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
0a8470f
·
verified ·
1 Parent(s): 7cfc4d7

Add asset desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/affordance_annot.json +367 -0
  3. dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.urdf +1 -0
.gitattributes CHANGED
@@ -6492,3 +6492,4 @@ dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affo
6492
  dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6493
  dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6494
  dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6492
  dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6493
  dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6494
  dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6495
+ dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,367 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "notebook body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook body from the sides to pick it up",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the notebook body flat to reposition or stack it",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "clamp the notebook body along an edge to stabilize it while opening",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain written pages",
23
+ "provide writing surface",
24
+ "protect inner pages",
25
+ "support page turning",
26
+ "main grasp surface"
27
+ ],
28
+ "semantic_description": "Rectangular beige paper notebook body with a matte dull finish, hard slightly compressible layered pages, worn uneven edges, and scattered dark stains across the cover and page block.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_3": {
32
+ "confidence": 0.9842045903205872,
33
+ "position": [
34
+ -0.15390613349154592,
35
+ 0.03559092292562127,
36
+ 0.00446206284686923
37
+ ],
38
+ "orientation": {
39
+ "w": 0.695363623354223,
40
+ "xyz": [
41
+ 0.029942781183166265,
42
+ 0.7180209300796503,
43
+ -0.004336489162687971
44
+ ]
45
+ }
46
+ },
47
+ "grasp_4": {
48
+ "confidence": 0.9837125539779663,
49
+ "position": [
50
+ -0.1521632489748299,
51
+ 0.06139954412356019,
52
+ -0.0001583147095516324
53
+ ],
54
+ "orientation": {
55
+ "w": 0.049724646471509856,
56
+ "xyz": [
57
+ 0.699500492618149,
58
+ -0.03214931390216813,
59
+ 0.71217479734674
60
+ ]
61
+ }
62
+ },
63
+ "grasp_5": {
64
+ "confidence": 0.9836810827255249,
65
+ "position": [
66
+ -0.15396056743338704,
67
+ 0.02612471068277955,
68
+ 0.0032540385145694017
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6960752748314951,
72
+ "xyz": [
73
+ 0.004961993506115615,
74
+ 0.7177463605377837,
75
+ 0.01716835238074023
76
+ ]
77
+ }
78
+ },
79
+ "grasp_6": {
80
+ "confidence": 0.9836286902427673,
81
+ "position": [
82
+ -0.1557069388218224,
83
+ 0.03159290784969926,
84
+ -0.002954178722575307
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7094131931268264,
88
+ "xyz": [
89
+ 0.0007042088058068001,
90
+ 0.7047601966004607,
91
+ 0.0067446864447390335
92
+ ]
93
+ }
94
+ },
95
+ "grasp_8": {
96
+ "confidence": 0.9835634231567383,
97
+ "position": [
98
+ 0.15881634084507823,
99
+ 0.08753025019541383,
100
+ 0.0063016030471771955
101
+ ],
102
+ "orientation": {
103
+ "w": 0.010096454315075849,
104
+ "xyz": [
105
+ 0.7068082825846705,
106
+ 0.011956567114853822,
107
+ -0.707232036733914
108
+ ]
109
+ }
110
+ },
111
+ "grasp_9": {
112
+ "confidence": 0.9834409952163696,
113
+ "position": [
114
+ -0.1554940608330071,
115
+ 0.03492346638813615,
116
+ -0.005731743993237615
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7209772898185449,
120
+ "xyz": [
121
+ 0.008242060031940928,
122
+ 0.6927790108099554,
123
+ -0.013455786618235188
124
+ ]
125
+ }
126
+ },
127
+ "grasp_10": {
128
+ "confidence": 0.9833856225013733,
129
+ "position": [
130
+ -0.15332188876345754,
131
+ 0.02847752207890153,
132
+ 4.795007407665253e-05
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7037297407648486,
136
+ "xyz": [
137
+ 0.008365171574566267,
138
+ 0.7102575197172145,
139
+ 0.015123873601636683
140
+ ]
141
+ }
142
+ },
143
+ "grasp_11": {
144
+ "confidence": 0.9833208322525024,
145
+ "position": [
146
+ -0.15427320869639516,
147
+ 0.02154714660719037,
148
+ 0.004369839793071151
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6944745926677982,
152
+ "xyz": [
153
+ 0.0042234737986737774,
154
+ 0.7193513804728596,
155
+ 0.014859132537233434
156
+ ]
157
+ }
158
+ },
159
+ "grasp_12": {
160
+ "confidence": 0.9832847714424133,
161
+ "position": [
162
+ -0.1546451267786324,
163
+ 0.04680077591910958,
164
+ -0.009936026064679027
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7393183176732506,
168
+ "xyz": [
169
+ 0.0256237495961251,
170
+ 0.6725464470129818,
171
+ -0.020811660665212454
172
+ ]
173
+ }
174
+ },
175
+ "grasp_15": {
176
+ "confidence": 0.9830752015113831,
177
+ "position": [
178
+ -0.1526450333185494,
179
+ 0.02590028429403901,
180
+ 0.004375483142212033
181
+ ],
182
+ "orientation": {
183
+ "w": 0.694234063208113,
184
+ "xyz": [
185
+ 0.0058909711636678744,
186
+ 0.7194559798211778,
187
+ 0.019683877663009438
188
+ ]
189
+ }
190
+ },
191
+ "grasp_17": {
192
+ "confidence": 0.9827936887741089,
193
+ "position": [
194
+ 0.1591233047656715,
195
+ 0.09306167298927903,
196
+ 0.0036738861817866564
197
+ ],
198
+ "orientation": {
199
+ "w": 0.012448985927156427,
200
+ "xyz": [
201
+ 0.7068634537085365,
202
+ -0.0021915228885368565,
203
+ -0.7072370732562414
204
+ ]
205
+ }
206
+ },
207
+ "grasp_18": {
208
+ "confidence": 0.9827372431755066,
209
+ "position": [
210
+ -0.1509437677450478,
211
+ 0.059555838350206614,
212
+ 0.0032913130708038807
213
+ ],
214
+ "orientation": {
215
+ "w": 0.0775588252440605,
216
+ "xyz": [
217
+ -0.698627782335449,
218
+ -0.06355704362520764,
219
+ -0.7084238509405486
220
+ ]
221
+ }
222
+ },
223
+ "grasp_19": {
224
+ "confidence": 0.9827341437339783,
225
+ "position": [
226
+ -0.14797347458079457,
227
+ -0.06426094239577651,
228
+ 0.002842913963831961
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7001177184076736,
232
+ "xyz": [
233
+ -0.04079266236170832,
234
+ 0.7093245715229518,
235
+ 0.07092102158639732
236
+ ]
237
+ }
238
+ }
239
+ }
240
+ },
241
+ {
242
+ "part_name": "bookmark ribbon",
243
+ "mask_color": "Green",
244
+ "graspable": true,
245
+ "grasp_scenarios": [
246
+ {
247
+ "scenario": "pinch the ribbon to locate and open to a marked page",
248
+ "confidence": 0.78
249
+ },
250
+ {
251
+ "scenario": "delicately pull the ribbon to reorient the notebook",
252
+ "confidence": 0.34
253
+ }
254
+ ],
255
+ "functional_labels": [
256
+ "mark a page",
257
+ "indicate reading position",
258
+ "assist opening to a saved section",
259
+ "provide a small pull tab"
260
+ ],
261
+ "semantic_description": "Small brown ribbon tab protruding from the notebook edge, likely fabric or leather, with a matte finish, soft flexible texture, and narrow flat strip shape.",
262
+ "id": 1,
263
+ "grasp_group": {
264
+ "grasp_22": {
265
+ "confidence": 0.9158062934875488,
266
+ "position": [
267
+ -0.0985782709904015,
268
+ -0.20084077632054687,
269
+ -0.00357000227086246
270
+ ],
271
+ "orientation": {
272
+ "w": 0.6131028214538657,
273
+ "xyz": [
274
+ -0.34906622815304694,
275
+ 0.6123289631186626,
276
+ 0.3568065857216445
277
+ ]
278
+ }
279
+ },
280
+ "grasp_24": {
281
+ "confidence": 0.9196228384971619,
282
+ "position": [
283
+ -0.04580608429387212,
284
+ -0.21088374173268676,
285
+ -0.00255356146954
286
+ ],
287
+ "orientation": {
288
+ "w": 0.48631331290469965,
289
+ "xyz": [
290
+ -0.5008432838558782,
291
+ 0.5019263901880818,
292
+ 0.5106126374668748
293
+ ]
294
+ }
295
+ },
296
+ "grasp_25": {
297
+ "confidence": 0.9176177382469177,
298
+ "position": [
299
+ -0.048130099195986986,
300
+ -0.21125150239095092,
301
+ -0.0008911509066820145
302
+ ],
303
+ "orientation": {
304
+ "w": 0.4869719203650825,
305
+ "xyz": [
306
+ -0.5051496345196392,
307
+ 0.49802553601106847,
308
+ 0.5095613417455315
309
+ ]
310
+ }
311
+ },
312
+ "grasp_26": {
313
+ "confidence": 0.913114070892334,
314
+ "position": [
315
+ -0.04340854333713651,
316
+ -0.21439260756596923,
317
+ 0.00046193250454962254
318
+ ],
319
+ "orientation": {
320
+ "w": 0.4885557290098542,
321
+ "xyz": [
322
+ -0.5024605943699738,
323
+ 0.49777544348124625,
324
+ 0.5109464342023252
325
+ ]
326
+ }
327
+ },
328
+ "grasp_28": {
329
+ "confidence": 0.9421501159667969,
330
+ "position": [
331
+ -0.13585894973948598,
332
+ -0.1629490307532251,
333
+ -0.0001913508167490363
334
+ ],
335
+ "orientation": {
336
+ "w": 0.6925007087374053,
337
+ "xyz": [
338
+ -0.15527397175167656,
339
+ 0.6772751230583365,
340
+ 0.1939875505824162
341
+ ]
342
+ }
343
+ },
344
+ "grasp_32": {
345
+ "confidence": 0.9253743290901184,
346
+ "position": [
347
+ -0.13225990207865834,
348
+ -0.1628944925032556,
349
+ 0.003392348065972328
350
+ ],
351
+ "orientation": {
352
+ "w": 0.6927449696822996,
353
+ "xyz": [
354
+ -0.1583059021818004,
355
+ 0.6783228598527413,
356
+ 0.18687361000278768
357
+ ]
358
+ }
359
+ }
360
+ }
361
+ }
362
+ ],
363
+ "quality_check": {
364
+ "success": true,
365
+ "message": "YES"
366
+ }
367
+ }
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ec29fb72b3fa8680c79e07976c9912aecfcc99742deccc91de01a1874aa9ef5
3
+ size 3763280
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.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>