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
0b283b4
·
verified ·
1 Parent(s): cc7d86a

Add asset desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/affordance_annot.json +377 -0
  3. dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/c62e47aa3bec5944bf00fdc8d4378d60.urdf +1 -0
.gitattributes CHANGED
@@ -6652,3 +6652,4 @@ dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/affordanc
6652
  dataset/desktop_supplies/office_tools/c48e7a3c9cd054e087bd253bafbdaf31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6653
  dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6654
  dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6652
  dataset/desktop_supplies/office_tools/c48e7a3c9cd054e087bd253bafbdaf31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6653
  dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6654
  dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6655
+ dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/affordance_annot.json ADDED
@@ -0,0 +1,377 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "glue stick body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and move the glue stick",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body while advancing or retracting the glue during use",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "stabilize the body while applying glue to a surface",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the glue stick mechanism",
24
+ "support manipulation during application",
25
+ "provide structural body for the glue stick"
26
+ ],
27
+ "semantic_description": "Medium-sized bright red plastic body with a ribbed cylindrical surface, slightly tapered profile, matte to lightly glossy finish, and raised ring details near the middle.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9772657752037048,
32
+ "position": [
33
+ 0.04988126829266548,
34
+ -0.02144990480155684,
35
+ 0.1051303818821907
36
+ ],
37
+ "orientation": {
38
+ "w": 0.10372966248574722,
39
+ "xyz": [
40
+ -0.6945175790025564,
41
+ -0.7096245105131742,
42
+ -0.05760680216744328
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9731437563896179,
48
+ "position": [
49
+ 0.13915913552045822,
50
+ -0.04938806957216002,
51
+ -0.0030107698403298855
52
+ ],
53
+ "orientation": {
54
+ "w": 0.2019267024459364,
55
+ "xyz": [
56
+ -0.6754178220861037,
57
+ 0.14628069952061729,
58
+ 0.694001678236828
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9728637337684631,
64
+ "position": [
65
+ 0.05605592206120491,
66
+ 0.032621443358948454,
67
+ 0.09723278135061264
68
+ ],
69
+ "orientation": {
70
+ "w": 0.08923954094544394,
71
+ "xyz": [
72
+ 0.6961976303539323,
73
+ 0.7006985207385225,
74
+ -0.1279325871553554
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9720859527587891,
80
+ "position": [
81
+ 0.04156579449772835,
82
+ -0.01848132340819575,
83
+ 0.10560987144708633
84
+ ],
85
+ "orientation": {
86
+ "w": 0.08646129929631484,
87
+ "xyz": [
88
+ -0.6926468375452352,
89
+ -0.7131252005822151,
90
+ -0.06494036077165792
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9717609882354736,
96
+ "position": [
97
+ 0.0533614419400692,
98
+ -0.011968067759880796,
99
+ 0.10189730674028397
100
+ ],
101
+ "orientation": {
102
+ "w": 0.09840030847827862,
103
+ "xyz": [
104
+ -0.6900010410842601,
105
+ -0.7170667702444028,
106
+ 0.005584765463068508
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9712976217269897,
112
+ "position": [
113
+ 0.13977164775133133,
114
+ -0.0491216964146588,
115
+ -0.0029970284085720778
116
+ ],
117
+ "orientation": {
118
+ "w": 0.17942506017715792,
119
+ "xyz": [
120
+ -0.6772468372686964,
121
+ 0.16195944459585476,
122
+ 0.6949190654286104
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.970335066318512,
128
+ "position": [
129
+ 0.03965804725885391,
130
+ -0.029957257123896852,
131
+ 0.10041908174753189
132
+ ],
133
+ "orientation": {
134
+ "w": 0.12442345595963088,
135
+ "xyz": [
136
+ -0.6889246482166332,
137
+ -0.7074731855676006,
138
+ -0.09686756107945264
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9695475697517395,
144
+ "position": [
145
+ 0.10121460258960724,
146
+ -0.03631955376476981,
147
+ 0.08067545294761658
148
+ ],
149
+ "orientation": {
150
+ "w": 0.31690663566919275,
151
+ "xyz": [
152
+ -0.6187899771015962,
153
+ -0.717620001741184,
154
+ 0.04111789888142156
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9691930413246155,
160
+ "position": [
161
+ 0.043787356466054916,
162
+ -0.04614059618324973,
163
+ 0.09558702260255814
164
+ ],
165
+ "orientation": {
166
+ "w": 0.1772726519119642,
167
+ "xyz": [
168
+ -0.6786197319318374,
169
+ -0.6958171440513101,
170
+ -0.1545579773455239
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9686058163642883,
176
+ "position": [
177
+ 0.05590342730283737,
178
+ -0.01810173681587912,
179
+ 0.10362669080495834
180
+ ],
181
+ "orientation": {
182
+ "w": 0.09611595458384463,
183
+ "xyz": [
184
+ -0.6840320286878888,
185
+ -0.7213896431298095,
186
+ -0.049587193796520865
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9671457409858704,
192
+ "position": [
193
+ 0.04622134566307068,
194
+ 0.02649180599837564,
195
+ 0.10441001504659653
196
+ ],
197
+ "orientation": {
198
+ "w": 0.08263400859136254,
199
+ "xyz": [
200
+ 0.7028843075478193,
201
+ 0.6992085557174017,
202
+ -0.10115664307760756
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9666948914527893,
208
+ "position": [
209
+ 0.03280123509466648,
210
+ 0.0030269653943832964,
211
+ 0.10656770318746567
212
+ ],
213
+ "orientation": {
214
+ "w": 0.02560629182910117,
215
+ "xyz": [
216
+ -0.714351339042722,
217
+ 0.6985576205430106,
218
+ -0.03261492002014431
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9664416313171387,
224
+ "position": [
225
+ 0.13211017102003098,
226
+ -0.06261431044549681,
227
+ -0.004766926635056734
228
+ ],
229
+ "orientation": {
230
+ "w": 0.23419240774190356,
231
+ "xyz": [
232
+ -0.6724969646937143,
233
+ 0.17646686509423393,
234
+ 0.6795301274833989
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9661973118782043,
240
+ "position": [
241
+ -0.02777431532740593,
242
+ 0.02774293170659803,
243
+ 0.0984053835272789
244
+ ],
245
+ "orientation": {
246
+ "w": 0.10068108477141131,
247
+ "xyz": [
248
+ 0.719786990779523,
249
+ 0.681281335107404,
250
+ -0.08732553754821026
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9660478830337524,
256
+ "position": [
257
+ 0.0364806093275547,
258
+ -0.028973175125429407,
259
+ 0.09963631629943848
260
+ ],
261
+ "orientation": {
262
+ "w": 0.11659264329712625,
263
+ "xyz": [
264
+ -0.6863286399569344,
265
+ -0.7098125651811807,
266
+ -0.10735583735766432
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9659957885742188,
272
+ "position": [
273
+ -0.02936115860939026,
274
+ 0.046882789669325575,
275
+ 0.08934108912944794
276
+ ],
277
+ "orientation": {
278
+ "w": 0.1795655426462547,
279
+ "xyz": [
280
+ 0.708648520386674,
281
+ 0.6652600909626373,
282
+ -0.15166575691406817
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9659073948860168,
288
+ "position": [
289
+ 0.09650302678346634,
290
+ -0.022394515486666933,
291
+ 0.08688086271286011
292
+ ],
293
+ "orientation": {
294
+ "w": 0.27407733602175244,
295
+ "xyz": [
296
+ -0.6337750426826797,
297
+ -0.7166556570258126,
298
+ 0.09805854580141152
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9656059741973877,
304
+ "position": [
305
+ 0.09935954213142395,
306
+ -0.03839156395406462,
307
+ 0.08234845101833344
308
+ ],
309
+ "orientation": {
310
+ "w": 0.3210762049465587,
311
+ "xyz": [
312
+ -0.6191354842400708,
313
+ -0.7155669911667367,
314
+ 0.03930908195967439
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9652842879295349,
320
+ "position": [
321
+ 0.09779321402311325,
322
+ 0.05528945484547876,
323
+ 0.06997714936733246
324
+ ],
325
+ "orientation": {
326
+ "w": 0.40927164877789535,
327
+ "xyz": [
328
+ 0.5819496242132861,
329
+ -0.7015815764344779,
330
+ 0.040182632969365174
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.96518874168396,
336
+ "position": [
337
+ 0.050545308738946915,
338
+ 0.016457097692182288,
339
+ 0.10078993439674377
340
+ ],
341
+ "orientation": {
342
+ "w": 0.04599361759110933,
343
+ "xyz": [
344
+ 0.7001587866029944,
345
+ 0.7090796560887535,
346
+ -0.06977321839043756
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "glue stick tip",
354
+ "mask_color": "Red",
355
+ "graspable": false,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "avoid grasping the exposed glue because it is soft and contaminates the gripper",
359
+ "confidence": 0.97
360
+ }
361
+ ],
362
+ "functional_labels": [
363
+ "apply adhesive",
364
+ "make contact with target surface",
365
+ "dispense glue from the container",
366
+ "indicate the application end"
367
+ ],
368
+ "semantic_description": "Small white adhesive cylinder protruding from the top, with a smooth slightly matte waxy surface, soft solid texture, and a rounded flat dispensing end.",
369
+ "id": 0,
370
+ "grasp_group": {}
371
+ }
372
+ ],
373
+ "quality_check": {
374
+ "success": true,
375
+ "message": "YES"
376
+ }
377
+ }
dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37e066c85a88f5523bdf0ed50667a85a34140d429bd62d3b295b25d1d5caa809
3
+ size 1349112
dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/c62e47aa3bec5944bf00fdc8d4378d60.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  </custom_data>
57
  </robot>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  </custom_data>
58
  </robot>