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
d1926f1
·
verified ·
1 Parent(s): b6aa025

Add asset desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/affordance/affordance_annot.json +339 -0
  3. dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8216,3 +8216,4 @@ dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affo
8216
  dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8217
  dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8218
  dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8216
  dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8217
  dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8218
  dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8219
+ dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "marker barrel",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the barrel to pick up and reposition the marker",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the barrel to orient the writing tip toward a surface",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the marker by clamping the barrel during manipulation",
18
+ "confidence": 0.93
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the ink reservoir",
24
+ "support writing manipulation",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Long cylindrical red plastic body with a glossy smooth hard surface, forming most of the marker and occupying the central shaft with a plain unmarked appearance.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.985326886177063,
32
+ "position": [
33
+ 0.0016637076623737812,
34
+ -0.09651007818683865,
35
+ 0.0009368986980007321
36
+ ],
37
+ "orientation": {
38
+ "w": 0.44724508672515867,
39
+ "xyz": [
40
+ -0.5610531975393481,
41
+ 0.44272931359788736,
42
+ 0.5377563545065949
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9851304888725281,
48
+ "position": [
49
+ -0.01205403683707118,
50
+ -0.09825957881912473,
51
+ -0.009779507872281101
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5339744687552613,
55
+ "xyz": [
56
+ -0.4687078903090448,
57
+ -0.47931089566593676,
58
+ -0.5152137862824504
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9848881959915161,
64
+ "position": [
65
+ -0.023424323182553053,
66
+ -0.09974181222423795,
67
+ -0.009028930795011547
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5193249561275276,
71
+ "xyz": [
72
+ -0.4754263477934939,
73
+ -0.4780772747270654,
74
+ -0.5250842762418465
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9848480820655823,
80
+ "position": [
81
+ -0.021572935860604048,
82
+ -0.0997014747808862,
83
+ -0.005854876824287203
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5127105601921544,
87
+ "xyz": [
88
+ -0.4882143794572042,
89
+ -0.48613276222263757,
90
+ -0.5122982906983514
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9841907620429993,
96
+ "position": [
97
+ 0.01826488645747304,
98
+ 0.09494995755449054,
99
+ 0.013033810424985859
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4867075542693756,
103
+ "xyz": [
104
+ 0.4994910277853265,
105
+ -0.5641179275284115,
106
+ 0.4420355569636129
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9836800694465637,
112
+ "position": [
113
+ 0.0007213144563138485,
114
+ 0.09811786246791598,
115
+ 0.0067277400562488765
116
+ ],
117
+ "orientation": {
118
+ "w": 0.48660444532692043,
119
+ "xyz": [
120
+ 0.5156953361405229,
121
+ 0.5289989730832193,
122
+ -0.4662987460286511
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9836680293083191,
128
+ "position": [
129
+ -0.0011587021872401237,
130
+ 0.09712563139692065,
131
+ 0.009561702031078312
132
+ ],
133
+ "orientation": {
134
+ "w": 0.48170427086009243,
135
+ "xyz": [
136
+ 0.5243439481605384,
137
+ 0.5386343341525484,
138
+ -0.45044142075813354
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.983600914478302,
144
+ "position": [
145
+ -0.009131882805377245,
146
+ -0.10027437972530606,
147
+ 0.0023817882215553254
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4971659768057047,
151
+ "xyz": [
152
+ -0.5448948323513502,
153
+ 0.46534094174106144,
154
+ 0.48925803123011197
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9833710193634033,
160
+ "position": [
161
+ 0.011646418366581202,
162
+ -0.09687531309828046,
163
+ -0.009612036515591171
164
+ ],
165
+ "orientation": {
166
+ "w": 0.45996690394275863,
167
+ "xyz": [
168
+ -0.5492524578577587,
169
+ 0.400062330502699,
170
+ 0.5715787929299624
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9833225011825562,
176
+ "position": [
177
+ -0.0038433673325926065,
178
+ 0.09748913777366397,
179
+ 0.008512085657002899
180
+ ],
181
+ "orientation": {
182
+ "w": 0.48624021282040214,
183
+ "xyz": [
184
+ 0.5155912897851871,
185
+ 0.5396547316872504,
186
+ -0.4544324459164188
187
+ ]
188
+ }
189
+ },
190
+ "grasp_11": {
191
+ "confidence": 0.983185887336731,
192
+ "position": [
193
+ 0.005651859100908041,
194
+ 0.09403934014335391,
195
+ 0.01787446660864589
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4400259753092813,
199
+ "xyz": [
200
+ 0.5559902676712474,
201
+ 0.5441601323435659,
202
+ -0.448488253665359
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.9829550385475159,
208
+ "position": [
209
+ -0.02994801988825202,
210
+ -0.09982218163713696,
211
+ 0.0031549198361062736
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4878336813046918,
215
+ "xyz": [
216
+ -0.5084453314553696,
217
+ -0.5089521138674851,
218
+ -0.4944384593614968
219
+ ]
220
+ }
221
+ },
222
+ "grasp_14": {
223
+ "confidence": 0.9828722476959229,
224
+ "position": [
225
+ -0.025016968604177237,
226
+ -0.10091809498771909,
227
+ 0.005213759727212164
228
+ ],
229
+ "orientation": {
230
+ "w": 0.49409671574694863,
231
+ "xyz": [
232
+ -0.525616835040849,
233
+ 0.4978353075315324,
234
+ 0.48140978883348967
235
+ ]
236
+ }
237
+ },
238
+ "grasp_15": {
239
+ "confidence": 0.9828196167945862,
240
+ "position": [
241
+ 0.011209112126380205,
242
+ 0.09280175400272128,
243
+ 0.03324999695587394
244
+ ],
245
+ "orientation": {
246
+ "w": 0.41365359322532963,
247
+ "xyz": [
248
+ 0.5727254645063168,
249
+ 0.5825495460166932,
250
+ -0.4018858961863954
251
+ ]
252
+ }
253
+ },
254
+ "grasp_16": {
255
+ "confidence": 0.9828084111213684,
256
+ "position": [
257
+ 0.000669566448777914,
258
+ 0.09802978915467975,
259
+ 0.017412055637123558
260
+ ],
261
+ "orientation": {
262
+ "w": 0.44559632288075046,
263
+ "xyz": [
264
+ 0.5367959306198776,
265
+ -0.5498386833673512,
266
+ 0.45931630515141814
267
+ ]
268
+ }
269
+ },
270
+ "grasp_18": {
271
+ "confidence": 0.9825491905212402,
272
+ "position": [
273
+ -0.015105972532182932,
274
+ -0.09815880971655133,
275
+ -0.012279402111289528
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5263099642733244,
279
+ "xyz": [
280
+ -0.4818523591061748,
281
+ -0.45754914220368204,
282
+ -0.5305326644035221
283
+ ]
284
+ }
285
+ },
286
+ "grasp_19": {
287
+ "confidence": 0.9823947548866272,
288
+ "position": [
289
+ -0.01982919918373227,
290
+ 0.09174477738633868,
291
+ -0.03542690688800576
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5846728769950753,
295
+ "xyz": [
296
+ 0.4019674202269433,
297
+ -0.4010386184325295,
298
+ 0.5794375259750832
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "marker tip",
306
+ "mask_color": "Blue",
307
+ "graspable": false,
308
+ "grasp_scenarios": [],
309
+ "functional_labels": [
310
+ "write on surfaces",
311
+ "transfer ink",
312
+ "make marks",
313
+ "provide drawing point"
314
+ ],
315
+ "semantic_description": "Small dark felt-like conical tip assembly at one end, appearing black and slightly matte with a firm fine-textured surface for contacting the writing surface.",
316
+ "id": 2,
317
+ "grasp_group": {}
318
+ },
319
+ {
320
+ "part_name": "end plug",
321
+ "mask_color": "Purple",
322
+ "graspable": false,
323
+ "grasp_scenarios": [],
324
+ "functional_labels": [
325
+ "close the barrel end",
326
+ "retain internal components",
327
+ "finish the back end",
328
+ "indicate rear orientation"
329
+ ],
330
+ "semantic_description": "Small circular rear-end insert centered in the flat back face of the marker, appearing as a slightly recessed red plastic piece in the RGB views with a smooth finish.",
331
+ "id": 5,
332
+ "grasp_group": {}
333
+ }
334
+ ],
335
+ "quality_check": {
336
+ "success": true,
337
+ "message": "YES"
338
+ }
339
+ }
dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae83e1c05089710341c142632eb502eadd0af905fffbd367de8255bb713f3dcb
3
+ size 946000