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
a440437
·
verified ·
1 Parent(s): 0776e96

Add asset desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/affordance_annot.json +323 -0
  3. dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.urdf +1 -0
.gitattributes CHANGED
@@ -6691,4 +6691,4 @@ dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordanc
6691
  dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6692
  dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6693
  dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6694
- dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6691
  dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6692
  dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6693
  dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6694
+ dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/affordance_annot.json ADDED
@@ -0,0 +1,323 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and use the utility knife",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle to guide cutting motions",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the knife while adjusting the blade slider",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support cutting control",
24
+ "house the blade mechanism",
25
+ "separate hand from blade",
26
+ "provide lanyard or hanging hole"
27
+ ],
28
+ "semantic_description": "Large light aqua plastic handle with a matte smooth surface, elongated rounded shape, and an oval hole at the rear; it forms the main body around the blade slot.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_1": {
32
+ "confidence": 0.947172224521637,
33
+ "position": [
34
+ -0.009487514616921544,
35
+ 0.08753716568753589,
36
+ 0.036182390176691115
37
+ ],
38
+ "orientation": {
39
+ "w": 0.2588507519461932,
40
+ "xyz": [
41
+ 0.6703314114495231,
42
+ -0.4712357350397839,
43
+ 0.5114576903933452
44
+ ]
45
+ }
46
+ },
47
+ "grasp_2": {
48
+ "confidence": 0.9454795122146606,
49
+ "position": [
50
+ -0.05282789026387036,
51
+ 0.0976384691457497,
52
+ -0.0014933098573237658
53
+ ],
54
+ "orientation": {
55
+ "w": 0.44404348606484273,
56
+ "xyz": [
57
+ 0.549787345802233,
58
+ -0.4424929978359561,
59
+ 0.5520500011278558
60
+ ]
61
+ }
62
+ },
63
+ "grasp_3": {
64
+ "confidence": 0.9422263503074646,
65
+ "position": [
66
+ -0.03253096272237599,
67
+ -0.10212213922932278,
68
+ -0.009108532569371164
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5275395859926778,
72
+ "xyz": [
73
+ -0.4997547091774746,
74
+ 0.48161591491001754,
75
+ 0.4898911372652078
76
+ ]
77
+ }
78
+ },
79
+ "grasp_6": {
80
+ "confidence": 0.9355895519256592,
81
+ "position": [
82
+ -0.08137157862074673,
83
+ -0.08963500340178143,
84
+ 0.003726257593370974
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6070741818471748,
88
+ "xyz": [
89
+ -0.37902338786288087,
90
+ 0.6152715512217293,
91
+ 0.3305194811879243
92
+ ]
93
+ }
94
+ },
95
+ "grasp_7": {
96
+ "confidence": 0.9323322176933289,
97
+ "position": [
98
+ 0.044538070214912295,
99
+ -0.09727070112421643,
100
+ -0.0036730681313201785
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4883341709312808,
104
+ "xyz": [
105
+ -0.5180303942799362,
106
+ 0.4644522312409777,
107
+ 0.5267431755593128
108
+ ]
109
+ }
110
+ },
111
+ "grasp_8": {
112
+ "confidence": 0.9322522282600403,
113
+ "position": [
114
+ -0.015461725415661931,
115
+ -0.09329967577650677,
116
+ -0.011050127795897424
117
+ ],
118
+ "orientation": {
119
+ "w": 0.6241529363839537,
120
+ "xyz": [
121
+ -0.33749970607354146,
122
+ 0.5911422507369551,
123
+ 0.38350736602731345
124
+ ]
125
+ }
126
+ },
127
+ "grasp_9": {
128
+ "confidence": 0.9315635561943054,
129
+ "position": [
130
+ -0.011681638890877366,
131
+ -0.08750548590614926,
132
+ -0.020216687000356615
133
+ ],
134
+ "orientation": {
135
+ "w": 0.6531758598292028,
136
+ "xyz": [
137
+ -0.31930114076836275,
138
+ 0.5558057058196686,
139
+ 0.4030981208325144
140
+ ]
141
+ }
142
+ },
143
+ "grasp_10": {
144
+ "confidence": 0.9309232234954834,
145
+ "position": [
146
+ -0.08184551005251706,
147
+ -0.08977585662796628,
148
+ -0.001502434373833239
149
+ ],
150
+ "orientation": {
151
+ "w": 0.34986964658071423,
152
+ "xyz": [
153
+ -0.6093776448634017,
154
+ -0.3540998222370404,
155
+ -0.6171413389442619
156
+ ]
157
+ }
158
+ },
159
+ "grasp_11": {
160
+ "confidence": 0.9308173656463623,
161
+ "position": [
162
+ -0.036571788834407926,
163
+ 0.09383121501014102,
164
+ -0.01848308031912893
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5602202968352863,
168
+ "xyz": [
169
+ 0.5038927474726724,
170
+ -0.41229996097060573,
171
+ 0.5121074694259616
172
+ ]
173
+ }
174
+ },
175
+ "grasp_12": {
176
+ "confidence": 0.9279837012290955,
177
+ "position": [
178
+ -0.03574702818877995,
179
+ 0.0986680723290192,
180
+ -0.005889739724807441
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5149063209731348,
184
+ "xyz": [
185
+ 0.49419298250912874,
186
+ 0.5115255103729228,
187
+ -0.4785252646395628
188
+ ]
189
+ }
190
+ },
191
+ "grasp_13": {
192
+ "confidence": 0.9271945357322693,
193
+ "position": [
194
+ -0.07825361494906247,
195
+ -0.08766483892395627,
196
+ 0.005332293105311692
197
+ ],
198
+ "orientation": {
199
+ "w": 0.35506180500697276,
200
+ "xyz": [
201
+ -0.6151457428325826,
202
+ -0.36036935595218367,
203
+ -0.6046988977919088
204
+ ]
205
+ }
206
+ },
207
+ "grasp_14": {
208
+ "confidence": 0.9262509346008301,
209
+ "position": [
210
+ -0.08230383251793683,
211
+ -0.08844120432331692,
212
+ -0.0007635309011675417
213
+ ],
214
+ "orientation": {
215
+ "w": 0.613169163842185,
216
+ "xyz": [
217
+ -0.3694963491908395,
218
+ 0.6121888113675713,
219
+ 0.335739309113599
220
+ ]
221
+ }
222
+ },
223
+ "grasp_15": {
224
+ "confidence": 0.9254668951034546,
225
+ "position": [
226
+ -0.08821538393385708,
227
+ 0.08626302699849475,
228
+ -0.017852999619208276
229
+ ],
230
+ "orientation": {
231
+ "w": 0.6570271116476519,
232
+ "xyz": [
233
+ 0.2966261619640783,
234
+ 0.5803556070018604,
235
+ -0.3788346130172201
236
+ ]
237
+ }
238
+ },
239
+ "grasp_18": {
240
+ "confidence": 0.9243322014808655,
241
+ "position": [
242
+ -0.08102827076800168,
243
+ -0.09242397923662793,
244
+ -0.0054640237940475345
245
+ ],
246
+ "orientation": {
247
+ "w": 0.6085777871112193,
248
+ "xyz": [
249
+ -0.3616842132141162,
250
+ 0.6052889442554558,
251
+ 0.3639270543785016
252
+ ]
253
+ }
254
+ },
255
+ "grasp_19": {
256
+ "confidence": 0.9235951900482178,
257
+ "position": [
258
+ -0.08270701323635876,
259
+ 0.08888472239777911,
260
+ -0.005160293891094625
261
+ ],
262
+ "orientation": {
263
+ "w": 0.36549708283951154,
264
+ "xyz": [
265
+ 0.5984383632558866,
266
+ -0.33786070833660764,
267
+ 0.6278005651333143
268
+ ]
269
+ }
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "part_name": "slider track insert",
275
+ "mask_color": "Cyan",
276
+ "graspable": false,
277
+ "grasp_scenarios": [],
278
+ "functional_labels": [
279
+ "guide slider travel",
280
+ "define the blade adjustment path",
281
+ "support blade positioning",
282
+ "provide the recessed slot for the moving mechanism"
283
+ ],
284
+ "semantic_description": "Long narrow dark gray recessed insert set into the top of the handle, with a smooth finish and a straight elongated slot for the slider mechanism.",
285
+ "id": 6,
286
+ "grasp_group": {}
287
+ },
288
+ {
289
+ "part_name": "thumb slider",
290
+ "mask_color": "Orange",
291
+ "graspable": false,
292
+ "grasp_scenarios": [],
293
+ "functional_labels": [
294
+ "extend blade",
295
+ "retract blade",
296
+ "adjust blade position",
297
+ "control cutting readiness"
298
+ ],
299
+ "semantic_description": "Small round pink slider button with a matte smooth surface, raised from the handle near the center of the slot and sized mainly for thumb or fingertip actuation.",
300
+ "id": 4,
301
+ "grasp_group": {}
302
+ },
303
+ {
304
+ "part_name": "knife blade",
305
+ "mask_color": "Green",
306
+ "graspable": false,
307
+ "grasp_scenarios": [],
308
+ "functional_labels": [
309
+ "cut materials",
310
+ "slice surfaces",
311
+ "score material",
312
+ "provide sharp working edge"
313
+ ],
314
+ "semantic_description": "Short exposed dark gray metal blade with a slightly reflective smooth finish, broad curved hooked utility-blade shape, and a sharp cutting edge protruding from the front of the handle.",
315
+ "id": 1,
316
+ "grasp_group": {}
317
+ }
318
+ ],
319
+ "quality_check": {
320
+ "success": true,
321
+ "message": "YES"
322
+ }
323
+ }
dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f78a869a2618ca7b613844c2681b7b636c8e335732d9736e5e5c98e8f919c58d
3
+ size 3786532
dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_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>