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
07e3da4
·
verified ·
1 Parent(s): 6259691

Add asset desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/affordance_annot.json +473 -0
  3. dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6523,3 +6523,4 @@ dataset/desktop_supplies/office_tools/18e6409ade2353f68584e7747dfcd2b8/affordanc
6523
  dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6524
  dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6525
  dataset/desktop_supplies/office_tools/1bacd3889582519e93e11f08cdb6545a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6523
  dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6524
  dataset/desktop_supplies/office_tools/18349446148655baa8849bd704a4e522/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6525
  dataset/desktop_supplies/office_tools/1bacd3889582519e93e11f08cdb6545a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6526
+ dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/affordance_annot.json ADDED
@@ -0,0 +1,473 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "small finger ring handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the smaller handle ring to pick up and reorient the scissors",
10
+ "confidence": 0.79
11
+ },
12
+ {
13
+ "scenario": "pinch the small ring area to stabilize the scissors while manipulating the blades",
14
+ "confidence": 0.68
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide finger insertion",
19
+ "enable opening and closing",
20
+ "serve as a grasp point",
21
+ "help control orientation"
22
+ ],
23
+ "semantic_description": "The smaller of the two looped handles at the rear of the scissors, silver-gray metal with a smooth slightly reflective hard surface and a rounded finger hole.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.9480342268943787,
28
+ "position": [
29
+ -0.12138166429940611,
30
+ 0.0019776864792220294,
31
+ -8.254931890405715e-05
32
+ ],
33
+ "orientation": {
34
+ "w": 0.017137839657197014,
35
+ "xyz": [
36
+ 0.7064389601144412,
37
+ 0.0024617664804382766,
38
+ 0.7075621737982516
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.9386763572692871,
44
+ "position": [
45
+ -0.12050730886403471,
46
+ 0.0017845376278273761,
47
+ 0.0016286594218399841
48
+ ],
49
+ "orientation": {
50
+ "w": 0.6968477480396623,
51
+ "xyz": [
52
+ 0.011001323717795627,
53
+ 0.7169427602350927,
54
+ 0.016591126393170504
55
+ ]
56
+ }
57
+ },
58
+ "grasp_24": {
59
+ "confidence": 0.9351593852043152,
60
+ "position": [
61
+ -0.1257854342693463,
62
+ -0.00010672687494661659,
63
+ 0.0018785520114761312
64
+ ],
65
+ "orientation": {
66
+ "w": 0.027194321890619003,
67
+ "xyz": [
68
+ -0.7081847649063571,
69
+ 0.004132621038691275,
70
+ -0.7054911261346862
71
+ ]
72
+ }
73
+ },
74
+ "grasp_31": {
75
+ "confidence": 0.9320434331893921,
76
+ "position": [
77
+ -0.11994514020625502,
78
+ 0.0016799943405203521,
79
+ 0.004071328894497128
80
+ ],
81
+ "orientation": {
82
+ "w": 0.6861545720182205,
83
+ "xyz": [
84
+ 0.017216705370882445,
85
+ 0.726845477253779,
86
+ 0.024313382125726368
87
+ ]
88
+ }
89
+ },
90
+ "grasp_34": {
91
+ "confidence": 0.9293709397315979,
92
+ "position": [
93
+ -0.12113283725921065,
94
+ -0.0007120325753930956,
95
+ 0.0011501993176352698
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6957298186360693,
99
+ "xyz": [
100
+ 0.02229815224237545,
101
+ 0.7176493771249272,
102
+ 0.021028156823697026
103
+ ]
104
+ }
105
+ },
106
+ "grasp_36": {
107
+ "confidence": 0.9284877181053162,
108
+ "position": [
109
+ -0.12462254019919783,
110
+ 0.0019811021047644317,
111
+ -0.0005707576165150385
112
+ ],
113
+ "orientation": {
114
+ "w": 0.7042518397418438,
115
+ "xyz": [
116
+ 0.036267207795189,
117
+ 0.7084688266010504,
118
+ 0.02803493523266402
119
+ ]
120
+ }
121
+ },
122
+ "grasp_37": {
123
+ "confidence": 0.9263262152671814,
124
+ "position": [
125
+ -0.11743997188750654,
126
+ -0.006284401577431709,
127
+ 0.0036250898738217074
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6972527988851144,
131
+ "xyz": [
132
+ -0.002432478198169003,
133
+ 0.7157527769287847,
134
+ 0.03912262536465116
135
+ ]
136
+ }
137
+ },
138
+ "grasp_38": {
139
+ "confidence": 0.92542964220047,
140
+ "position": [
141
+ -0.11493443103972822,
142
+ 1.8936465494334698e-05,
143
+ -0.0008048667332332116
144
+ ],
145
+ "orientation": {
146
+ "w": 0.7052016271787417,
147
+ "xyz": [
148
+ 0.009088485943155072,
149
+ 0.7086110933126875,
150
+ 0.021871965661884218
151
+ ]
152
+ }
153
+ }
154
+ }
155
+ },
156
+ {
157
+ "part_name": "large thumb ring handle",
158
+ "mask_color": "Blue",
159
+ "graspable": true,
160
+ "grasp_scenarios": [
161
+ {
162
+ "scenario": "grasp the larger handle ring to lift and orient the scissors",
163
+ "confidence": 0.84
164
+ },
165
+ {
166
+ "scenario": "hold the large handle side to stabilize the tool while another gripper actuates it",
167
+ "confidence": 0.72
168
+ }
169
+ ],
170
+ "functional_labels": [
171
+ "provide thumb insertion",
172
+ "enable opening and closing",
173
+ "serve as main grip area",
174
+ "help control cutting motion"
175
+ ],
176
+ "semantic_description": "The larger opposing loop handle at the rear of the scissors, silver-gray metal with a smooth reflective hard finish and an elongated oval opening opposite the smaller ring.",
177
+ "id": 2,
178
+ "grasp_group": {
179
+ "grasp_42": {
180
+ "confidence": 0.9144027233123779,
181
+ "position": [
182
+ -0.12151837500277907,
183
+ -0.02341696509392932,
184
+ 0.0017994778354477603
185
+ ],
186
+ "orientation": {
187
+ "w": 0.06223310097514827,
188
+ "xyz": [
189
+ -0.7106168773146622,
190
+ -0.042098904215977395,
191
+ -0.699555842719071
192
+ ]
193
+ }
194
+ },
195
+ "grasp_43": {
196
+ "confidence": 0.9119189381599426,
197
+ "position": [
198
+ -0.12131792458239943,
199
+ -0.0072301210020668805,
200
+ 0.0005398202811193187
201
+ ],
202
+ "orientation": {
203
+ "w": 0.6975963272316915,
204
+ "xyz": [
205
+ 0.011290989963937906,
206
+ 0.7162297912406465,
207
+ 0.01570872107679066
208
+ ]
209
+ }
210
+ },
211
+ "grasp_44": {
212
+ "confidence": 0.9099546670913696,
213
+ "position": [
214
+ -0.058379662805236876,
215
+ -0.0980556242284365,
216
+ -0.004374831343739061
217
+ ],
218
+ "orientation": {
219
+ "w": 0.6174803459541957,
220
+ "xyz": [
221
+ -0.3505681685235326,
222
+ 0.6031709884623336,
223
+ 0.36332456599535684
224
+ ]
225
+ }
226
+ },
227
+ "grasp_45": {
228
+ "confidence": 0.9089406728744507,
229
+ "position": [
230
+ -0.12140824797097594,
231
+ -0.00761965085985139,
232
+ -0.0029279467526066583
233
+ ],
234
+ "orientation": {
235
+ "w": 0.7021427082927048,
236
+ "xyz": [
237
+ 0.016885264679390468,
238
+ 0.711528324441743,
239
+ 0.02092722019808091
240
+ ]
241
+ }
242
+ },
243
+ "grasp_46": {
244
+ "confidence": 0.9083247780799866,
245
+ "position": [
246
+ -0.11168211849872023,
247
+ -0.06149224640103057,
248
+ -0.0011939071227970999
249
+ ],
250
+ "orientation": {
251
+ "w": 0.1985326563117719,
252
+ "xyz": [
253
+ -0.6777643241175123,
254
+ -0.18681730598042845,
255
+ -0.6828759766733179
256
+ ]
257
+ }
258
+ },
259
+ "grasp_47": {
260
+ "confidence": 0.9048569202423096,
261
+ "position": [
262
+ -0.061849856399931014,
263
+ -0.10180579201551154,
264
+ -0.0008463565136480611
265
+ ],
266
+ "orientation": {
267
+ "w": 0.611311197860012,
268
+ "xyz": [
269
+ -0.35949814275530484,
270
+ 0.6042565028787614,
271
+ 0.36322690353988524
272
+ ]
273
+ }
274
+ },
275
+ "grasp_49": {
276
+ "confidence": 0.9041064381599426,
277
+ "position": [
278
+ -0.12137189658824354,
279
+ -0.008638949890155345,
280
+ 0.0007748006501060445
281
+ ],
282
+ "orientation": {
283
+ "w": 0.6992651216475402,
284
+ "xyz": [
285
+ 0.012737299560242854,
286
+ 0.7145366306440257,
287
+ 0.017419940156221034
288
+ ]
289
+ }
290
+ },
291
+ "grasp_50": {
292
+ "confidence": 0.9028108716011047,
293
+ "position": [
294
+ -0.07746975275222212,
295
+ -0.0934515975532122,
296
+ -0.0032991365405905526
297
+ ],
298
+ "orientation": {
299
+ "w": 0.6138355318299874,
300
+ "xyz": [
301
+ -0.35330416570689904,
302
+ 0.6076266611435677,
303
+ 0.3594049902612215
304
+ ]
305
+ }
306
+ },
307
+ "grasp_51": {
308
+ "confidence": 0.9026506543159485,
309
+ "position": [
310
+ -0.12024820747319609,
311
+ -0.008620824490208179,
312
+ 0.002206024819315644
313
+ ],
314
+ "orientation": {
315
+ "w": 0.6996765334586263,
316
+ "xyz": [
317
+ 0.010334939687034039,
318
+ 0.7141509729525809,
319
+ 0.01828456671259254
320
+ ]
321
+ }
322
+ },
323
+ "grasp_52": {
324
+ "confidence": 0.9014544486999512,
325
+ "position": [
326
+ -0.12248958798591048,
327
+ -0.010358297091443092,
328
+ 0.0011353153859090526
329
+ ],
330
+ "orientation": {
331
+ "w": 0.6969825826114251,
332
+ "xyz": [
333
+ 0.012474546189438796,
334
+ 0.7162753575187151,
335
+ 0.03176912723246214
336
+ ]
337
+ }
338
+ },
339
+ "grasp_53": {
340
+ "confidence": 0.900286078453064,
341
+ "position": [
342
+ -0.12013139727059752,
343
+ -0.00872235168935731,
344
+ 0.0030331195921462495
345
+ ],
346
+ "orientation": {
347
+ "w": 0.6928592541687376,
348
+ "xyz": [
349
+ 0.010049864213958993,
350
+ 0.7208326975917343,
351
+ 0.015661297029445624
352
+ ]
353
+ }
354
+ },
355
+ "grasp_55": {
356
+ "confidence": 0.8985584378242493,
357
+ "position": [
358
+ -0.11825633200351149,
359
+ -0.009215333324391395,
360
+ 0.0030264541164797265
361
+ ],
362
+ "orientation": {
363
+ "w": 0.6960603917506378,
364
+ "xyz": [
365
+ 0.008753924290532539,
366
+ 0.7176805647741107,
367
+ 0.01891842464315047
368
+ ]
369
+ }
370
+ },
371
+ "grasp_58": {
372
+ "confidence": 0.8955324292182922,
373
+ "position": [
374
+ -0.1153823226923123,
375
+ -0.008852353144902736,
376
+ 0.0023966178887349088
377
+ ],
378
+ "orientation": {
379
+ "w": 0.7037630305422901,
380
+ "xyz": [
381
+ 0.014379078892820443,
382
+ 0.7098241561241595,
383
+ 0.02570031740561947
384
+ ]
385
+ }
386
+ }
387
+ }
388
+ },
389
+ {
390
+ "part_name": "blade of scissors",
391
+ "mask_color": "Red",
392
+ "graspable": true,
393
+ "grasp_scenarios": [
394
+ {
395
+ "scenario": "grasp a blade near the pivot for careful tool pickup when avoiding the handle loops",
396
+ "confidence": 0.29
397
+ },
398
+ {
399
+ "scenario": "pinch the closed blade to stabilize the scissors during repositioning",
400
+ "confidence": 0.24
401
+ }
402
+ ],
403
+ "functional_labels": [
404
+ "cut material",
405
+ "provide shearing edge",
406
+ "meet opposing blade",
407
+ "guide cutting direction"
408
+ ],
409
+ "semantic_description": "One long narrow silver-gray metal blade with a smooth matte-to-satin reflective surface, tapering to a pointed tip and extending forward from the pivot.",
410
+ "id": 0,
411
+ "grasp_group": {
412
+ "grasp_3": {
413
+ "confidence": 0.7698325514793396,
414
+ "position": [
415
+ 0.14654767361935228,
416
+ 0.007397206674795598,
417
+ 0.0014588262311008293
418
+ ],
419
+ "orientation": {
420
+ "w": 0.03589783965279654,
421
+ "xyz": [
422
+ 0.7124598421648909,
423
+ -0.029436344800425118,
424
+ -0.700175563709154
425
+ ]
426
+ }
427
+ }
428
+ }
429
+ },
430
+ {
431
+ "part_name": "blade of scissors",
432
+ "mask_color": "Yellow",
433
+ "graspable": true,
434
+ "grasp_scenarios": [
435
+ {
436
+ "scenario": "grasp a blade near the pivot for careful tool pickup when avoiding the handle loops",
437
+ "confidence": 0.27
438
+ },
439
+ {
440
+ "scenario": "pinch the closed blade to stabilize the scissors during repositioning",
441
+ "confidence": 0.22
442
+ }
443
+ ],
444
+ "functional_labels": [
445
+ "cut material",
446
+ "provide shearing edge",
447
+ "meet opposing blade",
448
+ "support blade alignment"
449
+ ],
450
+ "semantic_description": "The matching second blade is silver-gray metal with a smooth slightly reflective hard finish, long and tapered, positioned opposite the other blade to form the cutting pair.",
451
+ "id": 3,
452
+ "grasp_group": {}
453
+ },
454
+ {
455
+ "part_name": "pivot screw",
456
+ "mask_color": "Orange",
457
+ "graspable": false,
458
+ "grasp_scenarios": [],
459
+ "functional_labels": [
460
+ "join the two halves",
461
+ "act as rotation axis",
462
+ "maintain blade alignment"
463
+ ],
464
+ "semantic_description": "A very small circular silver metallic fastener at the center joint with a smooth reflective finish, connecting the handles and blades at the scissors hinge.",
465
+ "id": 4,
466
+ "grasp_group": {}
467
+ }
468
+ ],
469
+ "quality_check": {
470
+ "success": true,
471
+ "message": "YES"
472
+ }
473
+ }
dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:73c22200a20c6accb73259afc026f7ea35d0df97042ed6273f22b2790264dd61
3
+ size 3782932