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
d00dce2
·
verified ·
1 Parent(s): 35c7528

Add asset desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/1f9eb044e10857beb7fa41f71d738e7a.urdf +1 -0
  3. dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/affordance/affordance_annot.json +434 -0
  4. dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8193,3 +8193,4 @@ dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/affo
8193
  dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8194
  dataset/desktop_supplies/office_stationery/1e7cfd9a38ca56a891842b62f92cebfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8195
  dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8193
  dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8194
  dataset/desktop_supplies/office_stationery/1e7cfd9a38ca56a891842b62f92cebfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8195
  dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8196
+ dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/1f9eb044e10857beb7fa41f71d738e7a.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  </custom_data>
57
  </robot>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  </custom_data>
58
  </robot>
dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,434 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wrapped body",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main rectangular body from the sides to pick up the object",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to reposition or place it on a surface",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the body while loosening or adjusting the cord wrap",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main structure",
23
+ "contain the wrapped contents",
24
+ "serve as the primary grasp surface",
25
+ "support the cord wrap around the object"
26
+ ],
27
+ "semantic_description": "A small rectangular bundle or case-like body with rounded corners, light gray color, and a smooth matte surface. It forms most of the object volume and appears moderately thick, with a soft or padded look.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9812792539596558,
32
+ "position": [
33
+ -0.00019990652799606323,
34
+ -0.15305386227555573,
35
+ 0.003561092773452401
36
+ ],
37
+ "orientation": {
38
+ "w": 0.48842529280926456,
39
+ "xyz": [
40
+ -0.5042417001448404,
41
+ 0.5072666924651045,
42
+ 0.4998615247193349
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.980904757976532,
48
+ "position": [
49
+ 0.12291489960625768,
50
+ 0.07058336096815765,
51
+ -0.012208807514980435
52
+ ],
53
+ "orientation": {
54
+ "w": 0.08271682003975907,
55
+ "xyz": [
56
+ 0.6883579104618155,
57
+ 0.030972857907106466,
58
+ -0.7199736084470176
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9804959893226624,
64
+ "position": [
65
+ -0.018861328717321157,
66
+ -0.1492937032599002,
67
+ 0.002326926914975047
68
+ ],
69
+ "orientation": {
70
+ "w": 0.51777370887427,
71
+ "xyz": [
72
+ -0.5013733460031672,
73
+ 0.5058418505581185,
74
+ 0.47398225340207545
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9797464609146118,
80
+ "position": [
81
+ -0.013731466140598059,
82
+ -0.15181803447194397,
83
+ -0.003400217912712833
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5131233172442834,
87
+ "xyz": [
88
+ -0.48160615547767005,
89
+ -0.5118130663855661,
90
+ -0.492754865407989
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.979742705821991,
96
+ "position": [
97
+ 0.027273331303149462,
98
+ -0.1511586729902774,
99
+ -0.009626862360164523
100
+ ],
101
+ "orientation": {
102
+ "w": 0.49052740798007677,
103
+ "xyz": [
104
+ -0.5525534811467931,
105
+ 0.423723368082603,
106
+ 0.5239523068311106
107
+ ]
108
+ }
109
+ },
110
+ "grasp_8": {
111
+ "confidence": 0.9796026945114136,
112
+ "position": [
113
+ -0.0017753953579813242,
114
+ -0.1499820475000888,
115
+ 0.0011558656115084887
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4974281513653475,
119
+ "xyz": [
120
+ -0.5026129146573549,
121
+ 0.49911705386579575,
122
+ 0.5008269749017318
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.979435920715332,
128
+ "position": [
129
+ 0.0014767604880034924,
130
+ -0.15575316292233765,
131
+ -0.006733675021678209
132
+ ],
133
+ "orientation": {
134
+ "w": 0.500513452203777,
135
+ "xyz": [
136
+ -0.4757819400775425,
137
+ 0.49695731735827076,
138
+ 0.5255009556444008
139
+ ]
140
+ }
141
+ },
142
+ "grasp_10": {
143
+ "confidence": 0.9794266223907471,
144
+ "position": [
145
+ -0.0012114007258787751,
146
+ -0.15035041910596192,
147
+ -0.009678604314103723
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5109474465051657,
151
+ "xyz": [
152
+ -0.48840357150362956,
153
+ -0.48020912123373627,
154
+ -0.5194168442939373
155
+ ]
156
+ }
157
+ },
158
+ "grasp_11": {
159
+ "confidence": 0.9792578816413879,
160
+ "position": [
161
+ 0.0012397451791912317,
162
+ -0.14767150324769318,
163
+ 0.0006479292642325163
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4841005039297626,
167
+ "xyz": [
168
+ -0.520373722004869,
169
+ 0.48033521378010036,
170
+ 0.5139416055784696
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.9792263507843018,
176
+ "position": [
177
+ -0.014510444831103086,
178
+ -0.1519150857347995,
179
+ -0.007422366412356496
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5046353048785277,
183
+ "xyz": [
184
+ -0.49580979703732014,
185
+ -0.4816472744350144,
186
+ -0.5172347216315712
187
+ ]
188
+ }
189
+ },
190
+ "grasp_16": {
191
+ "confidence": 0.9790518283843994,
192
+ "position": [
193
+ -0.038717209827154875,
194
+ -0.15119638782925904,
195
+ 0.0007408477831631899
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4421996123673698,
199
+ "xyz": [
200
+ -0.5549516146169228,
201
+ -0.42963845466398687,
202
+ -0.5584791907763075
203
+ ]
204
+ }
205
+ },
206
+ "grasp_17": {
207
+ "confidence": 0.9787901043891907,
208
+ "position": [
209
+ -0.007683022879064083,
210
+ -0.1555125389713794,
211
+ -0.00543568329885602
212
+ ],
213
+ "orientation": {
214
+ "w": 0.49627443842921826,
215
+ "xyz": [
216
+ -0.5088920800518928,
217
+ -0.4812229569292683,
218
+ -0.5129960997380713
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "wrap cord",
226
+ "mask_color": "Lime Green",
227
+ "graspable": true,
228
+ "grasp_scenarios": [
229
+ {
230
+ "scenario": "pinch the cord near the knot to loosen or unwrap the closure",
231
+ "confidence": 0.91
232
+ },
233
+ {
234
+ "scenario": "hold the cord briefly while adjusting or opening the wrapped object",
235
+ "confidence": 0.7
236
+ },
237
+ {
238
+ "scenario": "pull the free cord end to tighten or retie the wrap",
239
+ "confidence": 0.86
240
+ }
241
+ ],
242
+ "functional_labels": [
243
+ "secure the wrapped object closed",
244
+ "wrap around the main body",
245
+ "provide a closure adjustment point",
246
+ "indicate where to untie or loosen"
247
+ ],
248
+ "semantic_description": "A thin light gray cord wrapped around the body in multiple directions and tied near the center into a small knot or bow. It is narrow, flexible, and has a smooth matte appearance.",
249
+ "id": 9,
250
+ "grasp_group": {
251
+ "grasp_20": {
252
+ "confidence": 0.9742550849914551,
253
+ "position": [
254
+ 0.0006212901789695024,
255
+ 0.15411795931868255,
256
+ -0.02523985248990357
257
+ ],
258
+ "orientation": {
259
+ "w": 0.5410232531859017,
260
+ "xyz": [
261
+ 0.4800366734218015,
262
+ 0.4431203894865984,
263
+ -0.5296252940556365
264
+ ]
265
+ }
266
+ },
267
+ "grasp_22": {
268
+ "confidence": 0.9725415110588074,
269
+ "position": [
270
+ -0.0012974364217370749,
271
+ 0.15009561437182128,
272
+ -0.006788833299651742
273
+ ],
274
+ "orientation": {
275
+ "w": 0.5016996211797057,
276
+ "xyz": [
277
+ 0.5106754704833525,
278
+ 0.49348954305659354,
279
+ -0.49393939390226854
280
+ ]
281
+ }
282
+ },
283
+ "grasp_23": {
284
+ "confidence": 0.9713318347930908,
285
+ "position": [
286
+ -0.000755421700887382,
287
+ 0.150444122729823,
288
+ -0.001607694081030786
289
+ ],
290
+ "orientation": {
291
+ "w": 0.49788669859376167,
292
+ "xyz": [
293
+ 0.5058883528262486,
294
+ 0.4981900114628116,
295
+ -0.4979884760883864
296
+ ]
297
+ }
298
+ },
299
+ "grasp_24": {
300
+ "confidence": 0.9549849629402161,
301
+ "position": [
302
+ -0.004280536551959813,
303
+ 0.14582452434115112,
304
+ 0.005332034779712558
305
+ ],
306
+ "orientation": {
307
+ "w": 0.4983492629762986,
308
+ "xyz": [
309
+ 0.5063262222939965,
310
+ 0.5060019782415766,
311
+ -0.48912551224004086
312
+ ]
313
+ }
314
+ },
315
+ "grasp_25": {
316
+ "confidence": 0.9502131342887878,
317
+ "position": [
318
+ -0.0011023021070286632,
319
+ 0.150946932611987,
320
+ 0.009967337129637599
321
+ ],
322
+ "orientation": {
323
+ "w": 0.4999390279132853,
324
+ "xyz": [
325
+ 0.526054612791771,
326
+ 0.49356121396034225,
327
+ -0.47929619318706496
328
+ ]
329
+ }
330
+ },
331
+ "grasp_26": {
332
+ "confidence": 0.9489104151725769,
333
+ "position": [
334
+ -0.002452233441545104,
335
+ 0.14481978374533355,
336
+ -0.008955409051850438
337
+ ],
338
+ "orientation": {
339
+ "w": 0.5148250734752948,
340
+ "xyz": [
341
+ 0.5028179598664009,
342
+ 0.4982152297246878,
343
+ -0.48364328572546494
344
+ ]
345
+ }
346
+ },
347
+ "grasp_30": {
348
+ "confidence": 0.9347102642059326,
349
+ "position": [
350
+ -0.1265799137763679,
351
+ -0.006056803511455655,
352
+ 0.002914111828431487
353
+ ],
354
+ "orientation": {
355
+ "w": 0.6971892426752053,
356
+ "xyz": [
357
+ 0.0011726885973174458,
358
+ 0.7163871425094509,
359
+ 0.02674409741554242
360
+ ]
361
+ }
362
+ },
363
+ "grasp_31": {
364
+ "confidence": 0.9345983266830444,
365
+ "position": [
366
+ 0.0006025505717843771,
367
+ 0.14370152610354125,
368
+ -0.007779591483995318
369
+ ],
370
+ "orientation": {
371
+ "w": 0.49501549608875056,
372
+ "xyz": [
373
+ 0.5091771628749963,
374
+ 0.49351802875505635,
375
+ -0.5021336781498541
376
+ ]
377
+ }
378
+ },
379
+ "grasp_33": {
380
+ "confidence": 0.9078042507171631,
381
+ "position": [
382
+ 0.002911526244133711,
383
+ 0.14219260471872985,
384
+ -0.009295689640566707
385
+ ],
386
+ "orientation": {
387
+ "w": 0.5145680907421678,
388
+ "xyz": [
389
+ 0.47839474501420426,
390
+ -0.5105382909853968,
391
+ 0.495690227229128
392
+ ]
393
+ }
394
+ },
395
+ "grasp_36": {
396
+ "confidence": 0.8679487109184265,
397
+ "position": [
398
+ 0.0008298228494822979,
399
+ 0.14063941198401153,
400
+ -0.01259687845595181
401
+ ],
402
+ "orientation": {
403
+ "w": 0.5162791323338758,
404
+ "xyz": [
405
+ 0.4796763279500669,
406
+ -0.49580154048471037,
407
+ 0.5074911924101821
408
+ ]
409
+ }
410
+ },
411
+ "grasp_38": {
412
+ "confidence": 0.8306849598884583,
413
+ "position": [
414
+ -0.010574608575552702,
415
+ 0.1334562178235501,
416
+ 0.038381733698770404
417
+ ],
418
+ "orientation": {
419
+ "w": 0.3972379259807651,
420
+ "xyz": [
421
+ 0.5806173608407714,
422
+ -0.5574461746336623,
423
+ 0.44083928232304104
424
+ ]
425
+ }
426
+ }
427
+ }
428
+ }
429
+ ],
430
+ "quality_check": {
431
+ "success": true,
432
+ "message": "YES"
433
+ }
434
+ }
dataset/desktop_supplies/office_stationery/1f9eb044e10857beb7fa41f71d738e7a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b40e0b4e9fd89510ed33a07f09e5cd5fee06cf2642e7ef160a72707bfcfdaabb
3
+ size 671564