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
cddda68
·
verified ·
1 Parent(s): f14e0f4

Add asset desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/affordance_annot.json +293 -0
  3. dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/sticky_notes_045.urdf +1 -0
.gitattributes CHANGED
@@ -6686,4 +6686,4 @@ dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/affordanc
6686
  dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6687
  dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6688
  dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6689
- dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6686
  dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6687
  dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6688
  dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6689
+ dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/affordance_annot.json ADDED
@@ -0,0 +1,293 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sticky note pad",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pad from the sides to pick up and move it",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "pinch one end of the pad to reposition it on a desk",
14
+ "confidence": 0.83
15
+ },
16
+ {
17
+ "scenario": "hold the pad steady while peeling a top sheet",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writable note sheets",
23
+ "offer adhesive-backed sheets for posting",
24
+ "serve as the main body",
25
+ "support stacking and dispensing notes"
26
+ ],
27
+ "semantic_description": "Small cactus-shaped dark green paper note pad with a matte smooth dry surface, layered sheet edges, a flat blocky form with rounded arms, and black printed branding on one face.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9794896841049194,
32
+ "position": [
33
+ 0.005119475012179464,
34
+ -0.12225608737207949,
35
+ 0.0007898248331912328
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5401104892005874,
39
+ "xyz": [
40
+ -0.4846095812901248,
41
+ -0.5241006547623135,
42
+ -0.44581690956605363
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9792822599411011,
48
+ "position": [
49
+ -0.0044817180023528636,
50
+ -0.12340188235975802,
51
+ -0.0017716878028295469
52
+ ],
53
+ "orientation": {
54
+ "w": 0.49114477164613757,
55
+ "xyz": [
56
+ -0.49913370377744826,
57
+ 0.5016895864487819,
58
+ 0.5078877020433954
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9787561893463135,
64
+ "position": [
65
+ -0.00019941892242059112,
66
+ -0.12278315634466708,
67
+ 0.0026005535219155718
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5051497297903277,
71
+ "xyz": [
72
+ -0.5115074255608824,
73
+ -0.507086743760395,
74
+ -0.4754439382212346
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9783810973167419,
80
+ "position": [
81
+ -0.006451655237469822,
82
+ -0.12278619618155062,
83
+ 0.002853177098586457
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4914979133138184,
87
+ "xyz": [
88
+ -0.48993864165195894,
89
+ 0.5271373683281354,
90
+ 0.4904244320346238
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9783462882041931,
96
+ "position": [
97
+ 0.007241596875246614,
98
+ -0.11991596431471407,
99
+ 0.00015947808060445823
100
+ ],
101
+ "orientation": {
102
+ "w": 0.46895756481789963,
103
+ "xyz": [
104
+ -0.5262141544911706,
105
+ 0.482481645512718,
106
+ 0.5199893535030771
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9783055186271667,
112
+ "position": [
113
+ -0.010375209210906178,
114
+ -0.1220795086119324,
115
+ 0.0035172573589079548
116
+ ],
117
+ "orientation": {
118
+ "w": 0.48338488796806034,
119
+ "xyz": [
120
+ -0.532675191902228,
121
+ -0.48991431478163194,
122
+ -0.49252426761335766
123
+ ]
124
+ }
125
+ },
126
+ "grasp_7": {
127
+ "confidence": 0.9775695204734802,
128
+ "position": [
129
+ -0.015564119501505047,
130
+ -0.12182097346521914,
131
+ 0.0009062054050446022
132
+ ],
133
+ "orientation": {
134
+ "w": 0.46982176766246125,
135
+ "xyz": [
136
+ -0.5418010392688744,
137
+ -0.4651431411804986,
138
+ -0.5189999987383692
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.9774962663650513,
144
+ "position": [
145
+ 0.01126589992782101,
146
+ -0.12165339500643313,
147
+ -0.0004483261545829009
148
+ ],
149
+ "orientation": {
150
+ "w": 0.46452175767251525,
151
+ "xyz": [
152
+ -0.5322728598367755,
153
+ 0.47480503466332546,
154
+ 0.5248479002419424
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.976938784122467,
160
+ "position": [
161
+ -0.013023870124015957,
162
+ -0.12154150218702853,
163
+ 0.0021442643665068317
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5119626150165407,
167
+ "xyz": [
168
+ -0.4815510171052107,
169
+ 0.5351661232318251,
170
+ 0.468615107839452
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.976735532283783,
176
+ "position": [
177
+ 0.028487351664807647,
178
+ -0.11848918558098376,
179
+ 0.00037729282121290453
180
+ ],
181
+ "orientation": {
182
+ "w": 0.564395989447178,
183
+ "xyz": [
184
+ -0.4319367373990255,
185
+ -0.5625619142828446,
186
+ -0.42238834569557837
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.9767054915428162,
192
+ "position": [
193
+ -0.03085865924367681,
194
+ -0.11764440150000155,
195
+ 0.0024284572173201013
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4321144074624973,
199
+ "xyz": [
200
+ -0.573767672306551,
201
+ -0.4257818857004142,
202
+ -0.5502522902166395
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.9765505194664001,
208
+ "position": [
209
+ 0.018243071564938873,
210
+ -0.12013274640776217,
211
+ -0.002228514447779162
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4504729251629863,
215
+ "xyz": [
216
+ -0.5412894556533677,
217
+ 0.45353229580197196,
218
+ 0.5462493254532912
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.9765380024909973,
224
+ "position": [
225
+ 0.005619519331958145,
226
+ -0.12366122216917574,
227
+ 0.0014244207013689447
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4739254733449882,
231
+ "xyz": [
232
+ -0.523984971723181,
233
+ 0.4925331442664622,
234
+ 0.508178607304536
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.9760234355926514,
240
+ "position": [
241
+ 0.018157887214329094,
242
+ -0.12087981612421572,
243
+ 0.0022418909538828302
244
+ ],
245
+ "orientation": {
246
+ "w": 0.4367514939993292,
247
+ "xyz": [
248
+ -0.5503611242329077,
249
+ 0.4614332392615945,
250
+ 0.541691915323642
251
+ ]
252
+ }
253
+ },
254
+ "grasp_17": {
255
+ "confidence": 0.9757136106491089,
256
+ "position": [
257
+ 0.0238588479696773,
258
+ -0.11689765960909426,
259
+ -0.0013550346884585451
260
+ ],
261
+ "orientation": {
262
+ "w": 0.5634209343764544,
263
+ "xyz": [
264
+ -0.44710744577460076,
265
+ -0.549886519508283,
266
+ -0.4245899178058068
267
+ ]
268
+ }
269
+ },
270
+ "grasp_19": {
271
+ "confidence": 0.9755207300186157,
272
+ "position": [
273
+ 0.011592352704610676,
274
+ -0.12090060324408114,
275
+ -0.0002858395855582785
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4726191191777422,
279
+ "xyz": [
280
+ -0.5196544529935496,
281
+ 0.4843509221748462,
282
+ 0.521531017160059
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ }
288
+ ],
289
+ "quality_check": {
290
+ "success": true,
291
+ "message": "YES"
292
+ }
293
+ }
dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc74357f9bb9bdfdd0bc4563b17c87f01bf1728e4a8397c3ed9af61fc37f7fe4
3
+ size 3777012
dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/sticky_notes_045.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>