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
2c4ff43
·
verified ·
1 Parent(s): de673d1

Add asset desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/affordance/affordance_annot.json +526 -0
  3. dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8234,3 +8234,4 @@ dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordanc
8234
  dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8235
  dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8236
  dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8234
  dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8235
  dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8236
  dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8237
+ dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,526 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tape roll",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer cylindrical roll from the sides to pick up the tape",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the roll body to stabilize it while pulling tape free",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "pinch the roll at the rim to reorient or place it",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "store adhesive tape in a roll",
24
+ "support dispensing",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Large ring-shaped translucent plastic tape roll with a glossy smooth hard surface, clear to milky white appearance, forming the outer body around the central hole.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9961800575256348,
32
+ "position": [
33
+ -0.01118387677706778,
34
+ -0.13033910846570507,
35
+ -0.001166772621218115
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5073638433841444,
39
+ "xyz": [
40
+ -0.4908227968772988,
41
+ -0.5030100469089587,
42
+ -0.49865399346707606
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9942153096199036,
48
+ "position": [
49
+ -0.04517069295980036,
50
+ -0.11972650146344677,
51
+ 0.0027038705884478986
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6060714532390347,
55
+ "xyz": [
56
+ -0.35526090888482187,
57
+ 0.6130902205712083,
58
+ 0.36136887196741535
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9936650991439819,
64
+ "position": [
65
+ 0.028517998522147536,
66
+ -0.12463774537900463,
67
+ -0.013137007888872176
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4179034156390262,
71
+ "xyz": [
72
+ -0.5693101976132174,
73
+ 0.36228699694120525,
74
+ 0.6082686626303853
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9936151504516602,
80
+ "position": [
81
+ -0.04840057552792132,
82
+ -0.12123819446424022,
83
+ -0.003775042307097465
84
+ ],
85
+ "orientation": {
86
+ "w": 0.36848949956653637,
87
+ "xyz": [
88
+ -0.6016669341186526,
89
+ -0.35449163463767996,
90
+ -0.6136351277993871
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9933812618255615,
96
+ "position": [
97
+ -0.03309881524182856,
98
+ -0.12595631933072582,
99
+ -0.0041961784590967
100
+ ],
101
+ "orientation": {
102
+ "w": 0.40700821659242803,
103
+ "xyz": [
104
+ -0.5700815808077406,
105
+ -0.3871624285797076,
106
+ -0.599546959583869
107
+ ]
108
+ }
109
+ },
110
+ "grasp_6": {
111
+ "confidence": 0.9929361939430237,
112
+ "position": [
113
+ -0.12779218540526927,
114
+ -0.01713053329149261,
115
+ -0.0029565701843239367
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7046491016464637,
119
+ "xyz": [
120
+ 0.012697253418295928,
121
+ 0.7093968325129513,
122
+ 0.008034757311511407
123
+ ]
124
+ }
125
+ },
126
+ "grasp_7": {
127
+ "confidence": 0.992554247379303,
128
+ "position": [
129
+ -0.12607640610076487,
130
+ -0.029818613140378147,
131
+ 0.0019627820583991706
132
+ ],
133
+ "orientation": {
134
+ "w": 0.13232698989532732,
135
+ "xyz": [
136
+ -0.6903861916035263,
137
+ -0.12662133108830498,
138
+ -0.6998739262909052
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.9924430251121521,
144
+ "position": [
145
+ -0.1253715513739735,
146
+ -0.0016822892357595265,
147
+ -0.0016120748477987945
148
+ ],
149
+ "orientation": {
150
+ "w": 0.05816912309102906,
151
+ "xyz": [
152
+ 0.7003038517186739,
153
+ -0.07831140746848186,
154
+ 0.7071479278390878
155
+ ]
156
+ }
157
+ },
158
+ "grasp_9": {
159
+ "confidence": 0.9922648668289185,
160
+ "position": [
161
+ 0.040807602694258094,
162
+ -0.12227935349801555,
163
+ -0.008128777903039008
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5540696549605364,
167
+ "xyz": [
168
+ -0.4264828547092472,
169
+ -0.5251448055765275,
170
+ -0.48512073267069805
171
+ ]
172
+ }
173
+ },
174
+ "grasp_10": {
175
+ "confidence": 0.992085874080658,
176
+ "position": [
177
+ -0.12471235380508006,
178
+ -0.019935529737267643,
179
+ -0.0011023941333405674
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6982729174212134,
183
+ "xyz": [
184
+ 0.015518930040329722,
185
+ 0.715611237693301,
186
+ 0.008640144300445405
187
+ ]
188
+ }
189
+ },
190
+ "grasp_11": {
191
+ "confidence": 0.9917245507240295,
192
+ "position": [
193
+ -0.030446801567450166,
194
+ -0.11796307569602504,
195
+ -0.004980728786904365
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6121557579150589,
199
+ "xyz": [
200
+ -0.36462804358605533,
201
+ 0.5908942739784322,
202
+ 0.37835918762671383
203
+ ]
204
+ }
205
+ },
206
+ "grasp_12": {
207
+ "confidence": 0.9916802048683167,
208
+ "position": [
209
+ -0.032795882085338235,
210
+ -0.11702550953486934,
211
+ 0.0014561243006028235
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6068384752409803,
215
+ "xyz": [
216
+ -0.3632530259665762,
217
+ 0.6060443390314089,
218
+ 0.3640117624765869
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.9915304183959961,
224
+ "position": [
225
+ -0.12128245667554438,
226
+ 0.03403406584402546,
227
+ 0.002887736016418785
228
+ ],
229
+ "orientation": {
230
+ "w": 0.16184554516340122,
231
+ "xyz": [
232
+ 0.6877884956605261,
233
+ -0.15839040349925748,
234
+ 0.6896850620588606
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.9909051060676575,
240
+ "position": [
241
+ -0.12510330067016184,
242
+ -0.02699578186729923,
243
+ -0.004403003782499582
244
+ ],
245
+ "orientation": {
246
+ "w": 0.7000166648743963,
247
+ "xyz": [
248
+ 0.0017536220275760123,
249
+ 0.7132848729157499,
250
+ 0.03461623574963099
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.9899965524673462,
256
+ "position": [
257
+ 0.04550547688268125,
258
+ -0.12209472811082378,
259
+ 0.006027214869391173
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6017483901580898,
263
+ "xyz": [
264
+ -0.35985751272604233,
265
+ -0.606764821015713,
266
+ -0.37448350758684157
267
+ ]
268
+ }
269
+ },
270
+ "grasp_18": {
271
+ "confidence": 0.9895038604736328,
272
+ "position": [
273
+ 0.12512075318954885,
274
+ -0.017503587587270886,
275
+ -0.003152717195916921
276
+ ],
277
+ "orientation": {
278
+ "w": 0.016394554108337386,
279
+ "xyz": [
280
+ 0.7076954080375124,
281
+ 0.018424584091335405,
282
+ -0.70608707872278
283
+ ]
284
+ }
285
+ },
286
+ "grasp_19": {
287
+ "confidence": 0.9878941178321838,
288
+ "position": [
289
+ 0.12094137235544622,
290
+ -0.037354860513005406,
291
+ 0.007481564476620406
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7077817401879565,
295
+ "xyz": [
296
+ -0.040986912014344005,
297
+ -0.7034097352173982,
298
+ -0.05079198461791492
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "cardboard core",
306
+ "mask_color": "Green",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "insert a slim gripper into the center and grip the inner core to lift the tape roll",
311
+ "confidence": 0.63
312
+ },
313
+ {
314
+ "scenario": "hold the inner core to stabilize the roll during tape dispensing",
315
+ "confidence": 0.58
316
+ }
317
+ ],
318
+ "functional_labels": [
319
+ "provide central support",
320
+ "maintain roll shape",
321
+ "allow spindle mounting",
322
+ "define the finger or tool hole"
323
+ ],
324
+ "semantic_description": "Medium-sized hollow cylindrical inner core made of brown paperboard, with a matte slightly rough fibrous surface lining the center of the clear tape roll.",
325
+ "id": 1,
326
+ "grasp_group": {
327
+ "grasp_20": {
328
+ "confidence": 0.8090999722480774,
329
+ "position": [
330
+ -0.02678620466031134,
331
+ 0.10588316613575444,
332
+ -0.015137250360567123
333
+ ],
334
+ "orientation": {
335
+ "w": 0.3937876287133556,
336
+ "xyz": [
337
+ 0.5646562748573033,
338
+ -0.3291068536887134,
339
+ 0.646361565682631
340
+ ]
341
+ }
342
+ },
343
+ "grasp_21": {
344
+ "confidence": 0.7397381663322449,
345
+ "position": [
346
+ -0.032504922011867166,
347
+ 0.10410062217852101,
348
+ -0.012121519830543548
349
+ ],
350
+ "orientation": {
351
+ "w": 0.6441183737187367,
352
+ "xyz": [
353
+ 0.36167794599758585,
354
+ 0.5922694768235488,
355
+ -0.32174127935354585
356
+ ]
357
+ }
358
+ },
359
+ "grasp_25": {
360
+ "confidence": 0.9781084060668945,
361
+ "position": [
362
+ -0.11816271976567805,
363
+ -0.022304011567030102,
364
+ -0.0005039113748352975
365
+ ],
366
+ "orientation": {
367
+ "w": 0.7173278052602099,
368
+ "xyz": [
369
+ -0.15566133033285476,
370
+ 0.6699386913910172,
371
+ -0.11132169517604083
372
+ ]
373
+ }
374
+ },
375
+ "grasp_26": {
376
+ "confidence": 0.947272539138794,
377
+ "position": [
378
+ -0.09076037094928324,
379
+ 0.07089956098934636,
380
+ -0.0365673013147898
381
+ ],
382
+ "orientation": {
383
+ "w": 0.17623027517215714,
384
+ "xyz": [
385
+ 0.47570274446140526,
386
+ -0.28016371129574424,
387
+ 0.8149589461424589
388
+ ]
389
+ }
390
+ },
391
+ "grasp_28": {
392
+ "confidence": 0.9361501932144165,
393
+ "position": [
394
+ 0.04344282462261617,
395
+ 0.09877191478153691,
396
+ -0.05565155373187736
397
+ ],
398
+ "orientation": {
399
+ "w": 0.7236350858391065,
400
+ "xyz": [
401
+ 0.2402309915716411,
402
+ -0.4359622659865341,
403
+ 0.47809856292089076
404
+ ]
405
+ }
406
+ },
407
+ "grasp_29": {
408
+ "confidence": 0.9351978898048401,
409
+ "position": [
410
+ 0.10044746263884008,
411
+ -0.049215909151826054,
412
+ 0.04970779566792771
413
+ ],
414
+ "orientation": {
415
+ "w": 0.14958164116774922,
416
+ "xyz": [
417
+ -0.8575687510743591,
418
+ 0.14316473365024596,
419
+ 0.47085563482364773
420
+ ]
421
+ }
422
+ },
423
+ "grasp_31": {
424
+ "confidence": 0.8983724117279053,
425
+ "position": [
426
+ 0.029443504055961967,
427
+ 0.09664298588177189,
428
+ 0.06203235237626359
429
+ ],
430
+ "orientation": {
431
+ "w": 0.2385337923285802,
432
+ "xyz": [
433
+ 0.6352964930686443,
434
+ 0.6291985481583445,
435
+ -0.37895802248726573
436
+ ]
437
+ }
438
+ },
439
+ "grasp_32": {
440
+ "confidence": 0.8432227969169617,
441
+ "position": [
442
+ 0.013453552266582847,
443
+ 0.10907226050039753,
444
+ -0.013964052137453109
445
+ ],
446
+ "orientation": {
447
+ "w": 0.6119454335817394,
448
+ "xyz": [
449
+ 0.39316282783551004,
450
+ -0.5534996988109813,
451
+ 0.40568936459191945
452
+ ]
453
+ }
454
+ },
455
+ "grasp_35": {
456
+ "confidence": 0.7618585228919983,
457
+ "position": [
458
+ -0.05760389775969088,
459
+ 0.09611257904907688,
460
+ -0.0023171825450845063
461
+ ],
462
+ "orientation": {
463
+ "w": 0.6498233079600326,
464
+ "xyz": [
465
+ 0.302394316202233,
466
+ 0.6496421734835696,
467
+ -0.25348055624053006
468
+ ]
469
+ }
470
+ },
471
+ "grasp_36": {
472
+ "confidence": 0.6459971070289612,
473
+ "position": [
474
+ 0.10429572477005422,
475
+ -0.005035066104028374,
476
+ -0.05606272892327979
477
+ ],
478
+ "orientation": {
479
+ "w": 0.15898540860453345,
480
+ "xyz": [
481
+ 0.42540426111987356,
482
+ -0.06798745534101791,
483
+ -0.8883313348003419
484
+ ]
485
+ }
486
+ },
487
+ "grasp_38": {
488
+ "confidence": 0.6034769415855408,
489
+ "position": [
490
+ -0.05616501183249056,
491
+ -0.08489462739089504,
492
+ -0.05859467835398391
493
+ ],
494
+ "orientation": {
495
+ "w": 0.4835000454985598,
496
+ "xyz": [
497
+ -0.412154201311239,
498
+ -0.13936048754151653,
499
+ -0.759562554933151
500
+ ]
501
+ }
502
+ },
503
+ "grasp_39": {
504
+ "confidence": 0.29005974531173706,
505
+ "position": [
506
+ 0.031784837832674384,
507
+ -0.07842221116879955,
508
+ -0.06612739042611793
509
+ ],
510
+ "orientation": {
511
+ "w": 0.709018697859518,
512
+ "xyz": [
513
+ -0.3545508614072107,
514
+ 0.1310069473646568,
515
+ 0.5953346558896029
516
+ ]
517
+ }
518
+ }
519
+ }
520
+ }
521
+ ],
522
+ "quality_check": {
523
+ "success": true,
524
+ "message": "YES"
525
+ }
526
+ }
dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5dbfbbaea2c58fe8f7befbb6ffac1651b8c5c71ed7244eb275a1ef20b2872f1
3
+ size 3782308