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
eef4a17
·
verified ·
1 Parent(s): 435fd2f

Add asset desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/affordance_annot.json +564 -0
  3. dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/mouse_010.urdf +1 -0
.gitattributes CHANGED
@@ -6229,4 +6229,4 @@ dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9
6229
  dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6230
  dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6231
  dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6232
- dataset/desktop_supplies/electronic_accessories/68dc241553b45c22a4e3ddec5d6c7a33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6229
  dataset/desktop_supplies/electronic_accessories/622cb87e272d527db245c43a9707014f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6230
  dataset/desktop_supplies/electronic_accessories/5a24ef163c6a5381939bcf5b03e1e0ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6231
  dataset/desktop_supplies/electronic_accessories/635bc3097cf25a858149c2b3f489b323/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6232
+ dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/affordance_annot.json ADDED
@@ -0,0 +1,564 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "upper shell",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the mouse body around the upper shell and sides to pick it up",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the mouse body to reposition it on a desk",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "stabilize the mouse while turning it over",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main hand-contact surface",
23
+ "cover internal components",
24
+ "provide overall body structure"
25
+ ],
26
+ "semantic_description": "Large yellow plastic upper housing with a smooth matte-to-satin finish, gently domed and rounded, covering most of the top of the mouse around the controls.",
27
+ "id": 0,
28
+ "grasp_group": {
29
+ "grasp_0": {
30
+ "confidence": 0.9440898299217224,
31
+ "position": [
32
+ -0.0006258531429921277,
33
+ -0.11901844223029912,
34
+ -0.005954598542302847
35
+ ],
36
+ "orientation": {
37
+ "w": 0.7391831487887925,
38
+ "xyz": [
39
+ -0.673497235545403,
40
+ 0.0030494848921212014,
41
+ -0.0006685067526412253
42
+ ]
43
+ }
44
+ },
45
+ "grasp_1": {
46
+ "confidence": 0.9376638531684875,
47
+ "position": [
48
+ 0.006610345262743067,
49
+ 0.11586438934318721,
50
+ 0.025362567510455847
51
+ ],
52
+ "orientation": {
53
+ "w": 0.6440174457354408,
54
+ "xyz": [
55
+ 0.7649112553642206,
56
+ -0.005222410627739871,
57
+ -0.011181566650786512
58
+ ]
59
+ }
60
+ },
61
+ "grasp_2": {
62
+ "confidence": 0.9060471653938293,
63
+ "position": [
64
+ -0.0271940374004771,
65
+ 0.1185790381859988,
66
+ -0.03308742353692651
67
+ ],
68
+ "orientation": {
69
+ "w": 0.8225232930294454,
70
+ "xyz": [
71
+ 0.5584178447197822,
72
+ 0.09598987269550319,
73
+ 0.04910078881658858
74
+ ]
75
+ }
76
+ },
77
+ "grasp_10": {
78
+ "confidence": 0.7234637141227722,
79
+ "position": [
80
+ 0.007878122552938294,
81
+ -0.1007035740185529,
82
+ -0.0363973886705935
83
+ ],
84
+ "orientation": {
85
+ "w": 0.8457554277697773,
86
+ "xyz": [
87
+ -0.5321663917089374,
88
+ -0.02024312418897012,
89
+ 0.032968224952532786
90
+ ]
91
+ }
92
+ },
93
+ "grasp_14": {
94
+ "confidence": 0.08499544858932495,
95
+ "position": [
96
+ 0.0744267168265651,
97
+ 0.007302888901904225,
98
+ 0.07147382711991668
99
+ ],
100
+ "orientation": {
101
+ "w": 0.2712935496857664,
102
+ "xyz": [
103
+ -0.6571265667926597,
104
+ -0.6451642238052803,
105
+ 0.27990642978666813
106
+ ]
107
+ }
108
+ },
109
+ "grasp_15": {
110
+ "confidence": 0.08411844074726105,
111
+ "position": [
112
+ 0.07792089011491043,
113
+ 0.003778759273700416,
114
+ 0.06742775207385421
115
+ ],
116
+ "orientation": {
117
+ "w": 0.30399279850723104,
118
+ "xyz": [
119
+ -0.624856975132344,
120
+ -0.6608458024408462,
121
+ 0.2835929556256881
122
+ ]
123
+ }
124
+ },
125
+ "grasp_16": {
126
+ "confidence": 0.08325918018817902,
127
+ "position": [
128
+ 0.07238321628392441,
129
+ -0.006125501589849591,
130
+ 0.0687049007974565
131
+ ],
132
+ "orientation": {
133
+ "w": 0.27891595402426683,
134
+ "xyz": [
135
+ 0.635561028964426,
136
+ -0.6643752304327483,
137
+ -0.2772609280801132
138
+ ]
139
+ }
140
+ },
141
+ "grasp_18": {
142
+ "confidence": 0.05209166929125786,
143
+ "position": [
144
+ 0.05097259830654366,
145
+ 0.02011011797003448,
146
+ 0.0845963410101831
147
+ ],
148
+ "orientation": {
149
+ "w": 0.21082583949742006,
150
+ "xyz": [
151
+ 0.7419688077025088,
152
+ -0.6108834106799601,
153
+ -0.17848308702155682
154
+ ]
155
+ }
156
+ }
157
+ }
158
+ },
159
+ {
160
+ "part_name": "bottom base",
161
+ "mask_color": "Teal",
162
+ "graspable": true,
163
+ "grasp_scenarios": [
164
+ {
165
+ "scenario": "hold the underside while flipping the mouse for inspection",
166
+ "confidence": 0.72
167
+ },
168
+ {
169
+ "scenario": "pinch the mouse around the base and sides to lift it during maintenance",
170
+ "confidence": 0.64
171
+ }
172
+ ],
173
+ "functional_labels": [
174
+ "support sliding on desk",
175
+ "enclose underside components",
176
+ "provide base structure",
177
+ "contact work surface"
178
+ ],
179
+ "semantic_description": "Broad yellow underside panel with a smooth hard-plastic finish, flatter than the top shell and covering most of the bottom face.",
180
+ "id": 10,
181
+ "grasp_group": {
182
+ "grasp_40": {
183
+ "confidence": 0.9838993549346924,
184
+ "position": [
185
+ 0.09904013451159699,
186
+ -0.014428704278543591,
187
+ -0.005089187994599342
188
+ ],
189
+ "orientation": {
190
+ "w": 0.02605746754100567,
191
+ "xyz": [
192
+ -0.6941023795884343,
193
+ -0.028892774708264013,
194
+ 0.7188241110345983
195
+ ]
196
+ }
197
+ },
198
+ "grasp_41": {
199
+ "confidence": 0.9838416576385498,
200
+ "position": [
201
+ 0.09971846517146332,
202
+ -0.01775875617749989,
203
+ -0.009484830778092146
204
+ ],
205
+ "orientation": {
206
+ "w": 0.03695035422768186,
207
+ "xyz": [
208
+ -0.6820498056169811,
209
+ -0.034078728633399,
210
+ 0.7295761606816784
211
+ ]
212
+ }
213
+ },
214
+ "grasp_43": {
215
+ "confidence": 0.9828982353210449,
216
+ "position": [
217
+ 0.09828920539439423,
218
+ -0.018515127943828702,
219
+ 0.01825359044596553
220
+ ],
221
+ "orientation": {
222
+ "w": 0.6354262594484462,
223
+ "xyz": [
224
+ 0.008128933648842405,
225
+ -0.767418119805529,
226
+ -0.08506949297624643
227
+ ]
228
+ }
229
+ },
230
+ "grasp_48": {
231
+ "confidence": 0.9817699790000916,
232
+ "position": [
233
+ 0.09962274011195404,
234
+ -0.002232524799183011,
235
+ -0.007001781370490789
236
+ ],
237
+ "orientation": {
238
+ "w": 0.7226808680829842,
239
+ "xyz": [
240
+ 0.010900812165788575,
241
+ -0.6909554055179917,
242
+ -0.013934230743678794
243
+ ]
244
+ }
245
+ },
246
+ "grasp_51": {
247
+ "confidence": 0.9802442789077759,
248
+ "position": [
249
+ 0.10102645929873688,
250
+ -0.010369209805503488,
251
+ 0.015244487207382917
252
+ ],
253
+ "orientation": {
254
+ "w": 0.6508118143615376,
255
+ "xyz": [
256
+ 0.007930712674433852,
257
+ -0.7575260207639601,
258
+ -0.05035289415156539
259
+ ]
260
+ }
261
+ },
262
+ "grasp_59": {
263
+ "confidence": 0.9776819348335266,
264
+ "position": [
265
+ 0.09824865188420517,
266
+ -0.016295322449877858,
267
+ -0.009541356470435858
268
+ ],
269
+ "orientation": {
270
+ "w": 0.04684230493828101,
271
+ "xyz": [
272
+ -0.6784042412706517,
273
+ -0.06234201716799359,
274
+ 0.7305388126509679
275
+ ]
276
+ }
277
+ }
278
+ }
279
+ },
280
+ {
281
+ "part_name": "side band",
282
+ "mask_color": "Pink",
283
+ "graspable": true,
284
+ "grasp_scenarios": [
285
+ {
286
+ "scenario": "clamp the mouse along both side bands to lift it",
287
+ "confidence": 0.89
288
+ },
289
+ {
290
+ "scenario": "hold one side while rotating or orienting the mouse",
291
+ "confidence": 0.8
292
+ }
293
+ ],
294
+ "functional_labels": [
295
+ "provide side grip area",
296
+ "connect upper and lower shell",
297
+ "define body contour"
298
+ ],
299
+ "semantic_description": "Yellow side wall or band wrapping around the perimeter between the upper shell and bottom base, with a smooth hard-plastic surface and rounded profile.",
300
+ "id": 8,
301
+ "grasp_group": {
302
+ "grasp_23": {
303
+ "confidence": 0.9752845764160156,
304
+ "position": [
305
+ 0.0002705563892959617,
306
+ 0.12192520569078624,
307
+ 0.0060623036697506905
308
+ ],
309
+ "orientation": {
310
+ "w": 0.6674104641845592,
311
+ "xyz": [
312
+ 0.7444343394350842,
313
+ -0.008674881963332881,
314
+ 0.017479501987280707
315
+ ]
316
+ }
317
+ },
318
+ "grasp_24": {
319
+ "confidence": 0.9743636846542358,
320
+ "position": [
321
+ -0.009206161201291252,
322
+ 0.10476326267234981,
323
+ -0.059728885535150766
324
+ ],
325
+ "orientation": {
326
+ "w": 0.877887791868817,
327
+ "xyz": [
328
+ 0.4772129300867693,
329
+ 0.03940433349678174,
330
+ 0.005304973832833162
331
+ ]
332
+ }
333
+ },
334
+ "grasp_29": {
335
+ "confidence": 0.967162549495697,
336
+ "position": [
337
+ -0.002359436890401412,
338
+ -0.11768518318422139,
339
+ -0.01514937961474061
340
+ ],
341
+ "orientation": {
342
+ "w": 0.7366511979772793,
343
+ "xyz": [
344
+ -0.6758593678706525,
345
+ -0.005711118166929041,
346
+ -0.022945816817124612
347
+ ]
348
+ }
349
+ },
350
+ "grasp_30": {
351
+ "confidence": 0.9662888050079346,
352
+ "position": [
353
+ -0.0007760549269733019,
354
+ 0.11741082440130413,
355
+ 0.0017199583817273378
356
+ ],
357
+ "orientation": {
358
+ "w": 0.030560103328437407,
359
+ "xyz": [
360
+ 0.03669895856317556,
361
+ -0.7286834854049633,
362
+ 0.6831834633705708
363
+ ]
364
+ }
365
+ },
366
+ "grasp_32": {
367
+ "confidence": 0.9637570381164551,
368
+ "position": [
369
+ -0.007374568209343124,
370
+ 0.1092491305898875,
371
+ -0.04934280598536134
372
+ ],
373
+ "orientation": {
374
+ "w": 0.02208037084392674,
375
+ "xyz": [
376
+ 0.06112783228063545,
377
+ -0.5165797165641659,
378
+ 0.8537688456359548
379
+ ]
380
+ }
381
+ },
382
+ "grasp_33": {
383
+ "confidence": 0.962450385093689,
384
+ "position": [
385
+ 0.0012057615022058599,
386
+ 0.11611431161873043,
387
+ 0.004856987856328487
388
+ ],
389
+ "orientation": {
390
+ "w": 0.6871168598006933,
391
+ "xyz": [
392
+ 0.7265043720300214,
393
+ 0.0016567795220191472,
394
+ 0.007685927433566217
395
+ ]
396
+ }
397
+ },
398
+ "grasp_34": {
399
+ "confidence": 0.9624106287956238,
400
+ "position": [
401
+ -0.012613652572326828,
402
+ 0.12069555441848934,
403
+ -0.0073545705527067184
404
+ ],
405
+ "orientation": {
406
+ "w": 0.10548738213746034,
407
+ "xyz": [
408
+ 0.020036864090555453,
409
+ 0.7053174889755376,
410
+ -0.7007126201464076
411
+ ]
412
+ }
413
+ },
414
+ "grasp_36": {
415
+ "confidence": 0.960747480392456,
416
+ "position": [
417
+ 0.005162482782907318,
418
+ -0.1160582818556577,
419
+ -0.012447348330169916
420
+ ],
421
+ "orientation": {
422
+ "w": 0.7330054654588022,
423
+ "xyz": [
424
+ -0.6800756405741262,
425
+ -0.0036460801619065952,
426
+ 0.013668094405183904
427
+ ]
428
+ }
429
+ },
430
+ "grasp_37": {
431
+ "confidence": 0.9603112936019897,
432
+ "position": [
433
+ 0.0052116645310889,
434
+ 0.11618302832357585,
435
+ 0.0037200599908828735
436
+ ],
437
+ "orientation": {
438
+ "w": 0.045839884256771476,
439
+ "xyz": [
440
+ 0.009774304234279921,
441
+ -0.7374870379864016,
442
+ 0.6737329120579644
443
+ ]
444
+ }
445
+ },
446
+ "grasp_39": {
447
+ "confidence": 0.9583022594451904,
448
+ "position": [
449
+ -0.00041873617010423914,
450
+ 0.11164358328096569,
451
+ -0.045945162419229746
452
+ ],
453
+ "orientation": {
454
+ "w": 0.8570196376062261,
455
+ "xyz": [
456
+ 0.5148777923626496,
457
+ 0.015193901361431283,
458
+ 0.013687404811576235
459
+ ]
460
+ }
461
+ }
462
+ }
463
+ },
464
+ {
465
+ "part_name": "scroll wheel",
466
+ "mask_color": "Yellow",
467
+ "graspable": false,
468
+ "grasp_scenarios": [],
469
+ "functional_labels": [
470
+ "scroll content",
471
+ "middle-click input",
472
+ "provide tactile rolling control"
473
+ ],
474
+ "semantic_description": "Small gray wheel with a ribbed textured tread, recessed between the front click areas near the front-top center of the mouse.",
475
+ "id": 3,
476
+ "grasp_group": {}
477
+ },
478
+ {
479
+ "part_name": "top button",
480
+ "mask_color": "Blue",
481
+ "graspable": false,
482
+ "grasp_scenarios": [],
483
+ "functional_labels": [
484
+ "provide auxiliary click input",
485
+ "change a device mode or setting"
486
+ ],
487
+ "semantic_description": "Small gray rectangular button on the top center behind the scroll wheel, slightly raised from the yellow shell.",
488
+ "id": 2,
489
+ "grasp_group": {}
490
+ },
491
+ {
492
+ "part_name": "left side insert",
493
+ "mask_color": "Purple",
494
+ "graspable": false,
495
+ "grasp_scenarios": [],
496
+ "functional_labels": [
497
+ "provide thumb contact area",
498
+ "offer side surface detail",
499
+ "contribute to side ergonomics"
500
+ ],
501
+ "semantic_description": "Small gray elongated inset feature on the left side of the mouse, positioned where a thumb may rest.",
502
+ "id": 5,
503
+ "grasp_group": {}
504
+ },
505
+ {
506
+ "part_name": "right side insert",
507
+ "mask_color": "Orange",
508
+ "graspable": false,
509
+ "grasp_scenarios": [],
510
+ "functional_labels": [
511
+ "provide finger contact area",
512
+ "offer side surface detail",
513
+ "contribute to side ergonomics"
514
+ ],
515
+ "semantic_description": "Small gray elongated inset feature on the right side of the mouse, opposite the left-side insert and visible near the upper side wall.",
516
+ "id": 4,
517
+ "grasp_group": {}
518
+ },
519
+ {
520
+ "part_name": "sensor windows",
521
+ "mask_color": "Green",
522
+ "graspable": false,
523
+ "grasp_scenarios": [],
524
+ "functional_labels": [
525
+ "track surface motion",
526
+ "enable cursor movement sensing"
527
+ ],
528
+ "semantic_description": "Two tiny dark gray oval openings on the underside near the center area, appearing as small recessed sensor windows.",
529
+ "id": 1,
530
+ "grasp_group": {}
531
+ },
532
+ {
533
+ "part_name": "side seam",
534
+ "mask_color": "Cyan",
535
+ "graspable": false,
536
+ "grasp_scenarios": [],
537
+ "functional_labels": [
538
+ "define shell boundary",
539
+ "allow assembly separation",
540
+ "mark transition between housing sections"
541
+ ],
542
+ "semantic_description": "Thin line-like seam tracing part of the junction between the upper shell and side section around the mouse body.",
543
+ "id": 6,
544
+ "grasp_group": {}
545
+ },
546
+ {
547
+ "part_name": "underside seam",
548
+ "mask_color": "Magenta",
549
+ "graspable": false,
550
+ "grasp_scenarios": [],
551
+ "functional_labels": [
552
+ "define underside panel boundary",
553
+ "mark assembly split line"
554
+ ],
555
+ "semantic_description": "Thin seam line on the underside-side region, indicating a housing joint rather than a separate external control.",
556
+ "id": 7,
557
+ "grasp_group": {}
558
+ }
559
+ ],
560
+ "quality_check": {
561
+ "success": false,
562
+ "message": "Several mask-color mappings and part identities are incorrect; side inserts and seam colors are mismatched."
563
+ }
564
+ }
dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a64dbda112c9f81bc615083b8fadfaf4659556b755edc755a9b56e8bb8d62633
3
+ size 3795256
dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/mouse_010.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>YES</PartSegChecker>