,
75
+ "position": [
76
+ 0.03839504439383745,
77
+ 0.027093160370441183,
78
+ 0.09513096848968416
79
+ ],
80
+ "orientation": {
81
+ "w": 0.10941320303847916,
82
+ "xyz": [
83
+ -0.4702252929867707,
84
+ -0.846806279183301,
85
+ 0.22323989422166604
86
+ ]
87
+ }
88
+ },
89
+ "grasp_5": {
90
+ "confidence": 0.9064460396766663,
91
+ "position": [
92
+ -0.08628674130886793,
93
+ -0.026847154429106013,
94
+ 0.061496432521380484
95
+ ],
96
+ "orientation": {
97
+ "w": 0.3586674802973772,
98
+ "xyz": [
99
+ -0.7486699260711199,
100
+ 0.45123122858506937,
101
+ -0.32747726443740066
102
+ ]
103
+ }
104
+ },
105
+ "grasp_6": {
106
+ "confidence": 0.9060214757919312,
107
+ "position": [
108
+ -0.0018402915447950363,
109
+ -0.0001566881433063827,
110
+ 0.10959292540792376
111
+ ],
112
+ "orientation": {
113
+ "w": 0.003910575567733178,
114
+ "xyz": [
115
+ -0.5192820115757384,
116
+ -0.8545886014954333,
117
+ 0.0030367822877073484
118
+ ]
119
+ }
120
+ },
121
+ "grasp_8": {
122
+ "confidence": 0.9043624997138977,
123
+ "position": [
124
+ -0.003618624061346054,
125
+ 0.0025071319510061585,
126
+ 0.11253888497594744
127
+ ],
128
+ "orientation": {
129
+ "w": 0.00982919780472649,
130
+ "xyz": [
131
+ 0.9882721255004386,
132
+ 0.15216583804295278,
133
+ 0.008194544651570485
134
+ ]
135
+ }
136
+ },
137
+ "grasp_9": {
138
+ "confidence": 0.9016590118408203,
139
+ "position": [
140
+ -0.02777459006756544,
141
+ 0.08965261414095949,
142
+ 0.0490558851743117
143
+ ],
144
+ "orientation": {
145
+ "w": 0.08649301065880119,
146
+ "xyz": [
147
+ -0.10975158170174368,
148
+ 0.8391847449288473,
149
+ -0.5255877788722335
150
+ ]
151
+ }
152
+ },
153
+ "grasp_10": {
154
+ "confidence": 0.90118008852005,
155
+ "position": [
156
+ -0.05132042523473501,
157
+ 0.0027432785686869465,
158
+ 0.0959635634208098
159
+ ],
160
+ "orientation": {
161
+ "w": 0.18497055944813592,
162
+ "xyz": [
163
+ 0.6625638147385267,
164
+ 0.7050571874786078,
165
+ 0.17230625618743312
166
+ ]
167
+ }
168
+ },
169
+ "grasp_11": {
170
+ "confidence": 0.8987751007080078,
171
+ "position": [
172
+ -0.06411300133913755,
173
+ 0.04607049881860803,
174
+ 0.06632751564029604
175
+ ],
176
+ "orientation": {
177
+ "w": 0.19744979619830247,
178
+ "xyz": [
179
+ -0.40153904393524387,
180
+ 0.7961059116729196,
181
+ -0.4074252711556422
182
+ ]
183
+ }
184
+ },
185
+ "grasp_12": {
186
+ "confidence": 0.8929688930511475,
187
+ "position": [
188
+ -0.07094379048794508,
189
+ 0.06928372516676973,
190
+ 0.01184796227607876
191
+ ],
192
+ "orientation": {
193
+ "w": 0.6198942575455196,
194
+ "xyz": [
195
+ 0.674052733127586,
196
+ 0.28088766799052534,
197
+ 0.28720400484005226
198
+ ]
199
+ }
200
+ },
201
+ "grasp_13": {
202
+ "confidence": 0.8929651379585266,
203
+ "position": [
204
+ 0.09124528337270021,
205
+ 0.016810496741982206,
206
+ -0.01917309162672609
207
+ ],
208
+ "orientation": {
209
+ "w": 0.637491073990431,
210
+ "xyz": [
211
+ 0.4596534208961272,
212
+ -0.40079243435521117,
213
+ -0.47083891916943055
214
+ ]
215
+ }
216
+ },
217
+ "grasp_14": {
218
+ "confidence": 0.8922086358070374,
219
+ "position": [
220
+ -0.0862139267846942,
221
+ 0.024002408081742033,
222
+ 0.057721171178855
223
+ ],
224
+ "orientation": {
225
+ "w": 0.28846976770737703,
226
+ "xyz": [
227
+ -0.5134029076685319,
228
+ 0.7029169178031295,
229
+ -0.3988865179252087
230
+ ]
231
+ }
232
+ },
233
+ "grasp_15": {
234
+ "confidence": 0.8912178874015808,
235
+ "position": [
236
+ -0.09020066540688276,
237
+ 0.005878812572063907,
238
+ 0.06104836950544268
239
+ ],
240
+ "orientation": {
241
+ "w": 0.3769672184498781,
242
+ "xyz": [
243
+ 0.5688834174221036,
244
+ 0.6674682061909828,
245
+ 0.2979153693928898
246
+ ]
247
+ }
248
+ },
249
+ "grasp_16": {
250
+ "confidence": 0.8888260722160339,
251
+ "position": [
252
+ 0.009207768831402063,
253
+ -0.013472548281697527,
254
+ 0.10735509137157351
255
+ ],
256
+ "orientation": {
257
+ "w": 0.034338232523384825,
258
+ "xyz": [
259
+ 0.43752715698541317,
260
+ -0.8968897883465876,
261
+ -0.0545855314808417
262
+ ]
263
+ }
264
+ },
265
+ "grasp_17": {
266
+ "confidence": 0.8880589008331299,
267
+ "position": [
268
+ 0.025276691652834415,
269
+ 0.030002721989603742,
270
+ 0.10019867459777743
271
+ ],
272
+ "orientation": {
273
+ "w": 0.05871321603627639,
274
+ "xyz": [
275
+ -0.4000866295510802,
276
+ -0.890585307784904,
277
+ 0.20818563032736603
278
+ ]
279
+ }
280
+ },
281
+ "grasp_18": {
282
+ "confidence": 0.8870789408683777,
283
+ "position": [
284
+ -0.02817960735410452,
285
+ 0.0712754143719394,
286
+ 0.07845927367452532
287
+ ],
288
+ "orientation": {
289
+ "w": 0.05163108113951864,
290
+ "xyz": [
291
+ -0.2264422781252788,
292
+ 0.8982883639520315,
293
+ -0.3730095727004615
294
+ ]
295
+ }
296
+ },
297
+ "grasp_19": {
298
+ "confidence": 0.8850667476654053,
299
+ "position": [
300
+ -0.03453788813203573,
301
+ 0.07174654438540529,
302
+ 0.07657076010946184
303
+ ],
304
+ "orientation": {
305
+ "w": 0.06828838009344756,
306
+ "xyz": [
307
+ -0.24650300993783394,
308
+ 0.8784589827492041,
309
+ -0.40358738689784907
310
+ ]
311
+ }
312
+ }
313
+ }
314
+ },
315
+ {
316
+ "part_name": "body",
317
+ "mask_color": "Purple",
318
+ "graspable": true,
319
+ "grasp_scenarios": [
320
+ {
321
+ "scenario": "grasp the body to pick up the eraser for normal use",
322
+ "confidence": 0.95
323
+ },
324
+ {
325
+ "scenario": "hold the body while rubbing the eraser against paper",
326
+ "confidence": 0.93
327
+ },
328
+ {
329
+ "scenario": "grasp the body to place or store the eraser",
330
+ "confidence": 0.88
331
+ }
332
+ ],
333
+ "functional_labels": [
334
+ "erase pencil marks",
335
+ "main contact mass",
336
+ "main grasp surface",
337
+ "support attached parts"
338
+ ],
339
+ "semantic_description": "Bulky light cream-colored rubber body with a matte smooth slightly soft surface, occupying the lower and central bear form and showing dark brown 'BUTTER BEAR' text on the front.",
340
+ "id": 5,
341
+ "grasp_group": {
342
+ "grasp_20": {
343
+ "confidence": 0.927056074142456,
344
+ "position": [
345
+ 0.004575202940031886,
346
+ 0.0009500504788775288,
347
+ -0.10348853876348585
348
+ ],
349
+ "orientation": {
350
+ "w": 0.4492729958278073,
351
+ "xyz": [
352
+ 0.02615851420155221,
353
+ -0.017126514447072805,
354
+ -0.8928472376938669
355
+ ]
356
+ }
357
+ },
358
+ "grasp_22": {
359
+ "confidence": 0.9157502055168152,
360
+ "position": [
361
+ -0.016462701372802258,
362
+ 0.09002868964716981,
363
+ -0.0406488518929109
364
+ ],
365
+ "orientation": {
366
+ "w": 0.11165718449679332,
367
+ "xyz": [
368
+ -0.036129161079004934,
369
+ 0.5470902509119366,
370
+ -0.8288061379038469
371
+ ]
372
+ }
373
+ },
374
+ "grasp_31": {
375
+ "confidence": 0.8980175256729126,
376
+ "position": [
377
+ 0.006332763470709324,
378
+ -0.013385428642777697,
379
+ -0.1033087040996179
380
+ ],
381
+ "orientation": {
382
+ "w": 0.3972066438960946,
383
+ "xyz": [
384
+ -0.03756446744582888,
385
+ 0.03669584256640146,
386
+ 0.9162255224390194
387
+ ]
388
+ }
389
+ },
390
+ "grasp_32": {
391
+ "confidence": 0.8959038853645325,
392
+ "position": [
393
+ -0.004369635600596666,
394
+ 0.008415144341142877,
395
+ -0.10398549248930067
396
+ ],
397
+ "orientation": {
398
+ "w": 0.933402290458768,
399
+ "xyz": [
400
+ 0.029041017633787105,
401
+ -0.015924259693850362,
402
+ 0.3572998760345747
403
+ ]
404
+ }
405
+ },
406
+ "grasp_34": {
407
+ "confidence": 0.893953263759613,
408
+ "position": [
409
+ -0.001773323630914092,
410
+ -0.015626518582848803,
411
+ -0.10810761561151594
412
+ ],
413
+ "orientation": {
414
+ "w": 0.44178293057399715,
415
+ "xyz": [
416
+ -0.018745396042351117,
417
+ 0.049752957009668974,
418
+ 0.8955451388118078
419
+ ]
420
+ }
421
+ },
422
+ "grasp_35": {
423
+ "confidence": 0.8931669592857361,
424
+ "position": [
425
+ -0.014560065232217312,
426
+ 0.07564351841256212,
427
+ -0.072247390053235
428
+ ],
429
+ "orientation": {
430
+ "w": 0.09320630464886015,
431
+ "xyz": [
432
+ -0.04733292259819162,
433
+ 0.44528157028177595,
434
+ -0.8892673964446313
435
+ ]
436
+ }
437
+ },
438
+ "grasp_38": {
439
+ "confidence": 0.8838727474212646,
440
+ "position": [
441
+ -0.05838940944522619,
442
+ 0.06491556897208284,
443
+ -0.06009283324237913
444
+ ],
445
+ "orientation": {
446
+ "w": 0.8290939516962073,
447
+ "xyz": [
448
+ 0.4473298437523245,
449
+ 0.1899996412038183,
450
+ 0.2764043532430496
451
+ ]
452
+ }
453
+ }
454
+ }
455
+ },
456
+ {
457
+ "part_name": "left arm",
458
+ "mask_color": "Red",
459
+ "graspable": false,
460
+ "grasp_scenarios": [],
461
+ "functional_labels": [
462
+ "support character shape",
463
+ "provide side contour",
464
+ "assist orientation recognition"
465
+ ],
466
+ "semantic_description": "Small rounded light cream-colored rubber arm with a matte smooth surface protruding from one side of the torso as a short stubby limb.",
467
+ "id": 0,
468
+ "grasp_group": {}
469
+ },
470
+ {
471
+ "part_name": "right arm",
472
+ "mask_color": "Green",
473
+ "graspable": false,
474
+ "grasp_scenarios": [],
475
+ "functional_labels": [
476
+ "support character shape",
477
+ "provide side contour",
478
+ "assist orientation recognition"
479
+ ],
480
+ "semantic_description": "Small rounded light cream-colored rubber arm with a matte smooth surface attached to the opposite side of the torso as a short stubby limb.",
481
+ "id": 1,
482
+ "grasp_group": {}
483
+ },
484
+ {
485
+ "part_name": "left ear",
486
+ "mask_color": "Blue",
487
+ "graspable": false,
488
+ "grasp_scenarios": [],
489
+ "functional_labels": [
490
+ "support character shape",
491
+ "indicate top orientation",
492
+ "provide visual identity"
493
+ ],
494
+ "semantic_description": "Small circular light cream-colored rubber ear with a matte smooth surface, positioned on one top side of the head and slightly raised.",
495
+ "id": 2,
496
+ "grasp_group": {}
497
+ },
498
+ {
499
+ "part_name": "right ear",
500
+ "mask_color": "Cyan",
501
+ "graspable": false,
502
+ "grasp_scenarios": [],
503
+ "functional_labels": [
504
+ "support character shape",
505
+ "indicate top orientation",
506
+ "provide visual identity"
507
+ ],
508
+ "semantic_description": "Small circular light cream-colored rubber ear with a matte smooth surface, positioned on the opposite top side of the head and slightly raised.",
509
+ "id": 6,
510
+ "grasp_group": {}
511
+ },
512
+ {
513
+ "part_name": "snout",
514
+ "mask_color": "Magenta",
515
+ "graspable": false,
516
+ "grasp_scenarios": [],
517
+ "functional_labels": [
518
+ "display face details",
519
+ "indicate front orientation",
520
+ "support character expression"
521
+ ],
522
+ "semantic_description": "Small oval off-white snout area with a smooth matte finish on the front of the head, carrying the dark brown nose and mouth details.",
523
+ "id": 7,
524
+ "grasp_group": {}
525
+ },
526
+ {
527
+ "part_name": "brand label",
528
+ "mask_color": "Orange",
529
+ "graspable": false,
530
+ "grasp_scenarios": [],
531
+ "functional_labels": [
532
+ "show branding",
533
+ "identify product",
534
+ "provide visual accent"
535
+ ],
536
+ "semantic_description": "Small bright red printed label patch with white 'deli' text on the front of one foot, appearing smooth and flat against the cream rubber surface.",
537
+ "id": 4,
538
+ "grasp_group": {}
539
+ }
540
+ ],
541
+ "quality_check": {
542
+ "success": false,
543
+ "message": "Several mask-color assignments and a part description are swapped; brand label described as red though it appears orange."
544
+ }
545
+ }
dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bbb0f82799da75280fc4443e8892745a90023bc9b94d7f55e834197c3adcbacf
3
+ size 3786592