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
f2c3761
·
verified ·
1 Parent(s): fb29373

Add asset desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/affordance_annot.json +539 -0
  3. dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.urdf +1 -0
.gitattributes CHANGED
@@ -6288,3 +6288,4 @@ dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affo
6288
  dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6289
  dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6290
  dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6288
  dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6289
  dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6290
  dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6291
+ dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/affordance_annot.json ADDED
@@ -0,0 +1,539 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sharpener body",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and reposition the sharpener",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the body steady while turning the crank",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the body to open or remove the shavings compartment",
18
+ "confidence": 0.78
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main housing",
23
+ "support internal cutting mechanism",
24
+ "provide primary grasp surface",
25
+ "stabilize during sharpening",
26
+ "contain shavings reservoir"
27
+ ],
28
+ "semantic_description": "Large cream or off-white plastic housing with a smooth matte finish and rounded rectangular form, making up most of the sharpener and showing printed brand text on the side.",
29
+ "id": 5,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9758635759353638,
33
+ "position": [
34
+ 0.11221187107730657,
35
+ -0.0006645065332122613,
36
+ 0.03683865536004305
37
+ ],
38
+ "orientation": {
39
+ "w": 0.47008408358480974,
40
+ "xyz": [
41
+ -0.5340874634078695,
42
+ -0.5404522979115951,
43
+ 0.4490911371568727
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9757587909698486,
49
+ "position": [
50
+ 0.09397522651124746,
51
+ 0.009309277036663843,
52
+ 0.08346848282963037
53
+ ],
54
+ "orientation": {
55
+ "w": 0.2939470785320804,
56
+ "xyz": [
57
+ -0.6222596101492179,
58
+ -0.6422186148198256,
59
+ 0.3375549486799195
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.9746885299682617,
65
+ "position": [
66
+ 0.11467534594703466,
67
+ 0.0009614968257665168,
68
+ 0.01328345201909542
69
+ ],
70
+ "orientation": {
71
+ "w": 0.46931737282692837,
72
+ "xyz": [
73
+ 0.5295354734218111,
74
+ -0.4948162302339719,
75
+ -0.5044703006598202
76
+ ]
77
+ }
78
+ },
79
+ "grasp_23": {
80
+ "confidence": 0.9745041728019714,
81
+ "position": [
82
+ 0.11422089778352529,
83
+ -0.008538674464944052,
84
+ 0.031757266260683537
85
+ ],
86
+ "orientation": {
87
+ "w": 0.479917184887076,
88
+ "xyz": [
89
+ -0.5481013568780196,
90
+ -0.5300881177897873,
91
+ 0.4339020461078957
92
+ ]
93
+ }
94
+ },
95
+ "grasp_24": {
96
+ "confidence": 0.9744744300842285,
97
+ "position": [
98
+ 0.11235531710553914,
99
+ 0.0024570367349951994,
100
+ 0.02063996810466051
101
+ ],
102
+ "orientation": {
103
+ "w": 0.48549712031570524,
104
+ "xyz": [
105
+ -0.5011947168935894,
106
+ -0.5267366782691003,
107
+ 0.48543266648336075
108
+ ]
109
+ }
110
+ },
111
+ "grasp_25": {
112
+ "confidence": 0.9743037223815918,
113
+ "position": [
114
+ 0.09615645103622228,
115
+ -0.001688303211267339,
116
+ 0.08269806299358606
117
+ ],
118
+ "orientation": {
119
+ "w": 0.32943780959433616,
120
+ "xyz": [
121
+ -0.6290429995580583,
122
+ -0.6257004891806148,
123
+ 0.32291567344405225
124
+ ]
125
+ }
126
+ },
127
+ "grasp_26": {
128
+ "confidence": 0.9741690754890442,
129
+ "position": [
130
+ 0.11636918329168111,
131
+ 0.0006557178385264706,
132
+ 0.019994652830064297
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4786162083317589,
136
+ "xyz": [
137
+ 0.5250567058208517,
138
+ -0.5097839652939021,
139
+ -0.4851415149458058
140
+ ]
141
+ }
142
+ },
143
+ "grasp_27": {
144
+ "confidence": 0.9740539193153381,
145
+ "position": [
146
+ 0.114977280725725,
147
+ 0.0036267231735109817,
148
+ 0.02301005180925131
149
+ ],
150
+ "orientation": {
151
+ "w": 0.4775053716269373,
152
+ "xyz": [
153
+ -0.5148685363692759,
154
+ -0.5179524105136997,
155
+ 0.488491873798764
156
+ ]
157
+ }
158
+ },
159
+ "grasp_28": {
160
+ "confidence": 0.9735875129699707,
161
+ "position": [
162
+ 0.11019030504394323,
163
+ 0.004355640714493347,
164
+ 0.03829848114401102
165
+ ],
166
+ "orientation": {
167
+ "w": 0.45897142459907597,
168
+ "xyz": [
169
+ -0.522604629747828,
170
+ -0.544519357613597,
171
+ 0.4687518549848156
172
+ ]
173
+ }
174
+ },
175
+ "grasp_29": {
176
+ "confidence": 0.9734379053115845,
177
+ "position": [
178
+ 0.10978845052886754,
179
+ -0.0020365979471534956,
180
+ 0.034054883755743504
181
+ ],
182
+ "orientation": {
183
+ "w": 0.46798124557035786,
184
+ "xyz": [
185
+ -0.535750560585512,
186
+ -0.528845659463427,
187
+ 0.46291161045432716
188
+ ]
189
+ }
190
+ },
191
+ "grasp_30": {
192
+ "confidence": 0.9730387330055237,
193
+ "position": [
194
+ 0.09268317662645131,
195
+ -0.0012397018908814061,
196
+ 0.08453594986349344
197
+ ],
198
+ "orientation": {
199
+ "w": 0.30784170777417774,
200
+ "xyz": [
201
+ -0.641599128297898,
202
+ -0.6295065398843008,
203
+ 0.3119383877706468
204
+ ]
205
+ }
206
+ },
207
+ "grasp_31": {
208
+ "confidence": 0.9728283882141113,
209
+ "position": [
210
+ 0.1144545926945284,
211
+ -0.0006411050744645763,
212
+ 0.019153173081576824
213
+ ],
214
+ "orientation": {
215
+ "w": 0.49000604283372273,
216
+ "xyz": [
217
+ -0.5029130300350605,
218
+ -0.5218555011225366,
219
+ 0.4843959105479076
220
+ ]
221
+ }
222
+ },
223
+ "grasp_32": {
224
+ "confidence": 0.9720840454101562,
225
+ "position": [
226
+ -0.030610700021497905,
227
+ 0.00033521123623359017,
228
+ 0.11638926062732935
229
+ ],
230
+ "orientation": {
231
+ "w": 0.12557911652619874,
232
+ "xyz": [
233
+ 0.6930100397027152,
234
+ 0.6951399898060214,
235
+ 0.1440394561785927
236
+ ]
237
+ }
238
+ },
239
+ "grasp_33": {
240
+ "confidence": 0.9715262055397034,
241
+ "position": [
242
+ 0.11079768382478505,
243
+ -0.010415440327051328,
244
+ 0.06393624190241098
245
+ ],
246
+ "orientation": {
247
+ "w": 0.40012959953900123,
248
+ "xyz": [
249
+ -0.6228939759104061,
250
+ -0.5666644396846178,
251
+ 0.36165012255521717
252
+ ]
253
+ }
254
+ },
255
+ "grasp_34": {
256
+ "confidence": 0.9715193510055542,
257
+ "position": [
258
+ 0.11068826459813863,
259
+ 0.0002475265173416119,
260
+ 0.027380776591598988
261
+ ],
262
+ "orientation": {
263
+ "w": 0.479751093819625,
264
+ "xyz": [
265
+ 0.5303731556502473,
266
+ -0.5031249178154571,
267
+ -0.4851891598311546
268
+ ]
269
+ }
270
+ },
271
+ "grasp_35": {
272
+ "confidence": 0.9714666604995728,
273
+ "position": [
274
+ 0.1171159102814272,
275
+ 0.0003135593833576422,
276
+ 0.020300117321312428
277
+ ],
278
+ "orientation": {
279
+ "w": 0.48397002339449563,
280
+ "xyz": [
281
+ -0.5149635613719589,
282
+ -0.5124190580543038,
283
+ 0.4878649975734887
284
+ ]
285
+ }
286
+ },
287
+ "grasp_36": {
288
+ "confidence": 0.9714325070381165,
289
+ "position": [
290
+ 0.09978564374614507,
291
+ 0.0004543929644569289,
292
+ 0.07702603284269571
293
+ ],
294
+ "orientation": {
295
+ "w": 0.3193151412127437,
296
+ "xyz": [
297
+ 0.6341275890229999,
298
+ -0.621028023228518,
299
+ -0.33203047419934584
300
+ ]
301
+ }
302
+ },
303
+ "grasp_37": {
304
+ "confidence": 0.9708977341651917,
305
+ "position": [
306
+ 0.10909481637645513,
307
+ -0.0015252591292664874,
308
+ 0.02557936031371355
309
+ ],
310
+ "orientation": {
311
+ "w": 0.4865641900399183,
312
+ "xyz": [
313
+ -0.5136175780557474,
314
+ -0.5137407094154741,
315
+ 0.485306867839547
316
+ ]
317
+ }
318
+ },
319
+ "grasp_38": {
320
+ "confidence": 0.97063148021698,
321
+ "position": [
322
+ 0.11216998391319066,
323
+ -0.015462602390471147,
324
+ 0.04890086967498064
325
+ ],
326
+ "orientation": {
327
+ "w": 0.39414183572840084,
328
+ "xyz": [
329
+ 0.522962030658553,
330
+ -0.6059519580823023,
331
+ -0.4516471546620803
332
+ ]
333
+ }
334
+ },
335
+ "grasp_39": {
336
+ "confidence": 0.9706186056137085,
337
+ "position": [
338
+ 0.11011877947021276,
339
+ -0.01048505762082641,
340
+ 0.04706352297216654
341
+ ],
342
+ "orientation": {
343
+ "w": 0.37572901649060547,
344
+ "xyz": [
345
+ 0.5611545460869266,
346
+ -0.5942863185910406,
347
+ -0.43675743051319194
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "crank handle",
355
+ "mask_color": "Orange",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the handle arm or end knob to rotate the crank for sharpening",
360
+ "confidence": 0.97
361
+ },
362
+ {
363
+ "scenario": "briefly hold the handle while repositioning the sharpener",
364
+ "confidence": 0.42
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "turn the sharpening mechanism",
369
+ "provide rotary input",
370
+ "enable manual operation"
371
+ ],
372
+ "semantic_description": "Light beige plastic crank with a smooth matte finish, bent arm shape, and rounded end, extending from the side of the sharpener.",
373
+ "id": 4,
374
+ "grasp_group": {
375
+ "grasp_3": {
376
+ "confidence": 0.8521828651428223,
377
+ "position": [
378
+ -0.10388426191639155,
379
+ -0.009770057065907167,
380
+ -0.1118535166606307
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5460972857535307,
384
+ "xyz": [
385
+ -0.21163246880257364,
386
+ 0.09754385422162759,
387
+ -0.8046580945623701
388
+ ]
389
+ }
390
+ },
391
+ "grasp_15": {
392
+ "confidence": 0.7236294746398926,
393
+ "position": [
394
+ -0.07645159668754786,
395
+ 0.05322695905852015,
396
+ -0.09703928884118795
397
+ ],
398
+ "orientation": {
399
+ "w": 0.7371359404713222,
400
+ "xyz": [
401
+ 0.2605022084237802,
402
+ -0.06083505490365715,
403
+ 0.6205387181849831
404
+ ]
405
+ }
406
+ },
407
+ "grasp_16": {
408
+ "confidence": 0.7163323760032654,
409
+ "position": [
410
+ -0.0770347238285467,
411
+ 0.013249157094833208,
412
+ -0.1227492606267333
413
+ ],
414
+ "orientation": {
415
+ "w": 0.39523508983874805,
416
+ "xyz": [
417
+ 0.110565127492111,
418
+ -0.030846140648840947,
419
+ 0.9113797737221744
420
+ ]
421
+ }
422
+ }
423
+ }
424
+ },
425
+ {
426
+ "part_name": "crank hub",
427
+ "mask_color": "Teal",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "connect handle to body",
432
+ "transmit rotation",
433
+ "support crank attachment"
434
+ ],
435
+ "semantic_description": "Short light beige cylindrical joint with a smooth plastic finish where the crank attaches to the body side.",
436
+ "id": 10,
437
+ "grasp_group": {}
438
+ },
439
+ {
440
+ "part_name": "top pencil holder",
441
+ "mask_color": "Blue",
442
+ "graspable": false,
443
+ "grasp_scenarios": [],
444
+ "functional_labels": [
445
+ "hold the pencil near the top",
446
+ "guide pencil alignment",
447
+ "provide decorative top feature"
448
+ ],
449
+ "semantic_description": "Small cream-colored rounded top feature shaped like a cat head or cap, mounted on the top of the sharpener with smooth plastic surfaces and raised ear-like details.",
450
+ "id": 2,
451
+ "grasp_group": {}
452
+ },
453
+ {
454
+ "part_name": "left ear detail",
455
+ "mask_color": "Red",
456
+ "graspable": false,
457
+ "grasp_scenarios": [],
458
+ "functional_labels": [
459
+ "decorative ear feature",
460
+ "contribute to cat styling"
461
+ ],
462
+ "semantic_description": "Small raised cream ear-like protrusion on one side of the top cat-shaped feature, with a smooth matte plastic surface.",
463
+ "id": 0,
464
+ "grasp_group": {}
465
+ },
466
+ {
467
+ "part_name": "right ear detail",
468
+ "mask_color": "Green",
469
+ "graspable": false,
470
+ "grasp_scenarios": [],
471
+ "functional_labels": [
472
+ "decorative ear feature",
473
+ "contribute to cat styling"
474
+ ],
475
+ "semantic_description": "Small raised cream ear-like protrusion on the opposite side of the top cat-shaped feature, with a smooth matte plastic surface.",
476
+ "id": 1,
477
+ "grasp_group": {}
478
+ },
479
+ {
480
+ "part_name": "pencil entry opening",
481
+ "mask_color": "Cyan",
482
+ "graspable": false,
483
+ "grasp_scenarios": [],
484
+ "functional_labels": [
485
+ "receive pencil tip",
486
+ "guide pencil into the sharpener",
487
+ "indicate sharpening position"
488
+ ],
489
+ "semantic_description": "Circular metallic silver opening on the front face with a reflective finish, positioned below the cat-face decoration.",
490
+ "id": 6,
491
+ "grasp_group": {}
492
+ },
493
+ {
494
+ "part_name": "decorative cat face",
495
+ "mask_color": "Brown",
496
+ "graspable": false,
497
+ "grasp_scenarios": [],
498
+ "functional_labels": [
499
+ "decorate the product",
500
+ "provide visual character",
501
+ "indicate front side"
502
+ ],
503
+ "semantic_description": "Small cream-and-pink cartoon cat-face element with smooth plastic surfaces and printed facial details, mounted on the upper front of the sharpener.",
504
+ "id": 11,
505
+ "grasp_group": {}
506
+ },
507
+ {
508
+ "part_name": "shavings window",
509
+ "mask_color": "Pink",
510
+ "graspable": false,
511
+ "grasp_scenarios": [],
512
+ "functional_labels": [
513
+ "show fill level",
514
+ "reveal shavings container",
515
+ "indicate reservoir area"
516
+ ],
517
+ "semantic_description": "Rounded rectangular translucent light gray or lavender window with a smooth slightly glossy surface, set into the lower side or bottom area of the housing.",
518
+ "id": 8,
519
+ "grasp_group": {}
520
+ },
521
+ {
522
+ "part_name": "compartment latch or bottom slot",
523
+ "mask_color": "Maroon",
524
+ "graspable": false,
525
+ "grasp_scenarios": [],
526
+ "functional_labels": [
527
+ "help release or define the shavings compartment",
528
+ "mark the lower front edge of the container area"
529
+ ],
530
+ "semantic_description": "Small dark red-brown rectangular or slit-like detail at the lower front edge near the seam above the shavings container.",
531
+ "id": 12,
532
+ "grasp_group": {}
533
+ }
534
+ ],
535
+ "quality_check": {
536
+ "success": false,
537
+ "message": "Several parts misidentified: top piece isn\u2019t a pencil holder, cyan marks front opening, brown is side window, maroon is blade/inside detail."
538
+ }
539
+ }
dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a46498339dbfd24eed6dc49860c2dbea72ae9309d334150b5d736e866c33150
3
+ size 3776416
dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>