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
bdd48db
·
verified ·
1 Parent(s): 95dda29

Add asset desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528/affordance/affordance_annot.json +502 -0
  3. dataset/desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8614,3 +8614,4 @@ dataset/desktop_supplies/office_stationery/ed4933fa50845f8ca5ce38b08fb51814/affo
8614
  dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8615
  dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8616
  dataset/desktop_supplies/office_stationery/edf3e08662e25bf0ac1446b3e488a010/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8614
  dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8615
  dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8616
  dataset/desktop_supplies/office_stationery/edf3e08662e25bf0ac1446b3e488a010/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8617
+ dataset/desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528/affordance/affordance_annot.json ADDED
@@ -0,0 +1,502 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "left body shell",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the broad side of the dispenser body to pick up and reposition the correction tape",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body while pressing the tip against paper for tape application",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the dispenser body while orienting the tip for precise placement",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the tape mechanism",
24
+ "support one-handed dispensing",
25
+ "provide structural enclosure"
26
+ ],
27
+ "semantic_description": "One broad teardrop-shaped side of the correction tape dispenser, made of orange glossy plastic with a smooth hard surface; this side has black printed product text and a small white printed marking area near the front half.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.6459882259368896,
32
+ "position": [
33
+ 0.09523530025035143,
34
+ -0.005438594496808946,
35
+ 0.02206019869481679
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6251554416623352,
39
+ "xyz": [
40
+ -0.039923903116634414,
41
+ -0.7793427219938627,
42
+ -0.014549137263122179
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.58123379945755,
48
+ "position": [
49
+ 0.09753203112632036,
50
+ -0.0034336972748860717,
51
+ 0.023377677411190234
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6372739630964802,
55
+ "xyz": [
56
+ -0.03831569190890772,
57
+ -0.7696305157062554,
58
+ -0.009092469772893227
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.5394076108932495,
64
+ "position": [
65
+ 0.10148239601403475,
66
+ -0.003628832404501736,
67
+ 0.022189043447724544
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6358782165119102,
71
+ "xyz": [
72
+ -0.015566836606194416,
73
+ -0.7713235803332344,
74
+ -0.021828920853504744
75
+ ]
76
+ }
77
+ },
78
+ "grasp_24": {
79
+ "confidence": 0.4813919961452484,
80
+ "position": [
81
+ 0.10048646945506334,
82
+ 0.005114342668093741,
83
+ 0.019998578340164386
84
+ ],
85
+ "orientation": {
86
+ "w": 0.006460068849285595,
87
+ "xyz": [
88
+ -0.7815776204207671,
89
+ -0.019271875633310454,
90
+ 0.6234767722838184
91
+ ]
92
+ }
93
+ },
94
+ "grasp_25": {
95
+ "confidence": 0.418265700340271,
96
+ "position": [
97
+ 0.10386450309306383,
98
+ -0.002150906133465469,
99
+ 0.026007322579971515
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6238249132377899,
103
+ "xyz": [
104
+ -0.008031401527718762,
105
+ -0.7809837197001884,
106
+ -0.02902419295384133
107
+ ]
108
+ }
109
+ },
110
+ "grasp_26": {
111
+ "confidence": 0.3682979643344879,
112
+ "position": [
113
+ 0.10674348194152117,
114
+ 0.001285684877075255,
115
+ 0.01980473472212907
116
+ ],
117
+ "orientation": {
118
+ "w": 0.01104348609131166,
119
+ "xyz": [
120
+ -0.7743808675564927,
121
+ -0.012438180314387814,
122
+ 0.6325010711831807
123
+ ]
124
+ }
125
+ },
126
+ "grasp_27": {
127
+ "confidence": 0.4649786949157715,
128
+ "position": [
129
+ 0.08779655117541552,
130
+ -0.03518288710620254,
131
+ 0.024888584375730716
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5820931775534031,
135
+ "xyz": [
136
+ -0.1371619853856978,
137
+ -0.7892002712024692,
138
+ -0.13970345144191937
139
+ ]
140
+ }
141
+ },
142
+ "grasp_29": {
143
+ "confidence": 0.4633390009403229,
144
+ "position": [
145
+ 0.10597826261073351,
146
+ 0.005929742590524256,
147
+ 0.009166266754618846
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6697239758346385,
151
+ "xyz": [
152
+ -0.04483747637757503,
153
+ -0.7400393287259662,
154
+ 0.04244041520951152
155
+ ]
156
+ }
157
+ },
158
+ "grasp_31": {
159
+ "confidence": 0.7958857417106628,
160
+ "position": [
161
+ -0.1086726812645793,
162
+ 0.011263019987381995,
163
+ -0.018123453497537412
164
+ ],
165
+ "orientation": {
166
+ "w": 0.7526636694841772,
167
+ "xyz": [
168
+ 0.003869678213688957,
169
+ 0.6537956464201037,
170
+ -0.07767675940237699
171
+ ]
172
+ }
173
+ },
174
+ "grasp_33": {
175
+ "confidence": 0.6748901605606079,
176
+ "position": [
177
+ -0.08685513120144606,
178
+ 0.047625473351217806,
179
+ -0.012188368491479196
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7260938174557597,
183
+ "xyz": [
184
+ 0.196748919280789,
185
+ 0.6428526586868262,
186
+ -0.14428475398891868
187
+ ]
188
+ }
189
+ },
190
+ "grasp_35": {
191
+ "confidence": 0.6529855728149414,
192
+ "position": [
193
+ 0.08765253890305758,
194
+ 0.04880169651005417,
195
+ 0.01077700218593236
196
+ ],
197
+ "orientation": {
198
+ "w": 0.630804819453637,
199
+ "xyz": [
200
+ 0.15551120110045347,
201
+ -0.7343224529967106,
202
+ 0.1966521830828542
203
+ ]
204
+ }
205
+ },
206
+ "grasp_36": {
207
+ "confidence": 0.6524016857147217,
208
+ "position": [
209
+ 0.07997942436486483,
210
+ 0.04956910258624703,
211
+ 0.018094690502039157
212
+ ],
213
+ "orientation": {
214
+ "w": 0.18427624929287365,
215
+ "xyz": [
216
+ 0.7563027731662214,
217
+ 0.16521315416916504,
218
+ -0.6056013481962448
219
+ ]
220
+ }
221
+ },
222
+ "grasp_37": {
223
+ "confidence": 0.622759997844696,
224
+ "position": [
225
+ 0.0779142351821065,
226
+ 0.051226137788034976,
227
+ 0.02403548544680234
228
+ ],
229
+ "orientation": {
230
+ "w": 0.17409805350952398,
231
+ "xyz": [
232
+ 0.7726137493866163,
233
+ 0.18812972723019272,
234
+ -0.5808313591355437
235
+ ]
236
+ }
237
+ },
238
+ "grasp_38": {
239
+ "confidence": 0.6101499795913696,
240
+ "position": [
241
+ -0.08858397882431746,
242
+ 0.04615085443947464,
243
+ -0.00395229879359249
244
+ ],
245
+ "orientation": {
246
+ "w": 0.10992246721156725,
247
+ "xyz": [
248
+ 0.659706092699609,
249
+ -0.21842332539917286,
250
+ 0.7106308277711458
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "right body shell",
258
+ "mask_color": "Blue",
259
+ "graspable": true,
260
+ "grasp_scenarios": [
261
+ {
262
+ "scenario": "grasp the opposite broad side of the main body to pick up and move the correction tape",
263
+ "confidence": 0.95
264
+ },
265
+ {
266
+ "scenario": "hold the body while guiding the applicator tip along paper",
267
+ "confidence": 0.92
268
+ },
269
+ {
270
+ "scenario": "clamp the body sides to stabilize the dispenser during use",
271
+ "confidence": 0.89
272
+ }
273
+ ],
274
+ "functional_labels": [
275
+ "main grasp surface",
276
+ "house the tape mechanism",
277
+ "support dispensing control",
278
+ "provide structural enclosure"
279
+ ],
280
+ "semantic_description": "The opposite broad teardrop-shaped side of the correction tape dispenser, also orange glossy plastic with a smooth hard surface, enclosing the internal reel; this side also shows black printed product text in the visible views.",
281
+ "id": 2,
282
+ "grasp_group": {
283
+ "grasp_3": {
284
+ "confidence": 0.6722272038459778,
285
+ "position": [
286
+ -0.11125777196139097,
287
+ 0.0014514666981995106,
288
+ -0.011793692610808648
289
+ ],
290
+ "orientation": {
291
+ "w": 0.7503697163843186,
292
+ "xyz": [
293
+ 0.019715406055033007,
294
+ 0.6606788700714482,
295
+ -0.007747395595775864
296
+ ]
297
+ }
298
+ },
299
+ "grasp_5": {
300
+ "confidence": 0.6094141602516174,
301
+ "position": [
302
+ -0.10789940040558577,
303
+ -0.0006751370383426547,
304
+ -0.011011969312676229
305
+ ],
306
+ "orientation": {
307
+ "w": 0.7549373848293582,
308
+ "xyz": [
309
+ 0.015956453881424016,
310
+ 0.6555601931462389,
311
+ -0.00746791326976166
312
+ ]
313
+ }
314
+ },
315
+ "grasp_6": {
316
+ "confidence": 0.6087591052055359,
317
+ "position": [
318
+ -0.1013319818302989,
319
+ 0.0008294101571664214,
320
+ -0.011967142127105035
321
+ ],
322
+ "orientation": {
323
+ "w": 0.7572610202826415,
324
+ "xyz": [
325
+ 0.004342872257035793,
326
+ 0.6522994789585064,
327
+ -0.03228430534350611
328
+ ]
329
+ }
330
+ },
331
+ "grasp_7": {
332
+ "confidence": 0.740161120891571,
333
+ "position": [
334
+ -0.11242910753935575,
335
+ 0.0030202168272808194,
336
+ -0.015469727120944299
337
+ ],
338
+ "orientation": {
339
+ "w": 0.7500080640071624,
340
+ "xyz": [
341
+ 0.018991157771191897,
342
+ 0.6609933320597456,
343
+ -0.014664747638209345
344
+ ]
345
+ }
346
+ },
347
+ "grasp_15": {
348
+ "confidence": 0.47787460684776306,
349
+ "position": [
350
+ 0.09122414607554674,
351
+ 0.04104463255498558,
352
+ 0.017847765222541057
353
+ ],
354
+ "orientation": {
355
+ "w": 0.15946206518324205,
356
+ "xyz": [
357
+ 0.7463502499208667,
358
+ 0.17367089949329206,
359
+ -0.6223918162056329
360
+ ]
361
+ }
362
+ },
363
+ "grasp_16": {
364
+ "confidence": 0.7364124059677124,
365
+ "position": [
366
+ -0.09396262746304274,
367
+ -0.04641166084911674,
368
+ -0.013645460843690671
369
+ ],
370
+ "orientation": {
371
+ "w": 0.7287673769444162,
372
+ "xyz": [
373
+ -0.18638499096151243,
374
+ 0.6478371702747174,
375
+ 0.12027363076035887
376
+ ]
377
+ }
378
+ }
379
+ }
380
+ },
381
+ {
382
+ "part_name": "applicator tip",
383
+ "mask_color": "Green",
384
+ "graspable": false,
385
+ "grasp_scenarios": [],
386
+ "functional_labels": [
387
+ "apply correction tape",
388
+ "contact the paper",
389
+ "guide tape to the surface",
390
+ "define dispensing direction"
391
+ ],
392
+ "semantic_description": "Small tapered wedge-like orange plastic tip at the narrow front end, with a smooth hard surface shaped for precise contact with paper.",
393
+ "id": 1,
394
+ "grasp_group": {}
395
+ },
396
+ {
397
+ "part_name": "neck collar",
398
+ "mask_color": "Orange",
399
+ "graspable": false,
400
+ "grasp_scenarios": [],
401
+ "functional_labels": [
402
+ "connect tip to body",
403
+ "reinforce the front joint",
404
+ "support tip alignment",
405
+ "transition between body and applicator"
406
+ ],
407
+ "semantic_description": "Narrow orange glossy plastic collar around the front neck, wrapping the joint between the main body and the applicator tip.",
408
+ "id": 4,
409
+ "grasp_group": {}
410
+ },
411
+ {
412
+ "part_name": "reel cover ring",
413
+ "mask_color": "Cyan",
414
+ "graspable": false,
415
+ "grasp_scenarios": [],
416
+ "functional_labels": [
417
+ "cover the reel area",
418
+ "retain internal mechanism",
419
+ "protect the tape wheel opening",
420
+ "frame the reel window"
421
+ ],
422
+ "semantic_description": "Thin circular ring around the side reel opening, appearing light gray to translucent with a smooth slightly glossy surface near the center of the body.",
423
+ "id": 6,
424
+ "grasp_group": {}
425
+ },
426
+ {
427
+ "part_name": "reel window",
428
+ "mask_color": "Lime Green",
429
+ "graspable": false,
430
+ "grasp_scenarios": [],
431
+ "functional_labels": [
432
+ "show internal reel",
433
+ "cover internal components",
434
+ "allow visual inspection of tape supply",
435
+ "protect the mechanism"
436
+ ],
437
+ "semantic_description": "Circular side window area inside the outer ring, appearing whitish translucent with a smooth glossy finish and flat inset shape.",
438
+ "id": 9,
439
+ "grasp_group": {}
440
+ },
441
+ {
442
+ "part_name": "tape reel",
443
+ "mask_color": "Pink",
444
+ "graspable": false,
445
+ "grasp_scenarios": [],
446
+ "functional_labels": [
447
+ "store correction tape",
448
+ "rotate during dispensing",
449
+ "drive tape feed",
450
+ "support winding"
451
+ ],
452
+ "semantic_description": "Small circular orange reel visible through the window, made of hard plastic with a smooth finish and fine radial ridges around its face.",
453
+ "id": 8,
454
+ "grasp_group": {}
455
+ },
456
+ {
457
+ "part_name": "reel hub",
458
+ "mask_color": "Purple",
459
+ "graspable": false,
460
+ "grasp_scenarios": [],
461
+ "functional_labels": [
462
+ "center the reel",
463
+ "support reel rotation",
464
+ "anchor the spool core"
465
+ ],
466
+ "semantic_description": "Tiny central orange hub within the reel, with a smooth hard finish and compact round shape.",
467
+ "id": 5,
468
+ "grasp_group": {}
469
+ },
470
+ {
471
+ "part_name": "printed product text",
472
+ "mask_color": "Brown",
473
+ "graspable": false,
474
+ "grasp_scenarios": [],
475
+ "functional_labels": [
476
+ "show branding",
477
+ "display product information",
478
+ "indicate specifications"
479
+ ],
480
+ "semantic_description": "Small black printed text on the orange body side near the front half of the housing, flat on the plastic surface.",
481
+ "id": 11,
482
+ "grasp_group": {}
483
+ },
484
+ {
485
+ "part_name": "white marking strip",
486
+ "mask_color": "Maroon",
487
+ "graspable": false,
488
+ "grasp_scenarios": [],
489
+ "functional_labels": [
490
+ "display product details",
491
+ "provide visual identification"
492
+ ],
493
+ "semantic_description": "Small white rectangular printed marking below the black text on one orange body side, flush with the plastic surface rather than a separate raised sticker.",
494
+ "id": 12,
495
+ "grasp_group": {}
496
+ }
497
+ ],
498
+ "quality_check": {
499
+ "success": false,
500
+ "message": "One body shell wrongly described as also having printed text; text exists on only one side."
501
+ }
502
+ }
dataset/desktop_supplies/office_stationery/eee6f82520b35a77ba5b346495a64528/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f1b38aa1530f22afb35a9ef7248df46408c1eaf6a11a44d80c766f8d372163e
3
+ size 3800636