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
37b3720
·
verified ·
1 Parent(s): be3d2f2

Add asset desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/affordance_annot.json +293 -0
  3. dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.urdf +1 -0
.gitattributes CHANGED
@@ -8634,3 +8634,4 @@ dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/affo
8634
  dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8635
  dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/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
 
 
8634
  dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8635
  dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/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
dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/affordance_annot.json ADDED
@@ -0,0 +1,293 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main device body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and reposition the device",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the tapered body while aligning the port side for cable insertion or inspection",
14
+ "confidence": 0.85
15
+ },
16
+ {
17
+ "scenario": "stabilize the device by gripping the body during handling or placement on a surface",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "serve as the main structural housing",
23
+ "provide the primary grasp surface",
24
+ "enclose internal electronics",
25
+ "support access to side ports"
26
+ ],
27
+ "semantic_description": "Single-piece light beige or off-white rigid body with a smooth matte finish, elongated tapered wedge-like form, rounded wider base, pointed narrower top, printed black 'truecolor' text on the sides, and three small dark rectangular ports/openings on one face.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9777987599372864,
32
+ "position": [
33
+ -0.007661723881028593,
34
+ 0.09584284738230053,
35
+ -0.025003396440297365
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5565283836236411,
39
+ "xyz": [
40
+ 0.44731923840493837,
41
+ -0.4279998460212153,
42
+ 0.5540738118517233
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.97709721326828,
48
+ "position": [
49
+ 0.002927014254964888,
50
+ 0.09613344982790295,
51
+ -0.01756714703515172
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5322890610743378,
55
+ "xyz": [
56
+ 0.4486398043471765,
57
+ -0.47273487468530295,
58
+ 0.5402892000329068
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9762924313545227,
64
+ "position": [
65
+ -0.012629884644411504,
66
+ 0.09617802665161435,
67
+ 0.0022321161814033985
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5188798344580626,
71
+ "xyz": [
72
+ 0.4672088522483674,
73
+ 0.543618891142817,
74
+ -0.4657876200224639
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.976118803024292,
80
+ "position": [
81
+ -0.0016007028752937913,
82
+ 0.09609884933161084,
83
+ -0.022541625890880823
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5459740919671682,
87
+ "xyz": [
88
+ 0.44013526347334125,
89
+ -0.4542981003418407,
90
+ 0.5493691625616358
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.975934624671936,
96
+ "position": [
97
+ 0.0008214167028199881,
98
+ 0.09743862763571087,
99
+ -0.008832430932670832
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4662191049599681,
103
+ "xyz": [
104
+ 0.423537982172983,
105
+ -0.5360781206098338,
106
+ 0.5620280886491282
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9747547507286072,
112
+ "position": [
113
+ -0.04014120658393949,
114
+ 0.08686780348944012,
115
+ 0.009810775052756071
116
+ ],
117
+ "orientation": {
118
+ "w": 0.3211803952602008,
119
+ "xyz": [
120
+ 0.6125436478200466,
121
+ -0.40618573382632006,
122
+ 0.5971989474637298
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9746004343032837,
128
+ "position": [
129
+ -0.0031792124500498176,
130
+ 0.09827676579880062,
131
+ -0.008649259340018034
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5116443279181732,
135
+ "xyz": [
136
+ 0.5045844450277617,
137
+ 0.4697652655015888,
138
+ -0.5127720886255489
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.9738136529922485,
144
+ "position": [
145
+ 0.01079628395382315,
146
+ 0.09728273168730084,
147
+ 0.0009119661408476532
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5157993325394717,
151
+ "xyz": [
152
+ 0.5066490516388759,
153
+ -0.506193252085234,
154
+ 0.47013421335682315
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.9728332757949829,
160
+ "position": [
161
+ -0.016598713002167642,
162
+ 0.09455696657823864,
163
+ -0.025622828397899866
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5437235543162228,
167
+ "xyz": [
168
+ 0.4361239057965672,
169
+ -0.43055268611368946,
170
+ 0.5733977849231432
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.9726552963256836,
176
+ "position": [
177
+ -0.04609851574059576,
178
+ 0.08703410044836346,
179
+ -0.008196128066629171
180
+ ],
181
+ "orientation": {
182
+ "w": 0.38171469098699556,
183
+ "xyz": [
184
+ 0.5872284706833917,
185
+ -0.3410782777681872,
186
+ 0.6269945983325809
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.9717532992362976,
192
+ "position": [
193
+ -0.050206285319291055,
194
+ 0.08583495185303036,
195
+ 0.0016166515415534377
196
+ ],
197
+ "orientation": {
198
+ "w": 0.3313585735985323,
199
+ "xyz": [
200
+ 0.6082298002815592,
201
+ -0.37445076429443147,
202
+ 0.616477599651047
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.9714953899383545,
208
+ "position": [
209
+ -0.04946071689482778,
210
+ 0.08536807612108532,
211
+ 0.0031802640296518803
212
+ ],
213
+ "orientation": {
214
+ "w": 0.3348202367098193,
215
+ "xyz": [
216
+ 0.6161514430685752,
217
+ -0.36875147438402966,
218
+ 0.6101435555946624
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.9711847305297852,
224
+ "position": [
225
+ -0.0440602790331468,
226
+ 0.08606697783397976,
227
+ -0.010651637334376574
228
+ ],
229
+ "orientation": {
230
+ "w": 0.3913379091539558,
231
+ "xyz": [
232
+ 0.572686520973723,
233
+ -0.33488621949879527,
234
+ 0.6377585824932732
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.9700993299484253,
240
+ "position": [
241
+ 0.031205817707814276,
242
+ 0.0901879759185249,
243
+ -0.0019053311552852392
244
+ ],
245
+ "orientation": {
246
+ "w": 0.40235351257108487,
247
+ "xyz": [
248
+ 0.5962658973409322,
249
+ 0.37576704591115884,
250
+ -0.5842754126241531
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.9699239134788513,
256
+ "position": [
257
+ 0.027963766478933394,
258
+ 0.09281841084884945,
259
+ -0.011536178644746542
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4738547486703922,
263
+ "xyz": [
264
+ 0.5451040783042272,
265
+ 0.38715268419259086,
266
+ -0.5730933781689423
267
+ ]
268
+ }
269
+ },
270
+ "grasp_18": {
271
+ "confidence": 0.9698031544685364,
272
+ "position": [
273
+ -0.05372552981134504,
274
+ 0.08610754624533001,
275
+ 0.008401867467910051
276
+ ],
277
+ "orientation": {
278
+ "w": 0.3146941420915103,
279
+ "xyz": [
280
+ 0.6194410068081755,
281
+ -0.4004903013911051,
282
+ 0.5973842603462396
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ }
288
+ ],
289
+ "quality_check": {
290
+ "success": true,
291
+ "message": "YES"
292
+ }
293
+ }
dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6fae13e0caed8c8f464051268a1fd7a9206bd5a0f70ed96ef978106eebc131d
3
+ size 3777012
dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_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>