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
4a57631
·
verified ·
1 Parent(s): 3f73c98

Add asset desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/affordance/affordance_annot.json +472 -0
  3. dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/eraser_050.urdf +1 -0
.gitattributes CHANGED
@@ -8225,3 +8225,4 @@ dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/affo
8225
  dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8226
  dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8227
  dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8225
  dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8226
  dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8227
  dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8228
+ dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,472 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "eraser body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the eraser body from the sides to pick up and move the eraser",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the eraser body while rubbing to erase marks",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the eraser body in a precision pinch for reorientation",
18
+ "confidence": 0.83
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "erase pencil marks",
23
+ "provide main grasp surface",
24
+ "support rubbing against paper",
25
+ "form the main structural mass"
26
+ ],
27
+ "semantic_description": "Large white rectangular eraser body with rounded edges, a matte soft rubbery surface, smooth fine texture, and blue printed logo and text on the broad faces.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.8972861766815186,
32
+ "position": [
33
+ 0.08275375900848303,
34
+ 0.05572959812707268,
35
+ -0.0017833651654655114
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6831762287078756,
39
+ "xyz": [
40
+ 0.20048229918279786,
41
+ -0.6742082909865609,
42
+ 0.19626581110280972
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.8971133232116699,
48
+ "position": [
49
+ 0.08161788074357901,
50
+ 0.055360149912303314,
51
+ -0.0003008311177836731
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6737393204341084,
55
+ "xyz": [
56
+ 0.19597010992854247,
57
+ -0.6808767439611664,
58
+ 0.2099473830473272
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.87125164270401,
64
+ "position": [
65
+ 0.05987469865067396,
66
+ 0.07757758753723465,
67
+ -0.01845634939672891
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7205587110328265,
71
+ "xyz": [
72
+ 0.34696886882265743,
73
+ -0.5368185028349802,
74
+ 0.2687631727686055
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.8710504770278931,
80
+ "position": [
81
+ -0.006863932925625704,
82
+ 0.10039437221712433,
83
+ -8.47847004479263e-05
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6819526932051667,
87
+ "xyz": [
88
+ 0.7248439094708425,
89
+ -0.03944728887876092,
90
+ 0.08936298189608813
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.866760790348053,
96
+ "position": [
97
+ 0.07828091470582876,
98
+ 0.059935845754807815,
99
+ -0.017643934363150038
100
+ ],
101
+ "orientation": {
102
+ "w": 0.2218982172756102,
103
+ "xyz": [
104
+ 0.6054953230973403,
105
+ 0.2159438689315657,
106
+ -0.733147216013278
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.8665311932563782,
112
+ "position": [
113
+ 0.09773058829887304,
114
+ 0.009029076754814014,
115
+ 0.009606498046196066
116
+ ],
117
+ "orientation": {
118
+ "w": 0.016370953190324528,
119
+ "xyz": [
120
+ 0.7483439710849639,
121
+ 0.03906488672177344,
122
+ -0.6619571190476329
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.865450382232666,
128
+ "position": [
129
+ 0.0828439408360282,
130
+ 0.05660961600369774,
131
+ 0.011237211278057657
132
+ ],
133
+ "orientation": {
134
+ "w": 0.1925187674464265,
135
+ "xyz": [
136
+ 0.7151135197497603,
137
+ 0.21078615838316062,
138
+ -0.6380582837688786
139
+ ]
140
+ }
141
+ },
142
+ "grasp_10": {
143
+ "confidence": 0.8642823696136475,
144
+ "position": [
145
+ -0.01002043100015726,
146
+ 0.10575441675609909,
147
+ -0.003835013383650221
148
+ ],
149
+ "orientation": {
150
+ "w": 0.2127187113567695,
151
+ "xyz": [
152
+ 0.15802155373448895,
153
+ 0.6889541132767615,
154
+ -0.674627429173381
155
+ ]
156
+ }
157
+ },
158
+ "grasp_12": {
159
+ "confidence": 0.860120952129364,
160
+ "position": [
161
+ -0.006393188479705714,
162
+ 0.10308535801596008,
163
+ 0.0015356219228124246
164
+ ],
165
+ "orientation": {
166
+ "w": 0.45541111680505125,
167
+ "xyz": [
168
+ 0.4651254733237572,
169
+ -0.5346589107531093,
170
+ 0.5388866837360389
171
+ ]
172
+ }
173
+ },
174
+ "grasp_14": {
175
+ "confidence": 0.8573372960090637,
176
+ "position": [
177
+ -0.01532497709558811,
178
+ -0.09973078561597504,
179
+ -0.0033570700470590964
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5189488804891128,
183
+ "xyz": [
184
+ -0.4531939059407755,
185
+ 0.5303546582726146,
186
+ 0.49399522214873537
187
+ ]
188
+ }
189
+ },
190
+ "grasp_15": {
191
+ "confidence": 0.8568482995033264,
192
+ "position": [
193
+ 0.07996665326936636,
194
+ 0.06835202532238327,
195
+ 0.01198797182587441
196
+ ],
197
+ "orientation": {
198
+ "w": 0.19969012970095043,
199
+ "xyz": [
200
+ 0.7168779715288737,
201
+ 0.2132025081069887,
202
+ -0.6330517487327195
203
+ ]
204
+ }
205
+ },
206
+ "grasp_19": {
207
+ "confidence": 0.8533855676651001,
208
+ "position": [
209
+ -0.007935806977911852,
210
+ 0.10764012145227753,
211
+ -0.004852817641221918
212
+ ],
213
+ "orientation": {
214
+ "w": 0.7052029076564974,
215
+ "xyz": [
216
+ 0.7009709715210166,
217
+ -0.04220064871905582,
218
+ 0.09771213520026152
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "sleeve label",
226
+ "mask_color": "Green",
227
+ "graspable": true,
228
+ "grasp_scenarios": [
229
+ {
230
+ "scenario": "grasp the side sleeve to pick up the eraser when the body is partly covered",
231
+ "confidence": 0.58
232
+ },
233
+ {
234
+ "scenario": "pinch the sleeve to stabilize and orient the eraser during handling",
235
+ "confidence": 0.49
236
+ }
237
+ ],
238
+ "functional_labels": [
239
+ "improve grip slightly",
240
+ "protect the eraser side",
241
+ "provide branding area",
242
+ "help indicate orientation"
243
+ ],
244
+ "semantic_description": "Medium blue side sleeve panel made of thin paper or card with a mostly matte smooth finish, straight rectangular shape, and white Comix branding along one long side.",
245
+ "id": 1,
246
+ "grasp_group": {
247
+ "grasp_24": {
248
+ "confidence": 0.8396905064582825,
249
+ "position": [
250
+ -0.010256495195790194,
251
+ 0.09793412344879471,
252
+ 0.0043437268905108795
253
+ ],
254
+ "orientation": {
255
+ "w": 0.6895565950374615,
256
+ "xyz": [
257
+ 0.7103981178856351,
258
+ -0.07668049565652768,
259
+ 0.11817917722999649
260
+ ]
261
+ }
262
+ },
263
+ "grasp_29": {
264
+ "confidence": 0.7912379503250122,
265
+ "position": [
266
+ 0.004932440017000772,
267
+ -0.09824677897267975,
268
+ 0.00016772394883446395
269
+ ],
270
+ "orientation": {
271
+ "w": 0.7170441044238932,
272
+ "xyz": [
273
+ -0.6836840688563024,
274
+ -0.10883748659619319,
275
+ -0.08110639811045509
276
+ ]
277
+ }
278
+ },
279
+ "grasp_30": {
280
+ "confidence": 0.7768430709838867,
281
+ "position": [
282
+ -0.0044689056085189804,
283
+ 0.10450476812548004,
284
+ 0.008728832690394484
285
+ ],
286
+ "orientation": {
287
+ "w": 0.12410586625325228,
288
+ "xyz": [
289
+ 0.09306686280275914,
290
+ 0.7160592399245356,
291
+ -0.6805846442054649
292
+ ]
293
+ }
294
+ },
295
+ "grasp_31": {
296
+ "confidence": 0.7562623620033264,
297
+ "position": [
298
+ 0.00451977331249509,
299
+ -0.09895919603877701,
300
+ -0.000490791819174774
301
+ ],
302
+ "orientation": {
303
+ "w": 0.7158590487113808,
304
+ "xyz": [
305
+ -0.6756954425268477,
306
+ -0.12717067935796056,
307
+ -0.1216926852284864
308
+ ]
309
+ }
310
+ },
311
+ "grasp_32": {
312
+ "confidence": 0.7297732830047607,
313
+ "position": [
314
+ -0.005588817279203795,
315
+ 0.09898829864687286,
316
+ 0.006316175436950289
317
+ ],
318
+ "orientation": {
319
+ "w": 0.6922498261890255,
320
+ "xyz": [
321
+ 0.7079548871049088,
322
+ -0.07118168913179768,
323
+ 0.1205123358743176
324
+ ]
325
+ }
326
+ },
327
+ "grasp_33": {
328
+ "confidence": 0.7077425718307495,
329
+ "position": [
330
+ 0.008540261667803861,
331
+ 0.08961066263145767,
332
+ -0.03900845373573247
333
+ ],
334
+ "orientation": {
335
+ "w": 0.07493303906497396,
336
+ "xyz": [
337
+ 0.1019694975770238,
338
+ 0.530533798729522,
339
+ -0.8381653474261502
340
+ ]
341
+ }
342
+ },
343
+ "grasp_34": {
344
+ "confidence": 0.7009261250495911,
345
+ "position": [
346
+ 0.00547668723447714,
347
+ -0.09607930821948685,
348
+ -0.004924339955323376
349
+ ],
350
+ "orientation": {
351
+ "w": 0.7203711746063348,
352
+ "xyz": [
353
+ -0.6477775609923706,
354
+ -0.17036146367799665,
355
+ -0.18007380143862106
356
+ ]
357
+ }
358
+ },
359
+ "grasp_36": {
360
+ "confidence": 0.6564592719078064,
361
+ "position": [
362
+ -0.03755104528681841,
363
+ 0.08831347929663025,
364
+ 0.00974578944442328
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6231620898372966,
368
+ "xyz": [
369
+ 0.7402898448736156,
370
+ -0.0683891555058368,
371
+ 0.24282273117607858
372
+ ]
373
+ }
374
+ },
375
+ "grasp_37": {
376
+ "confidence": 0.6310400366783142,
377
+ "position": [
378
+ 0.0014002351235831156,
379
+ -0.10090563786798157,
380
+ 0.007169299977249466
381
+ ],
382
+ "orientation": {
383
+ "w": 0.12995927480171252,
384
+ "xyz": [
385
+ -0.12333111373722094,
386
+ 0.7004840161790404,
387
+ 0.6908126854329125
388
+ ]
389
+ }
390
+ },
391
+ "grasp_38": {
392
+ "confidence": 0.5822141170501709,
393
+ "position": [
394
+ 0.001990676872082986,
395
+ 0.09129620747989975,
396
+ -0.025117013850831427
397
+ ],
398
+ "orientation": {
399
+ "w": 0.12783601277205003,
400
+ "xyz": [
401
+ 0.10877880135760616,
402
+ 0.5908226212854805,
403
+ -0.7891474870967407
404
+ ]
405
+ }
406
+ },
407
+ "grasp_39": {
408
+ "confidence": 0.4959944784641266,
409
+ "position": [
410
+ 0.02078258445544634,
411
+ -0.09395346386008896,
412
+ 0.009784321053302847
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6920088704444716,
416
+ "xyz": [
417
+ -0.7088136376561348,
418
+ -0.13509392051550417,
419
+ -0.021367801445043983
420
+ ]
421
+ }
422
+ }
423
+ }
424
+ },
425
+ {
426
+ "part_name": "circular logo mark",
427
+ "mask_color": "Orange",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "display brand identity",
432
+ "identify product face",
433
+ "provide visual orientation cue"
434
+ ],
435
+ "semantic_description": "Small blue circular printed logo on the top face, flat and smooth with no thickness, serving as a surface graphic rather than a separate structural element.",
436
+ "id": 4,
437
+ "grasp_group": {}
438
+ },
439
+ {
440
+ "part_name": "printed character text",
441
+ "mask_color": "Yellow",
442
+ "graspable": false,
443
+ "grasp_scenarios": [],
444
+ "functional_labels": [
445
+ "display product text",
446
+ "identify brand or model",
447
+ "provide visual orientation cue"
448
+ ],
449
+ "semantic_description": "Blue printed characters on the top face, flat smooth markings with no raised structure, used as surface labeling on the white eraser body.",
450
+ "id": 3,
451
+ "grasp_group": {}
452
+ },
453
+ {
454
+ "part_name": "small emblem mark",
455
+ "mask_color": "Purple",
456
+ "graspable": false,
457
+ "grasp_scenarios": [],
458
+ "functional_labels": [
459
+ "display small brand mark",
460
+ "provide visual detail",
461
+ "help identify product face"
462
+ ],
463
+ "semantic_description": "Tiny blue printed emblem near the top-face corner, appearing as a flat smooth graphic on the matte white eraser surface.",
464
+ "id": 5,
465
+ "grasp_group": {}
466
+ }
467
+ ],
468
+ "quality_check": {
469
+ "success": true,
470
+ "message": "YES"
471
+ }
472
+ }
dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dd9d0c14a0925e6810c4f95476eabb619d0c964b2b08439e66a2b6bb649203f9
3
+ size 3783320
dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/eraser_050.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>