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
1
xinjjj commited on
Commit
24fb6ba
·
verified ·
1 Parent(s): 4f09a48

Add asset desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/affordance_annot.json +357 -0
  3. dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/sharpener_021.urdf +1 -0
.gitattributes CHANGED
@@ -8636,3 +8636,4 @@ dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/affo
8636
  dataset/desktop_supplies/office_stationery/f7c00501187f5139ab801243a0de9f84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8637
  dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8638
  dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8636
  dataset/desktop_supplies/office_stationery/f7c00501187f5139ab801243a0de9f84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8637
  dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8638
  dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8639
+ dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/affordance_annot.json ADDED
@@ -0,0 +1,357 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "blade",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "sharpen pencil lead",
10
+ "cut away wood casing",
11
+ "provide the cutting edge",
12
+ "shape the pencil tip"
13
+ ],
14
+ "semantic_description": "A small silver metal blade with a reflective smooth finish and hard sharp edge, mounted across the top slot with a visible central screw.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "sharpener body",
20
+ "mask_color": "Yellow",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the body from the sides to pick up and reposition the sharpener",
25
+ "confidence": 0.93
26
+ },
27
+ {
28
+ "scenario": "hold the body steady while inserting and twisting a pencil",
29
+ "confidence": 0.95
30
+ },
31
+ {
32
+ "scenario": "grasp the body to empty shavings or orient the entry hole",
33
+ "confidence": 0.82
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "main grasp surface",
38
+ "support internal blade",
39
+ "guide pencil into sharpener",
40
+ "collect shavings",
41
+ "stabilize during sharpening"
42
+ ],
43
+ "semantic_description": "A medium-sized green plastic body with a mostly matte smooth hard surface, tapered wedge-like shape, circular side pencil hole, broad base, and printed black logo text on one side.",
44
+ "id": 3,
45
+ "grasp_group": {
46
+ "grasp_0": {
47
+ "confidence": 0.9791087508201599,
48
+ "position": [
49
+ -0.007334787951549515,
50
+ -0.10848565903143026,
51
+ 0.05696948617696762
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0065566271598849835,
55
+ "xyz": [
56
+ 0.022166320520750873,
57
+ 0.8585653336030833,
58
+ 0.5121828119039953
59
+ ]
60
+ }
61
+ },
62
+ "grasp_1": {
63
+ "confidence": 0.9787079691886902,
64
+ "position": [
65
+ 0.000516527536092326,
66
+ 0.1201887005881872,
67
+ 0.027953283861279488
68
+ ],
69
+ "orientation": {
70
+ "w": 0.03113477411031499,
71
+ "xyz": [
72
+ 0.004054614268479159,
73
+ 0.7136026827335132,
74
+ -0.6998466954553447
75
+ ]
76
+ }
77
+ },
78
+ "grasp_2": {
79
+ "confidence": 0.9779865145683289,
80
+ "position": [
81
+ -0.012215389491757378,
82
+ -0.005312937224516645,
83
+ 0.13305698335170746
84
+ ],
85
+ "orientation": {
86
+ "w": 0.005988042264974024,
87
+ "xyz": [
88
+ -0.998986080274212,
89
+ 0.009313755014894842,
90
+ -0.04363724023951493
91
+ ]
92
+ }
93
+ },
94
+ "grasp_3": {
95
+ "confidence": 0.9777023792266846,
96
+ "position": [
97
+ -0.004235484258970246,
98
+ 0.12305210027261637,
99
+ 0.018310382030904293
100
+ ],
101
+ "orientation": {
102
+ "w": 0.02755574994745951,
103
+ "xyz": [
104
+ 0.007216473990157828,
105
+ 0.712128187078219,
106
+ -0.7014713453282835
107
+ ]
108
+ }
109
+ },
110
+ "grasp_4": {
111
+ "confidence": 0.9775339365005493,
112
+ "position": [
113
+ -0.0029942366236355156,
114
+ 0.11744024846120737,
115
+ 0.03152305260300636
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6812287346052023,
119
+ "xyz": [
120
+ 0.7317957971681557,
121
+ 0.006860767094122533,
122
+ 0.01884813704584453
123
+ ]
124
+ }
125
+ },
126
+ "grasp_5": {
127
+ "confidence": 0.9769188761711121,
128
+ "position": [
129
+ 0.0033962704765144736,
130
+ 0.12101770433946513,
131
+ 0.03199094533920288
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6800420757722971,
135
+ "xyz": [
136
+ 0.7331594907591283,
137
+ -0.004457014754098543,
138
+ 0.0002670367063330424
139
+ ]
140
+ }
141
+ },
142
+ "grasp_6": {
143
+ "confidence": 0.9766936898231506,
144
+ "position": [
145
+ -0.0020662716997321695,
146
+ 0.005135449202498421,
147
+ 0.13496950268745422
148
+ ],
149
+ "orientation": {
150
+ "w": 0.015029177708264722,
151
+ "xyz": [
152
+ -0.01155748178236543,
153
+ 0.9997912095069817,
154
+ 0.007621405699106655
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9764930009841919,
160
+ "position": [
161
+ -0.0039092191436793655,
162
+ 0.11890059951110743,
163
+ 0.02480655536055565
164
+ ],
165
+ "orientation": {
166
+ "w": 0.7058601311219099,
167
+ "xyz": [
168
+ 0.7080004610755298,
169
+ 0.00971852363065262,
170
+ 0.020059229991139255
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9763470888137817,
176
+ "position": [
177
+ -0.0028400163573678583,
178
+ 0.11717573794885539,
179
+ 0.012487346306443214
180
+ ],
181
+ "orientation": {
182
+ "w": 0.03079018639888126,
183
+ "xyz": [
184
+ 0.002030480018517199,
185
+ 0.7131835943724801,
186
+ -0.7002977954344609
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9762992262840271,
192
+ "position": [
193
+ 0.003093281207839027,
194
+ 0.10927155855461024,
195
+ 0.08238702267408371
196
+ ],
197
+ "orientation": {
198
+ "w": 0.009817875852285385,
199
+ "xyz": [
200
+ 0.005383383912557957,
201
+ 0.8592162201160288,
202
+ -0.5114900933360519
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9762502312660217,
208
+ "position": [
209
+ -0.0017261578177567571,
210
+ 0.11902935299440287,
211
+ 0.02374539151787758
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6930605939364093,
215
+ "xyz": [
216
+ 0.7208234615547451,
217
+ 0.008288246659836851,
218
+ 0.00344316308821883
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9757710099220276,
224
+ "position": [
225
+ -0.0003293848567409441,
226
+ 0.12247476223274134,
227
+ 0.01612917799502611
228
+ ],
229
+ "orientation": {
230
+ "w": 0.7027372315532334,
231
+ "xyz": [
232
+ 0.7111688145690933,
233
+ -0.0005525917049642448,
234
+ 0.01997486459767174
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9757492542266846,
240
+ "position": [
241
+ 0.0026260932500008494,
242
+ 0.1219940880255308,
243
+ 0.028803929686546326
244
+ ],
245
+ "orientation": {
246
+ "w": 0.01187292166658055,
247
+ "xyz": [
248
+ 0.004714722418271934,
249
+ -0.7191436664649449,
250
+ 0.694743975941479
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9753808379173279,
256
+ "position": [
257
+ 0.0026342385972384363,
258
+ 0.10871446374221705,
259
+ 0.08230668306350708
260
+ ],
261
+ "orientation": {
262
+ "w": 0.012722104670094655,
263
+ "xyz": [
264
+ 0.011233455063702926,
265
+ 0.8627381710249964,
266
+ -0.505366011714815
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9752976298332214,
272
+ "position": [
273
+ 0.00541261667967774,
274
+ 0.12092806640430354,
275
+ 0.026551803573966026
276
+ ],
277
+ "orientation": {
278
+ "w": 0.018818894752980198,
279
+ "xyz": [
280
+ -0.004422980541773023,
281
+ -0.7139111909061483,
282
+ 0.6999693550023235
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9749006628990173,
288
+ "position": [
289
+ 0.0032082867401186377,
290
+ -0.0051563460438046604,
291
+ 0.13611838221549988
292
+ ],
293
+ "orientation": {
294
+ "w": 0.0011652269324744064,
295
+ "xyz": [
296
+ 0.006202267155914991,
297
+ 0.9998088863030672,
298
+ 0.01850310778604688
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9748558402061462,
304
+ "position": [
305
+ 0.0023790876439306885,
306
+ -0.004758773749927059,
307
+ 0.13242526352405548
308
+ ],
309
+ "orientation": {
310
+ "w": 1.64945946705301e-05,
311
+ "xyz": [
312
+ 0.004522000165682391,
313
+ 0.9999895556484126,
314
+ -0.0006632017189822232
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9745869636535645,
320
+ "position": [
321
+ -0.0070938119606580585,
322
+ -0.004490163089940324,
323
+ 0.1304212212562561
324
+ ],
325
+ "orientation": {
326
+ "w": 0.0004542310818678858,
327
+ "xyz": [
328
+ 0.9997108400324771,
329
+ -0.006661150720494214,
330
+ 0.023101062026715382
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.97438645362854,
336
+ "position": [
337
+ -0.007793541619321331,
338
+ -0.005196216894546524,
339
+ 0.13570648431777954
340
+ ],
341
+ "orientation": {
342
+ "w": 0.03049659531429514,
343
+ "xyz": [
344
+ 0.011078469372128674,
345
+ 0.9994719266379452,
346
+ 0.0017587078326664872
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ }
352
+ ],
353
+ "quality_check": {
354
+ "success": true,
355
+ "message": "YES"
356
+ }
357
+ }
dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:be0a35f07759e9947b41df2f5fdc425b513b1cdb52799de0f223d3374432b796
3
+ size 3777468
dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/sharpener_021.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>