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
0208857
·
verified ·
1 Parent(s): 37fd668

Add asset desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/affordance_annot.json +398 -0
  3. dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6681,3 +6681,4 @@ dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/affordanc
6681
  dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6682
  dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6683
  dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6681
  dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6682
  dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6683
  dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6684
+ dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/affordance_annot.json ADDED
@@ -0,0 +1,398 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tape roll",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer cylindrical roll to pick up and move the tape",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the roll from the side to stabilize it while peeling tape",
14
+ "confidence": 0.87
15
+ },
16
+ {
17
+ "scenario": "pinch the rim of the roll to reorient the tape dispenser-free roll",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main adhesive tape supply",
23
+ "provide grasp surface",
24
+ "support peeling and dispensing tape",
25
+ "protect and hold the wound tape layers"
26
+ ],
27
+ "semantic_description": "Large pink translucent plastic tape roll with a glossy smooth surface, cylindrical shape, layered wound edges, and white printed lettering around the outer sidewall.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9149513840675354,
32
+ "position": [
33
+ -0.0011364645324647427,
34
+ 0.011645395657978952,
35
+ 0.09864833595929667
36
+ ],
37
+ "orientation": {
38
+ "w": 0.015483432856951857,
39
+ "xyz": [
40
+ 0.9742770627144965,
41
+ 0.22474349127447052,
42
+ -0.005901822188019089
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.910150408744812,
48
+ "position": [
49
+ -0.055008809198625386,
50
+ 0.08034601376857609,
51
+ -0.046441342507023364
52
+ ],
53
+ "orientation": {
54
+ "w": 0.8028930545530008,
55
+ "xyz": [
56
+ 0.5145861866308645,
57
+ 0.1616551754970983,
58
+ 0.25383341725284936
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9051597714424133,
64
+ "position": [
65
+ 0.026295023853890598,
66
+ -0.050722160027362406,
67
+ 0.08365246298490092
68
+ ],
69
+ "orientation": {
70
+ "w": 0.2802691916657068,
71
+ "xyz": [
72
+ -0.9269824215668155,
73
+ -0.24243566025156865,
74
+ 0.05811816366300716
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9043667912483215,
80
+ "position": [
81
+ 0.0461683803005144,
82
+ 0.09716473834123462,
83
+ 0.01946089620469138
84
+ ],
85
+ "orientation": {
86
+ "w": 0.15215346620041492,
87
+ "xyz": [
88
+ -0.16960280808756603,
89
+ -0.7520271812212909,
90
+ 0.6184976385697614
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.8976494073867798,
96
+ "position": [
97
+ 0.002830398385412991,
98
+ 0.0020828183041885495,
99
+ 0.09753919037757441
100
+ ],
101
+ "orientation": {
102
+ "w": 0.006890556275019276,
103
+ "xyz": [
104
+ 0.9745823850871624,
105
+ 0.22363565766345375,
106
+ -0.011348459519814032
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.8973910808563232,
112
+ "position": [
113
+ -0.03418813936877996,
114
+ 0.052713870420120656,
115
+ 0.0838833266752772
116
+ ],
117
+ "orientation": {
118
+ "w": 0.090279001822674,
119
+ "xyz": [
120
+ -0.20117581318207595,
121
+ 0.9353436487574691,
122
+ -0.27660486754483493
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.8973148465156555,
128
+ "position": [
129
+ 0.036591370473615825,
130
+ -0.07457930280361325,
131
+ 0.059113878931384534
132
+ ],
133
+ "orientation": {
134
+ "w": 0.4620958382640767,
135
+ "xyz": [
136
+ -0.8478779654619093,
137
+ -0.24705706714498865,
138
+ 0.08082819753594461
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.8950631618499756,
144
+ "position": [
145
+ 0.06326415843795985,
146
+ -0.08100326790008694,
147
+ 0.014221158053260297
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6107069891625964,
151
+ "xyz": [
152
+ -0.7188646031175482,
153
+ -0.2531484079570062,
154
+ 0.21491053794879325
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.8929369449615479,
160
+ "position": [
161
+ -0.0009193424193654209,
162
+ 0.0007300340221263468,
163
+ -0.09969717619242147
164
+ ],
165
+ "orientation": {
166
+ "w": 0.9445120724928253,
167
+ "xyz": [
168
+ 0.002579283613829874,
169
+ 0.007393717070133254,
170
+ 0.3283833509166303
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.8924001455307007,
176
+ "position": [
177
+ 0.10280237800907344,
178
+ 0.0027679416816681623,
179
+ 0.002745207806583494
180
+ ],
181
+ "orientation": {
182
+ "w": 0.502962240372824,
183
+ "xyz": [
184
+ -0.4982891633306307,
185
+ -0.49657720460476573,
186
+ 0.5021433802544114
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.8896489143371582,
192
+ "position": [
193
+ -0.0005220682833169121,
194
+ 0.0007403210620395839,
195
+ -0.09888918307842687
196
+ ],
197
+ "orientation": {
198
+ "w": 0.9984977159067686,
199
+ "xyz": [
200
+ -0.006778565338166653,
201
+ 0.018325699761494785,
202
+ 0.05119112334354201
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.8892694711685181,
208
+ "position": [
209
+ 0.10657980747055262,
210
+ -0.003963339258916676,
211
+ -0.004561431065667421
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5290262875953693,
215
+ "xyz": [
216
+ -0.4993062359648915,
217
+ -0.48634949903277547,
218
+ 0.48403371220422453
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.8892331123352051,
224
+ "position": [
225
+ -0.06154401518870145,
226
+ 0.08502345101442188,
227
+ 0.025428261782508343
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5571216346362544,
231
+ "xyz": [
232
+ 0.7712788665044541,
233
+ 0.24166029603987282,
234
+ 0.19064284833623638
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.8889919519424438,
240
+ "position": [
241
+ 0.038195744971744716,
242
+ 0.08417488203849643,
243
+ 0.05368292721686885
244
+ ],
245
+ "orientation": {
246
+ "w": 0.22412593282918924,
247
+ "xyz": [
248
+ 0.0008070609075939402,
249
+ -0.871591002457154,
250
+ 0.4360000450938858
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.8889737725257874,
256
+ "position": [
257
+ -0.007950648316182196,
258
+ 0.0596211509546265,
259
+ 0.0791640246170573
260
+ ],
261
+ "orientation": {
262
+ "w": 0.2779917787653385,
263
+ "xyz": [
264
+ 0.9577604184639515,
265
+ 0.0710451754584262,
266
+ 0.019186839414577432
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.886082649230957,
272
+ "position": [
273
+ -0.015836680424399674,
274
+ 0.10602298693265766,
275
+ -0.012839003291446716
276
+ ],
277
+ "orientation": {
278
+ "w": 0.7259071416590542,
279
+ "xyz": [
280
+ 0.6771687062056123,
281
+ 0.12016856650674601,
282
+ -0.007802605200385597
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.8853141069412231,
288
+ "position": [
289
+ 0.0030031773494556546,
290
+ 0.005534962168894708,
291
+ -0.09752752241911367
292
+ ],
293
+ "orientation": {
294
+ "w": 0.2660296625032322,
295
+ "xyz": [
296
+ 0.007441810679309107,
297
+ 0.0012627467410006865,
298
+ -0.9639352901480976
299
+ ]
300
+ }
301
+ },
302
+ "grasp_19": {
303
+ "confidence": 0.8844134211540222,
304
+ "position": [
305
+ -0.0017576589016243815,
306
+ -0.05059327615890652,
307
+ 0.08596307429252192
308
+ ],
309
+ "orientation": {
310
+ "w": 0.25434368522408307,
311
+ "xyz": [
312
+ -0.9650210123608471,
313
+ -0.06263286443215088,
314
+ -0.010993624593458352
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "cardboard core",
322
+ "mask_color": "Green",
323
+ "graspable": true,
324
+ "grasp_scenarios": [
325
+ {
326
+ "scenario": "insert gripper tips into the center opening to lift the roll by the core",
327
+ "confidence": 0.71
328
+ },
329
+ {
330
+ "scenario": "grasp the inner rim to stabilize the tape while starting a peel",
331
+ "confidence": 0.62
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "support the wound tape",
336
+ "maintain central opening",
337
+ "provide mounting interface",
338
+ "help align and stabilize the roll"
339
+ ],
340
+ "semantic_description": "Medium-sized beige paperboard inner core with a matte hard surface, smooth slightly fibrous texture, circular hollow shape, and centered position inside the tape roll.",
341
+ "id": 1,
342
+ "grasp_group": {
343
+ "grasp_21": {
344
+ "confidence": 0.8375874161720276,
345
+ "position": [
346
+ -0.03702619590330869,
347
+ -0.09301504923496395,
348
+ 0.013274622324388474
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5643385347788463,
352
+ "xyz": [
353
+ -0.35786828905298973,
354
+ 0.6503887713545394,
355
+ 0.36117412967969176
356
+ ]
357
+ }
358
+ },
359
+ "grasp_22": {
360
+ "confidence": 0.7335883378982544,
361
+ "position": [
362
+ 0.07192717201542109,
363
+ 0.06692196743097156,
364
+ -0.002579008520115167
365
+ ],
366
+ "orientation": {
367
+ "w": 0.4151679239657073,
368
+ "xyz": [
369
+ 0.6790596180074279,
370
+ 0.14786074820173145,
371
+ -0.5870696970912692
372
+ ]
373
+ }
374
+ },
375
+ "grasp_37": {
376
+ "confidence": 0.9011499285697937,
377
+ "position": [
378
+ -0.04358176060486585,
379
+ 0.08880500809755176,
380
+ -0.03261933458270505
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6908663833748614,
384
+ "xyz": [
385
+ 0.27906449557600027,
386
+ 0.5294340243528983,
387
+ -0.40561836926962014
388
+ ]
389
+ }
390
+ }
391
+ }
392
+ }
393
+ ],
394
+ "quality_check": {
395
+ "success": true,
396
+ "message": "YES"
397
+ }
398
+ }
dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4fbe6c7cfb9491d9aaca40fe51381612d064121fafe42f777eb2f5513478d7d5
3
+ size 3774720