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
f070c9e
·
verified ·
1 Parent(s): 25a6b11

Add asset desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/affordance_annot.json +507 -0
  3. dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8226,3 +8226,4 @@ dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/affo
8226
  dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8227
  dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8228
  dataset/desktop_supplies/office_stationery/ff760e8f41105b30a5ea6551ccf2a702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8226
  dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8227
  dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8228
  dataset/desktop_supplies/office_stationery/ff760e8f41105b30a5ea6551ccf2a702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8229
+ dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,507 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "paper pages",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook body by pinching the stacked pages from the side to lift it",
10
+ "confidence": 0.85
11
+ },
12
+ {
13
+ "scenario": "pinch a section of pages to flip or separate sheets",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "hold the page stack to stabilize the notebook during writing or inspection",
18
+ "confidence": 0.7
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writing surface",
23
+ "form the main notebook body",
24
+ "store written notes",
25
+ "allow page flipping",
26
+ "support reading"
27
+ ],
28
+ "semantic_description": "A stack of off-white paper sheets with a matte smooth surface, printed with a green plaid grid and red margin lines, forming nearly the entire rectangular notebook body.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9862533211708069,
33
+ "position": [
34
+ 0.15840822039172053,
35
+ 0.06977217411622405,
36
+ -0.0021258225315250456
37
+ ],
38
+ "orientation": {
39
+ "w": 0.013875832401377682,
40
+ "xyz": [
41
+ 0.6954367666999094,
42
+ 0.004853567567170813,
43
+ -0.7184369197633257
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9862062335014343,
49
+ "position": [
50
+ 0.15857523260638118,
51
+ 0.02428485592827201,
52
+ 0.00028512388962553814
53
+ ],
54
+ "orientation": {
55
+ "w": 0.044210997430565106,
56
+ "xyz": [
57
+ -0.7034324794390411,
58
+ 0.03949888518135625,
59
+ 0.7082852339600675
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9861109256744385,
65
+ "position": [
66
+ 0.1624654489569366,
67
+ 0.054501721169799566,
68
+ -0.002625981636811048
69
+ ],
70
+ "orientation": {
71
+ "w": 0.0001434526297510371,
72
+ "xyz": [
73
+ 0.6994120543332338,
74
+ -0.010549931714383565,
75
+ -0.7146407885193298
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9858373999595642,
81
+ "position": [
82
+ 0.16222890792414546,
83
+ 0.06665751850232482,
84
+ 0.0014764790539629757
85
+ ],
86
+ "orientation": {
87
+ "w": 0.005171945996231814,
88
+ "xyz": [
89
+ 0.705465643332999,
90
+ -0.0009609264833728703,
91
+ -0.7087245964912348
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9856790900230408,
97
+ "position": [
98
+ 0.1585904168896377,
99
+ 0.03294148435816169,
100
+ -0.003101494221482426
101
+ ],
102
+ "orientation": {
103
+ "w": 0.062129464337135405,
104
+ "xyz": [
105
+ -0.7027455179444426,
106
+ 0.03473508558708005,
107
+ 0.707871556498378
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9856380820274353,
113
+ "position": [
114
+ 0.15906814811751246,
115
+ 0.03857027133926749,
116
+ 0.000657735246932134
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7079541965617995,
120
+ "xyz": [
121
+ -0.0037755489596919176,
122
+ -0.7062357566612041,
123
+ -0.004202001162056521
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.985618531703949,
129
+ "position": [
130
+ 0.15886842785403132,
131
+ 0.044283372815698385,
132
+ 0.0004069106071256101
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7050792985048828,
136
+ "xyz": [
137
+ -0.0007735195048926399,
138
+ -0.7091137795877333,
139
+ -0.004498009141528294
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.985612690448761,
145
+ "position": [
146
+ 0.15699193952605128,
147
+ 0.05150111159309745,
148
+ -0.002910924202296883
149
+ ],
150
+ "orientation": {
151
+ "w": 0.009988574892101426,
152
+ "xyz": [
153
+ -0.6998033401320803,
154
+ 0.028114332853653945,
155
+ 0.7137121953559449
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.985524594783783,
161
+ "position": [
162
+ 0.15755496500059962,
163
+ 0.0495437509380281,
164
+ -0.003126886032987386
165
+ ],
166
+ "orientation": {
167
+ "w": 0.024841929347115498,
168
+ "xyz": [
169
+ -0.6999221950893686,
170
+ 0.02726355158456162,
171
+ 0.7132660780680582
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9854074120521545,
177
+ "position": [
178
+ 0.15840406296774745,
179
+ 0.0427719890139997,
180
+ -9.622974903322756e-05
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7071350117541454,
184
+ "xyz": [
185
+ -0.009219652507659682,
186
+ -0.7067553926522538,
187
+ -0.019284400847845586
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9852821826934814,
193
+ "position": [
194
+ 0.1575700300745666,
195
+ 0.04092463245615363,
196
+ -0.0019601081148721278
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7123292316186463,
200
+ "xyz": [
201
+ -0.006978545068815206,
202
+ -0.7017833586000721,
203
+ 0.006203489527216013
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9851155877113342,
209
+ "position": [
210
+ 0.16174117801710963,
211
+ 0.04264829447492957,
212
+ 0.0023770869593136013
213
+ ],
214
+ "orientation": {
215
+ "w": 0.6986946000280593,
216
+ "xyz": [
217
+ -0.007525225970053351,
218
+ -0.7153694040763616,
219
+ -0.003980273503326731
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9850707054138184,
225
+ "position": [
226
+ -0.15069400193169713,
227
+ 0.004321466200053692,
228
+ 0.0031464893254451454
229
+ ],
230
+ "orientation": {
231
+ "w": 0.08790214868218497,
232
+ "xyz": [
233
+ -0.7041874111914304,
234
+ -0.08960635417040297,
235
+ -0.6988304540221861
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.985054075717926,
241
+ "position": [
242
+ 0.15698277531191707,
243
+ 0.04835329717025161,
244
+ 0.000950642570387572
245
+ ],
246
+ "orientation": {
247
+ "w": 0.7109810241473482,
248
+ "xyz": [
249
+ -0.011109512174708312,
250
+ -0.703086060061198,
251
+ -0.0072494268221058485
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9849708676338196,
257
+ "position": [
258
+ 0.15795290051028132,
259
+ 0.0494446842931211,
260
+ -0.0010132596944458783
261
+ ],
262
+ "orientation": {
263
+ "w": 0.7072264083030708,
264
+ "xyz": [
265
+ -0.005766932696029262,
266
+ -0.706960941448693,
267
+ 0.001943489643632245
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9849445223808289,
273
+ "position": [
274
+ 0.15492353914305568,
275
+ 0.044443273451179266,
276
+ 0.017701375007163733
277
+ ],
278
+ "orientation": {
279
+ "w": 0.6512189667408503,
280
+ "xyz": [
281
+ -0.0006025618027574945,
282
+ -0.7587281728775584,
283
+ -0.015654199377013275
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9849122762680054,
289
+ "position": [
290
+ 0.15867429552599788,
291
+ 0.04208151390776038,
292
+ -0.004447027400601655
293
+ ],
294
+ "orientation": {
295
+ "w": 0.7128730018392792,
296
+ "xyz": [
297
+ -0.011068384787120831,
298
+ -0.7011930826818165,
299
+ -0.004223139357237595
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.9848360419273376,
305
+ "position": [
306
+ -0.1552082789130509,
307
+ -0.010134488809853792,
308
+ -0.0003544953069649637
309
+ ],
310
+ "orientation": {
311
+ "w": 0.05235835783288351,
312
+ "xyz": [
313
+ 0.7057003696640736,
314
+ -0.03797288753948247,
315
+ 0.7055520182332039
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9846853017807007,
321
+ "position": [
322
+ 0.1565668541006744,
323
+ 0.056898930575698614,
324
+ 0.003222735074814409
325
+ ],
326
+ "orientation": {
327
+ "w": 0.7018527173434642,
328
+ "xyz": [
329
+ 0.010815977330417914,
330
+ -0.7120615380928104,
331
+ 0.015941886992609944
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ },
337
+ {
338
+ "part_name": "spiral binding wire",
339
+ "mask_color": "Green",
340
+ "graspable": true,
341
+ "grasp_scenarios": [
342
+ {
343
+ "scenario": "grasp the spiral edge to lift or reposition the small notebook",
344
+ "confidence": 0.43
345
+ },
346
+ {
347
+ "scenario": "hold the binding to stabilize the notebook while turning pages",
348
+ "confidence": 0.56
349
+ }
350
+ ],
351
+ "functional_labels": [
352
+ "bind the pages together",
353
+ "act as page hinge",
354
+ "allow pages to turn",
355
+ "maintain sheet alignment"
356
+ ],
357
+ "semantic_description": "Small silver metal wire loops with a smooth slightly reflective finish running along one edge of the notebook as the spiral binding.",
358
+ "id": 1,
359
+ "grasp_group": {
360
+ "grasp_21": {
361
+ "confidence": 0.9848479628562927,
362
+ "position": [
363
+ -0.1572286826558411,
364
+ -0.05157644907012582,
365
+ 0.0027605760260485113
366
+ ],
367
+ "orientation": {
368
+ "w": 0.01436883082834759,
369
+ "xyz": [
370
+ 0.7112373818243253,
371
+ -0.011834352301742124,
372
+ 0.702705394530242
373
+ ]
374
+ }
375
+ },
376
+ "grasp_22": {
377
+ "confidence": 0.9761114120483398,
378
+ "position": [
379
+ -0.1605689418502152,
380
+ -0.03229231247678399,
381
+ 0.006929262250196189
382
+ ],
383
+ "orientation": {
384
+ "w": 0.690735232173131,
385
+ "xyz": [
386
+ 0.007564256735593084,
387
+ 0.7230145786239583,
388
+ -0.008805688615288566
389
+ ]
390
+ }
391
+ },
392
+ "grasp_23": {
393
+ "confidence": 0.9711914658546448,
394
+ "position": [
395
+ -0.16322671296074986,
396
+ 0.02287726802751422,
397
+ -0.0018211985589005053
398
+ ],
399
+ "orientation": {
400
+ "w": 0.6972271106470268,
401
+ "xyz": [
402
+ 0.026523116040607655,
403
+ 0.7162733926582473,
404
+ -0.011104389408669493
405
+ ]
406
+ }
407
+ },
408
+ "grasp_27": {
409
+ "confidence": 0.9754383563995361,
410
+ "position": [
411
+ -0.16317280055955052,
412
+ -0.05214379960671067,
413
+ -0.01719973358558491
414
+ ],
415
+ "orientation": {
416
+ "w": 0.7599656901406077,
417
+ "xyz": [
418
+ -0.004317593582142198,
419
+ 0.6493308591521392,
420
+ -0.02833625853061631
421
+ ]
422
+ }
423
+ },
424
+ "grasp_30": {
425
+ "confidence": 0.8815558552742004,
426
+ "position": [
427
+ -0.1559259039349854,
428
+ 0.027896960731595755,
429
+ 0.046605172276031226
430
+ ],
431
+ "orientation": {
432
+ "w": 0.5410862559968868,
433
+ "xyz": [
434
+ -0.01834578189071513,
435
+ 0.8374352333941018,
436
+ -0.07477516785842805
437
+ ]
438
+ }
439
+ },
440
+ "grasp_31": {
441
+ "confidence": 0.8341262936592102,
442
+ "position": [
443
+ -0.15612703980877995,
444
+ 0.00957948388531804,
445
+ 0.04957438138080761
446
+ ],
447
+ "orientation": {
448
+ "w": 0.031715747857971814,
449
+ "xyz": [
450
+ -0.8537692051413491,
451
+ -0.02955128879886071,
452
+ -0.5188438850178783
453
+ ]
454
+ }
455
+ },
456
+ "grasp_34": {
457
+ "confidence": 0.9510446786880493,
458
+ "position": [
459
+ -0.1526292753405869,
460
+ -0.124397958163172,
461
+ -0.0021920193103142083
462
+ ],
463
+ "orientation": {
464
+ "w": 0.6826034571085545,
465
+ "xyz": [
466
+ -0.1686241131867961,
467
+ 0.6890377952578693,
468
+ 0.17562843022013983
469
+ ]
470
+ }
471
+ }
472
+ }
473
+ },
474
+ {
475
+ "part_name": "spiral binding end loop segment",
476
+ "mask_color": "Blue",
477
+ "graspable": false,
478
+ "grasp_scenarios": [],
479
+ "functional_labels": [
480
+ "form part of the spiral binding",
481
+ "help retain pages at the binding edge",
482
+ "contribute to page hinging"
483
+ ],
484
+ "semantic_description": "A tiny silver metal loop segment at one end of the notebook's spiral binding, smooth and slightly reflective, visible near a binding corner.",
485
+ "id": 2,
486
+ "grasp_group": {}
487
+ },
488
+ {
489
+ "part_name": "spiral binding middle loop segment",
490
+ "mask_color": "Yellow",
491
+ "graspable": false,
492
+ "grasp_scenarios": [],
493
+ "functional_labels": [
494
+ "form part of the spiral binding",
495
+ "help retain pages through punched holes",
496
+ "contribute to page turning motion"
497
+ ],
498
+ "semantic_description": "A very small silver metal loop segment on the spiral binding between neighboring loops, smooth and slightly reflective, located along the notebook's bound edge.",
499
+ "id": 3,
500
+ "grasp_group": {}
501
+ }
502
+ ],
503
+ "quality_check": {
504
+ "success": false,
505
+ "message": "Mask part identities for blue/yellow are not reliable distinct physical parts; descriptions overstate exact loop segments."
506
+ }
507
+ }
dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3186554295b94797b3e0f3ed998d4043cea0ec317ee28acdfb07d1a158cfe77e
3
+ size 3786792