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
4edaf1c
·
verified ·
1 Parent(s): 2a3952c

Add asset desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d/affordance/affordance_annot.json +399 -0
  3. dataset/desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d/sharpener_036.urdf +1 -0
.gitattributes CHANGED
@@ -8609,3 +8609,4 @@ dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affo
8609
  dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8610
  dataset/desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8611
  dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8609
  dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8610
  dataset/desktop_supplies/office_stationery/ebcf86a5fb8e5b63b8654cd5857b93a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8611
  dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8612
+ dataset/desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sharpener body",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the body to pick up and reposition the sharpener",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body steady while inserting and twisting a pencil",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the body to inspect or empty the sharpener",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "outer enclosure",
24
+ "house the sharpening mechanism",
25
+ "support sharpening",
26
+ "stabilize during use"
27
+ ],
28
+ "semantic_description": "Compact white plastic body with a smooth matte finish, rounded triangular shape, and medium size. It forms the main enclosure and has red-and-black branding printed on the side.",
29
+ "id": 5,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9660397171974182,
33
+ "position": [
34
+ -0.046694892225787044,
35
+ -0.00035124525311402977,
36
+ 0.1266814786940813
37
+ ],
38
+ "orientation": {
39
+ "w": 0.100802896962634,
40
+ "xyz": [
41
+ -0.7058216958520434,
42
+ 0.6955826926816545,
43
+ -0.08842639464676116
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9660351872444153,
49
+ "position": [
50
+ -0.03922708216123283,
51
+ 0.006303924281382933,
52
+ -0.11743949167430401
53
+ ],
54
+ "orientation": {
55
+ "w": 0.6984109014445733,
56
+ "xyz": [
57
+ -0.08560026355739364,
58
+ 0.11292973938639528,
59
+ -0.7015281046290334
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9650358557701111,
65
+ "position": [
66
+ 0.034359433921054006,
67
+ 0.0044232366199139506,
68
+ -0.1273802202194929
69
+ ],
70
+ "orientation": {
71
+ "w": 0.7038743787718321,
72
+ "xyz": [
73
+ -0.04730409326374585,
74
+ -0.05162812000602712,
75
+ 0.7068647104600047
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.9637371301651001,
81
+ "position": [
82
+ -0.135073161451146,
83
+ 0.0013449339021462947,
84
+ -0.00529740285128355
85
+ ],
86
+ "orientation": {
87
+ "w": 0.49781642561736034,
88
+ "xyz": [
89
+ 0.49992265437723127,
90
+ 0.4904964756332836,
91
+ 0.511536267939338
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9634567499160767,
97
+ "position": [
98
+ 0.013137490721419454,
99
+ 0.002171167201595381,
100
+ -0.12860182486474514
101
+ ],
102
+ "orientation": {
103
+ "w": 0.701547167316048,
104
+ "xyz": [
105
+ 0.008787666817551347,
106
+ 0.005094197116910282,
107
+ 0.7125506284457732
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9626502990722656,
113
+ "position": [
114
+ -0.13472942146472633,
115
+ -0.003109733195742592,
116
+ -0.004888827446848154
117
+ ],
118
+ "orientation": {
119
+ "w": 0.4924202193254128,
120
+ "xyz": [
121
+ 0.5023056127095797,
122
+ 0.49625285704536126,
123
+ 0.5088658967884199
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9626282453536987,
129
+ "position": [
130
+ -0.09629882010631263,
131
+ -0.004473852779483423,
132
+ -0.08275782130658627
133
+ ],
134
+ "orientation": {
135
+ "w": 0.6258250607430396,
136
+ "xyz": [
137
+ 0.30097877555383346,
138
+ 0.29916758204823224,
139
+ 0.6544108249895476
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.962546169757843,
145
+ "position": [
146
+ -0.13651681574992836,
147
+ 0.0015148795500863343,
148
+ -0.006634179037064314
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5008837186615602,
152
+ "xyz": [
153
+ 0.5040797211638406,
154
+ 0.4887027396585507,
155
+ 0.5061509333601771
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9623484015464783,
161
+ "position": [
162
+ 0.007005104562267661,
163
+ 0.0024348638544324785,
164
+ -0.12769815139472485
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7042745262431578,
168
+ "xyz": [
169
+ 0.019606438394818536,
170
+ 0.003912649561035986,
171
+ 0.7096461586113598
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9619544148445129,
177
+ "position": [
178
+ -0.11426586541347206,
179
+ -0.001197079982375726,
180
+ -0.06663401238620281
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6168461782617486,
184
+ "xyz": [
185
+ -0.3463694307314005,
186
+ 0.34775970681374324,
187
+ -0.6152984610215598
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9618489742279053,
193
+ "position": [
194
+ 0.03670425829477608,
195
+ 0.005515958793694153,
196
+ -0.13152889721095562
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7089960807530722,
200
+ "xyz": [
201
+ -0.010222182368387714,
202
+ -0.024434733537331166,
203
+ 0.7047148418057975
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9617627263069153,
209
+ "position": [
210
+ -0.09759742650203407,
211
+ -0.004374143987661228,
212
+ 0.09014699049293995
213
+ ],
214
+ "orientation": {
215
+ "w": 0.2902115114136847,
216
+ "xyz": [
217
+ -0.6615430513261902,
218
+ 0.6363693246991147,
219
+ -0.2705035165520247
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9616454243659973,
225
+ "position": [
226
+ -0.021359854144975543,
227
+ -0.00047717816778458655,
228
+ 0.13226626999676228
229
+ ],
230
+ "orientation": {
231
+ "w": 0.036044014690024835,
232
+ "xyz": [
233
+ -0.7152132053932682,
234
+ 0.6978418089732232,
235
+ -0.013700711116274697
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.96121746301651,
241
+ "position": [
242
+ -0.024460726184770465,
243
+ -0.0020928698068019003,
244
+ 0.13151501305401325
245
+ ],
246
+ "orientation": {
247
+ "w": 0.03405241744238196,
248
+ "xyz": [
249
+ -0.7128293575784372,
250
+ 0.7000893460502218,
251
+ -0.024282656107087654
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9611191153526306,
257
+ "position": [
258
+ -0.12219164404086769,
259
+ 0.0029430360591504723,
260
+ 0.056067245081067085
261
+ ],
262
+ "orientation": {
263
+ "w": 0.3683142781714063,
264
+ "xyz": [
265
+ -0.6100587590978542,
266
+ 0.5929970116383798,
267
+ -0.37486990694241296
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.961018443107605,
273
+ "position": [
274
+ -0.019358767895027995,
275
+ -0.001463722059270367,
276
+ 0.1310423780232668
277
+ ],
278
+ "orientation": {
279
+ "w": 0.018052001038170014,
280
+ "xyz": [
281
+ -0.7053729047081362,
282
+ 0.7086000479277175,
283
+ -0.003026985127321972
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9609699845314026,
289
+ "position": [
290
+ 0.02549932268448174,
291
+ 0.000677784439176321,
292
+ -0.1315178330987692
293
+ ],
294
+ "orientation": {
295
+ "w": 0.7007399837349283,
296
+ "xyz": [
297
+ -0.0070383694719193856,
298
+ -0.009043713768795092,
299
+ 0.7133247141320828
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.9605886936187744,
305
+ "position": [
306
+ -0.07509897532872856,
307
+ 0.0010892771242652088,
308
+ -0.10463321022689342
309
+ ],
310
+ "orientation": {
311
+ "w": 0.6794674790195571,
312
+ "xyz": [
313
+ -0.1976255534649185,
314
+ 0.20221449535848357,
315
+ -0.6770357327640879
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9602009057998657,
321
+ "position": [
322
+ -0.02506900834850967,
323
+ 0.007294121809536591,
324
+ -0.12142188660800457
325
+ ],
326
+ "orientation": {
327
+ "w": 0.7108296823249721,
328
+ "xyz": [
329
+ -0.06494639786677087,
330
+ 0.09552584926977348,
331
+ -0.6938140530799295
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ },
337
+ {
338
+ "part_name": "blade plate",
339
+ "mask_color": "Red",
340
+ "graspable": false,
341
+ "grasp_scenarios": [],
342
+ "functional_labels": [
343
+ "hold the blade assembly",
344
+ "guide pencil contact",
345
+ "cover the cutting area",
346
+ "support sharpening mechanism"
347
+ ],
348
+ "semantic_description": "Small dark gray metallic rectangular plate with a smooth slightly reflective finish, mounted vertically on one face of the sharpener.",
349
+ "id": 0,
350
+ "grasp_group": {}
351
+ },
352
+ {
353
+ "part_name": "logo print",
354
+ "mask_color": "Pink",
355
+ "graspable": false,
356
+ "grasp_scenarios": [],
357
+ "functional_labels": [
358
+ "brand marking",
359
+ "visual identification",
360
+ "decorative marking"
361
+ ],
362
+ "semantic_description": "Red and black printed Mitsubishi branding on the white body surface, flat and smooth, visible on the side faces.",
363
+ "id": 8,
364
+ "grasp_group": {}
365
+ },
366
+ {
367
+ "part_name": "mounting screw",
368
+ "mask_color": "Olive",
369
+ "graspable": false,
370
+ "grasp_scenarios": [],
371
+ "functional_labels": [
372
+ "fasten blade assembly",
373
+ "secure sharpening mechanism",
374
+ "allow disassembly for maintenance"
375
+ ],
376
+ "semantic_description": "Tiny silver metal screw head with a reflective finish and slotted detail, located on the blade plate.",
377
+ "id": 14,
378
+ "grasp_group": {}
379
+ },
380
+ {
381
+ "part_name": "pencil entry hole",
382
+ "mask_color": "Pink",
383
+ "graspable": false,
384
+ "grasp_scenarios": [],
385
+ "functional_labels": [
386
+ "accept pencil tip",
387
+ "guide pencil alignment",
388
+ "provide sharpening entry"
389
+ ],
390
+ "semantic_description": "Small oval opening in the white body near the bottom of the blade side, recessed and sized for inserting a pencil.",
391
+ "id": 8,
392
+ "grasp_group": {}
393
+ }
394
+ ],
395
+ "quality_check": {
396
+ "success": false,
397
+ "message": "Mask colors and part identity mismatched: logo and entry hole share wrong color; screw color incorrect; blade plate overdescribed."
398
+ }
399
+ }
dataset/desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:088e4fd692689d3d48231dc10bcbe8ee351624cdc66aa5efd5caf125c01d4d67
3
+ size 3643208
dataset/desktop_supplies/office_stationery/ec01313362c85dd3a28fabd5e6fb356d/sharpener_036.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>NO: {"summary":"Over-fragmented on blade area; most colors are tiny decorative/noise pieces rather than functional parts.","merge_groups":[{"colors":["Red","Magenta","Navy","Olive"],"target_part":"blade assembly/front metal insert","reason":"Same sharpener insert split into tiny adjacent pieces"}]}</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>NO: {"summary":"Over-fragmented on blade area; most colors are tiny decorative/noise pieces rather than functional parts.","merge_groups":[{"colors":["Red","Magenta","Navy","Olive"],"target_part":"blade assembly/front metal insert","reason":"Same sharpener insert split into tiny adjacent pieces"}]}</PartSegChecker>