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
137dd0f
·
verified ·
1 Parent(s): af94aa2

Add asset desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/affordance_annot.json +295 -0
  3. dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/cutter_knife_005.urdf +4 -3
.gitattributes CHANGED
@@ -6599,4 +6599,4 @@ dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordanc
6599
  dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6600
  dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6601
  dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6602
- dataset/desktop_supplies/office_tools/87e7a6ac828856458322c0bbb531136a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6599
  dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6600
  dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6601
  dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6602
+ dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,295 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife handle body",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main handle to pick up and hold the utility knife",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle while operating the top slider to extend or retract the blade",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "clamp the handle to stabilize the knife during cutting or setup",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "houses blade channel",
24
+ "supports blade mechanism",
25
+ "provides safe hand placement"
26
+ ],
27
+ "semantic_description": "Large curved utility-knife handle made of light blue and dark blue plastic with smooth matte surfaces, forming most of the body and including a rounded rear end with a lanyard hole.",
28
+ "id": 8,
29
+ "grasp_group": {
30
+ "grasp_23": {
31
+ "confidence": 0.979042112827301,
32
+ "position": [
33
+ -0.09994572366122156,
34
+ 0.04478469444438815,
35
+ -0.0038277225103229284
36
+ ],
37
+ "orientation": {
38
+ "w": 0.03885525587020969,
39
+ "xyz": [
40
+ 0.6981567389142175,
41
+ -0.03164579225936992,
42
+ 0.7141890371828753
43
+ ]
44
+ }
45
+ },
46
+ "grasp_25": {
47
+ "confidence": 0.9770799875259399,
48
+ "position": [
49
+ -0.10219171608332545,
50
+ 0.044199741911143064,
51
+ -0.0029517695074900985
52
+ ],
53
+ "orientation": {
54
+ "w": 0.702626240391082,
55
+ "xyz": [
56
+ 0.050826255383540596,
57
+ 0.7095983678211016,
58
+ -0.014255331045235388
59
+ ]
60
+ }
61
+ },
62
+ "grasp_27": {
63
+ "confidence": 0.9766618013381958,
64
+ "position": [
65
+ -0.0982063781702891,
66
+ 0.05978006077930331,
67
+ -0.0074024631176143885
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7195219799705527,
71
+ "xyz": [
72
+ 0.11195546899961356,
73
+ 0.6808823166808468,
74
+ -0.07844338169440898
75
+ ]
76
+ }
77
+ },
78
+ "grasp_30": {
79
+ "confidence": 0.9755200147628784,
80
+ "position": [
81
+ -0.08271537686232477,
82
+ 0.09514744533225894,
83
+ -0.0042595043778419495
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6785996648008236,
87
+ "xyz": [
88
+ 0.23446118796840162,
89
+ 0.6596224310826184,
90
+ -0.2223256500750902
91
+ ]
92
+ }
93
+ }
94
+ }
95
+ },
96
+ {
97
+ "part_name": "knife blade",
98
+ "mask_color": "Red",
99
+ "graspable": true,
100
+ "grasp_scenarios": [
101
+ {
102
+ "scenario": "carefully grip the exposed blade with a specialized gripper for disposal or replacement",
103
+ "confidence": 0.18
104
+ },
105
+ {
106
+ "scenario": "pinch near the blade base during blade replacement with appropriate safety handling",
107
+ "confidence": 0.22
108
+ }
109
+ ],
110
+ "functional_labels": [
111
+ "cut materials",
112
+ "score surfaces",
113
+ "pierce packaging",
114
+ "provide sharp cutting edge"
115
+ ],
116
+ "semantic_description": "Small exposed silver metal blade with a reflective finish and sharp angled tip protruding from the front of the utility knife.",
117
+ "id": 0,
118
+ "grasp_group": {
119
+ "grasp_1": {
120
+ "confidence": 0.8426122069358826,
121
+ "position": [
122
+ -0.09102590347174555,
123
+ -0.1008172039873898,
124
+ -0.004677468910813332
125
+ ],
126
+ "orientation": {
127
+ "w": 0.6878691716496071,
128
+ "xyz": [
129
+ -0.14588205167701981,
130
+ 0.6910581886343072,
131
+ 0.1673111162297831
132
+ ]
133
+ }
134
+ },
135
+ "grasp_7": {
136
+ "confidence": 0.7455286383628845,
137
+ "position": [
138
+ 0.026362846023403108,
139
+ -0.15217385487630963,
140
+ -0.004471973283216357
141
+ ],
142
+ "orientation": {
143
+ "w": 0.4150800622429773,
144
+ "xyz": [
145
+ -0.5863228930405613,
146
+ 0.3805439850023852,
147
+ 0.5823403493691789
148
+ ]
149
+ }
150
+ },
151
+ "grasp_9": {
152
+ "confidence": 0.741736888885498,
153
+ "position": [
154
+ -0.06271713937167078,
155
+ -0.14444465236738324,
156
+ -0.005673329578712583
157
+ ],
158
+ "orientation": {
159
+ "w": 0.6271017642675966,
160
+ "xyz": [
161
+ -0.33107847925080247,
162
+ 0.6187954131641096,
163
+ 0.33796842230673385
164
+ ]
165
+ }
166
+ },
167
+ "grasp_11": {
168
+ "confidence": 0.7357034683227539,
169
+ "position": [
170
+ -0.022519476362504065,
171
+ -0.15833426313474774,
172
+ -0.010963288368657231
173
+ ],
174
+ "orientation": {
175
+ "w": 0.5580773986082365,
176
+ "xyz": [
177
+ -0.4482941926554927,
178
+ 0.5185265570402751,
179
+ 0.46766670144236555
180
+ ]
181
+ }
182
+ },
183
+ "grasp_15": {
184
+ "confidence": 0.7206076383590698,
185
+ "position": [
186
+ 0.04190446843858808,
187
+ -0.1482763816602528,
188
+ -0.009111738996580243
189
+ ],
190
+ "orientation": {
191
+ "w": 0.38943339444442066,
192
+ "xyz": [
193
+ -0.606546503735146,
194
+ 0.3390334761640551,
195
+ 0.6045653580368989
196
+ ]
197
+ }
198
+ }
199
+ }
200
+ },
201
+ {
202
+ "part_name": "thumb slider",
203
+ "mask_color": "Pink",
204
+ "graspable": true,
205
+ "grasp_scenarios": [
206
+ {
207
+ "scenario": "press or pinch the slider to extend the blade",
208
+ "confidence": 0.76
209
+ },
210
+ {
211
+ "scenario": "move the slider back to retract or adjust blade position",
212
+ "confidence": 0.74
213
+ }
214
+ ],
215
+ "functional_labels": [
216
+ "adjust blade position",
217
+ "extend blade",
218
+ "retract blade",
219
+ "lock or set cutting depth"
220
+ ],
221
+ "semantic_description": "Small dark blue ribbed plastic slider with a textured matte surface located along the top track of the handle for thumb operation.",
222
+ "id": 8,
223
+ "grasp_group": {
224
+ "grasp_23": {
225
+ "confidence": 0.979042112827301,
226
+ "position": [
227
+ -0.09994572366122156,
228
+ 0.04478469444438815,
229
+ -0.0038277225103229284
230
+ ],
231
+ "orientation": {
232
+ "w": 0.03885525587020969,
233
+ "xyz": [
234
+ 0.6981567389142175,
235
+ -0.03164579225936992,
236
+ 0.7141890371828753
237
+ ]
238
+ }
239
+ },
240
+ "grasp_25": {
241
+ "confidence": 0.9770799875259399,
242
+ "position": [
243
+ -0.10219171608332545,
244
+ 0.044199741911143064,
245
+ -0.0029517695074900985
246
+ ],
247
+ "orientation": {
248
+ "w": 0.702626240391082,
249
+ "xyz": [
250
+ 0.050826255383540596,
251
+ 0.7095983678211016,
252
+ -0.014255331045235388
253
+ ]
254
+ }
255
+ },
256
+ "grasp_27": {
257
+ "confidence": 0.9766618013381958,
258
+ "position": [
259
+ -0.0982063781702891,
260
+ 0.05978006077930331,
261
+ -0.0074024631176143885
262
+ ],
263
+ "orientation": {
264
+ "w": 0.7195219799705527,
265
+ "xyz": [
266
+ 0.11195546899961356,
267
+ 0.6808823166808468,
268
+ -0.07844338169440898
269
+ ]
270
+ }
271
+ },
272
+ "grasp_30": {
273
+ "confidence": 0.9755200147628784,
274
+ "position": [
275
+ -0.08271537686232477,
276
+ 0.09514744533225894,
277
+ -0.0042595043778419495
278
+ ],
279
+ "orientation": {
280
+ "w": 0.6785996648008236,
281
+ "xyz": [
282
+ 0.23446118796840162,
283
+ 0.6596224310826184,
284
+ -0.2223256500750902
285
+ ]
286
+ }
287
+ }
288
+ }
289
+ }
290
+ ],
291
+ "quality_check": {
292
+ "success": true,
293
+ "message": "YES"
294
+ }
295
+ }
dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31d8115a4bf7d1b7c0cafbfdb69585eb592dc9d95f3f9a3df1285b8cc3043b76
3
+ size 3784076
dataset/desktop_supplies/office_tools/87c1dd4aea385e9687a5427f521b1da8/cutter_knife_005.urdf CHANGED
@@ -47,16 +47,17 @@
47
  </link>
48
  <custom_data>
49
  <affordance>
50
- <part_count>0</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
54
- <mesh filename="None" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
60
  </quality>
61
  </custom_data>
62
  </robot>
 
47
  </link>
48
  <custom_data>
49
  <affordance>
50
+ <part_count>6</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
54
+ <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
+ <PartSegChecker>NO: {"summary":"Blade and slider are merged; handle is over-merged and misses clear physical part boundaries.","merge_groups":[]}</PartSegChecker>
61
  </quality>
62
  </custom_data>
63
  </robot>