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
26a31a8
·
verified ·
1 Parent(s): 08440a4

Add asset desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordance/affordance_annot.json +487 -0
  3. dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/magnifier_010.urdf +1 -0
.gitattributes CHANGED
@@ -6542,3 +6542,4 @@ dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/affordanc
6542
  dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6543
  dataset/desktop_supplies/office_tools/2a4bf8c8e22459248f9212a42a081db9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6544
  dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6542
  dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6543
  dataset/desktop_supplies/office_tools/2a4bf8c8e22459248f9212a42a081db9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6544
  dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6545
+ dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,487 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main body and handle",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle/body to pick up and reposition the device",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the device during viewing or inspection",
14
+ "confidence": 0.88
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support all components",
19
+ "main grasp surface",
20
+ "house the lens and compass",
21
+ "provide structural frame"
22
+ ],
23
+ "semantic_description": "Large dark blue-gray plastic body with a matte smooth finish, forming the main frame and curved handle with rounded edges, textured grip areas, and visible black screws.",
24
+ "id": 4,
25
+ "grasp_group": {
26
+ "grasp_43": {
27
+ "confidence": 0.9836704730987549,
28
+ "position": [
29
+ 0.10532809258438647,
30
+ -0.10449419496580958,
31
+ 0.014232181711122394
32
+ ],
33
+ "orientation": {
34
+ "w": 0.6343285464110714,
35
+ "xyz": [
36
+ -0.08605218112262927,
37
+ -0.7622268194685454,
38
+ -0.09608638308793666
39
+ ]
40
+ }
41
+ },
42
+ "grasp_45": {
43
+ "confidence": 0.98066645860672,
44
+ "position": [
45
+ 0.11687366873957217,
46
+ -0.08861716417595744,
47
+ -0.0033418729435652494
48
+ ],
49
+ "orientation": {
50
+ "w": 0.7005615206403196,
51
+ "xyz": [
52
+ -0.026337376063804274,
53
+ -0.7097564430245451,
54
+ -0.06903397718038722
55
+ ]
56
+ }
57
+ },
58
+ "grasp_47": {
59
+ "confidence": 0.9794203639030457,
60
+ "position": [
61
+ 0.10779376537539065,
62
+ -0.1145371156744659,
63
+ -0.00438661128282547
64
+ ],
65
+ "orientation": {
66
+ "w": 0.14233834086195596,
67
+ "xyz": [
68
+ -0.7095025894382728,
69
+ 0.10486088410089678,
70
+ 0.6821657183460849
71
+ ]
72
+ }
73
+ },
74
+ "grasp_49": {
75
+ "confidence": 0.9775829315185547,
76
+ "position": [
77
+ 0.11227428377605975,
78
+ -0.09964965609833598,
79
+ 0.0017369724810123444
80
+ ],
81
+ "orientation": {
82
+ "w": 0.6856979737625583,
83
+ "xyz": [
84
+ -0.04369969957828786,
85
+ -0.7100632769094171,
86
+ -0.15400898616428166
87
+ ]
88
+ }
89
+ },
90
+ "grasp_50": {
91
+ "confidence": 0.9774571061134338,
92
+ "position": [
93
+ 0.10936249257065356,
94
+ -0.10752138821408153,
95
+ -0.006545427488163114
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6961376308647366,
99
+ "xyz": [
100
+ -0.11199206889488962,
101
+ -0.6917269275351726,
102
+ -0.15608982388811818
103
+ ]
104
+ }
105
+ },
106
+ "grasp_53": {
107
+ "confidence": 0.9761240482330322,
108
+ "position": [
109
+ 0.09419519663788378,
110
+ -0.129329192917794,
111
+ -0.011380804004147649
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6897537417097154,
115
+ "xyz": [
116
+ -0.19561852222762272,
117
+ -0.6624502970095767,
118
+ -0.21710083728731175
119
+ ]
120
+ }
121
+ },
122
+ "grasp_58": {
123
+ "confidence": 0.9750822186470032,
124
+ "position": [
125
+ 0.09329807967878878,
126
+ -0.13706131605431437,
127
+ -0.004086068365722895
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6729566433638234,
131
+ "xyz": [
132
+ -0.23148908915714747,
133
+ -0.6626244623307224,
134
+ -0.23339018761424266
135
+ ]
136
+ }
137
+ }
138
+ }
139
+ },
140
+ {
141
+ "part_name": "magnifying lens",
142
+ "mask_color": "Purple",
143
+ "graspable": false,
144
+ "grasp_scenarios": [],
145
+ "functional_labels": [
146
+ "magnify viewed details",
147
+ "provide optical viewing",
148
+ "aid close inspection"
149
+ ],
150
+ "semantic_description": "Large oval transparent lens with a glossy reflective surface, mounted in the larger front section of the body and bordered by a dark rim.",
151
+ "id": 5,
152
+ "grasp_group": {}
153
+ },
154
+ {
155
+ "part_name": "compass dial",
156
+ "mask_color": "Magenta",
157
+ "graspable": false,
158
+ "grasp_scenarios": [],
159
+ "functional_labels": [
160
+ "indicate direction",
161
+ "aid navigation",
162
+ "provide orientation reference"
163
+ ],
164
+ "semantic_description": "Round compass module with a clear cover, metallic silver-toned rim, and a white marked face with directional graphics, mounted on the front of the body.",
165
+ "id": 7,
166
+ "grasp_group": {}
167
+ },
168
+ {
169
+ "part_name": "metal pivot button",
170
+ "mask_color": "Cyan",
171
+ "graspable": false,
172
+ "grasp_scenarios": [],
173
+ "functional_labels": [
174
+ "act as a pivot or fastener for the clip",
175
+ "provide a release or attachment point",
176
+ "secure the folding clip assembly"
177
+ ],
178
+ "semantic_description": "Small round metallic silver button-like part with a smooth reflective finish, positioned near the handle on the body.",
179
+ "id": 6,
180
+ "grasp_group": {}
181
+ },
182
+ {
183
+ "part_name": "folding clip/carabiner arm",
184
+ "mask_color": "Blue",
185
+ "graspable": true,
186
+ "grasp_scenarios": [
187
+ {
188
+ "scenario": "pinch and pull the metal clip arm to open, fold, or reposition it",
189
+ "confidence": 0.79
190
+ },
191
+ {
192
+ "scenario": "grasp the exposed clip arm to help reorient the device",
193
+ "confidence": 0.46
194
+ }
195
+ ],
196
+ "functional_labels": [
197
+ "clip onto gear or straps",
198
+ "provide an attachment feature",
199
+ "fold into the handle area"
200
+ ],
201
+ "semantic_description": "Slim metallic silver clip-like arm with an elongated open center, partially recessed into the handle/body area and visible along the side.",
202
+ "id": 2,
203
+ "grasp_group": {
204
+ "grasp_27": {
205
+ "confidence": 0.9022610783576965,
206
+ "position": [
207
+ -0.10285302042029798,
208
+ -0.05921680061146617,
209
+ -0.008868244709447026
210
+ ],
211
+ "orientation": {
212
+ "w": 0.7258818593567035,
213
+ "xyz": [
214
+ 0.014918274364766976,
215
+ 0.687648007163189,
216
+ 0.0036317476959690626
217
+ ]
218
+ }
219
+ },
220
+ "grasp_29": {
221
+ "confidence": 0.8367413282394409,
222
+ "position": [
223
+ -0.09677631198428571,
224
+ -0.054308570455759764,
225
+ -0.005959211615845561
226
+ ],
227
+ "orientation": {
228
+ "w": 0.7136349617510729,
229
+ "xyz": [
230
+ 0.06380773306801844,
231
+ 0.6957011829305751,
232
+ -0.05151289776613529
233
+ ]
234
+ }
235
+ },
236
+ "grasp_30": {
237
+ "confidence": 0.8064719438552856,
238
+ "position": [
239
+ -0.09900980978272855,
240
+ -0.04430367378517985,
241
+ 0.0005437992513179779
242
+ ],
243
+ "orientation": {
244
+ "w": 0.694762575664315,
245
+ "xyz": [
246
+ 0.08006690531912651,
247
+ 0.7112200610301805,
248
+ -0.07113563746203883
249
+ ]
250
+ }
251
+ },
252
+ "grasp_31": {
253
+ "confidence": 0.7970660924911499,
254
+ "position": [
255
+ -0.10060180514119565,
256
+ -0.08376660523936152,
257
+ -0.0028799920110031962
258
+ ],
259
+ "orientation": {
260
+ "w": 0.683984122190328,
261
+ "xyz": [
262
+ -0.12420482590032962,
263
+ 0.7118630186727674,
264
+ 0.09994960960749671
265
+ ]
266
+ }
267
+ },
268
+ "grasp_32": {
269
+ "confidence": 0.7457429766654968,
270
+ "position": [
271
+ -0.10775748430751264,
272
+ -0.07193224458023906,
273
+ -0.0036488977493718266
274
+ ],
275
+ "orientation": {
276
+ "w": 0.7013894825083055,
277
+ "xyz": [
278
+ -0.10750847311938858,
279
+ 0.6921575730720821,
280
+ 0.1319568720197427
281
+ ]
282
+ }
283
+ },
284
+ "grasp_34": {
285
+ "confidence": 0.6858859062194824,
286
+ "position": [
287
+ -0.092269686749205,
288
+ -0.10034331260249019,
289
+ -0.010994101176038384
290
+ ],
291
+ "orientation": {
292
+ "w": 0.16314666721267257,
293
+ "xyz": [
294
+ -0.668692793532604,
295
+ -0.1701797879257222,
296
+ -0.7051751219636981
297
+ ]
298
+ }
299
+ },
300
+ "grasp_35": {
301
+ "confidence": 0.5895113945007324,
302
+ "position": [
303
+ -0.08798435120843351,
304
+ -0.09823366580531001,
305
+ -0.01091040694154799
306
+ ],
307
+ "orientation": {
308
+ "w": 0.6842284385187615,
309
+ "xyz": [
310
+ -0.2110764125834126,
311
+ 0.6609323227507296,
312
+ 0.22460333193525955
313
+ ]
314
+ }
315
+ },
316
+ "grasp_38": {
317
+ "confidence": 0.38850516080856323,
318
+ "position": [
319
+ -0.0806453952100128,
320
+ -0.10719743696972728,
321
+ -0.0036153896944597363
322
+ ],
323
+ "orientation": {
324
+ "w": 0.6700689953948012,
325
+ "xyz": [
326
+ -0.27486767213463503,
327
+ 0.6330438361638392,
328
+ 0.2733327746920575
329
+ ]
330
+ }
331
+ }
332
+ }
333
+ },
334
+ {
335
+ "part_name": "attachment ring",
336
+ "mask_color": "Green",
337
+ "graspable": true,
338
+ "grasp_scenarios": [
339
+ {
340
+ "scenario": "hook or pinch the ring to retrieve or hang the device",
341
+ "confidence": 0.45
342
+ },
343
+ {
344
+ "scenario": "lightly grasp the ring to reorient the device",
345
+ "confidence": 0.3
346
+ }
347
+ ],
348
+ "functional_labels": [
349
+ "attach to lanyard",
350
+ "hang for storage",
351
+ "provide tether point"
352
+ ],
353
+ "semantic_description": "Small metallic ring loop with a shiny reflective finish, attached near the edge of the body as a compact hanging point.",
354
+ "id": 1,
355
+ "grasp_group": {
356
+ "grasp_1": {
357
+ "confidence": 0.9181780815124512,
358
+ "position": [
359
+ 0.1346539354417473,
360
+ 0.09507370414212346,
361
+ -0.00627531367354095
362
+ ],
363
+ "orientation": {
364
+ "w": 0.286489465588376,
365
+ "xyz": [
366
+ 0.6466341248094893,
367
+ 0.2695306995914911,
368
+ -0.6535604767092897
369
+ ]
370
+ }
371
+ },
372
+ "grasp_3": {
373
+ "confidence": 0.9500160217285156,
374
+ "position": [
375
+ 0.16469421447254717,
376
+ 0.016513924580067396,
377
+ -0.0033694180892780423
378
+ ],
379
+ "orientation": {
380
+ "w": 0.01599740073748872,
381
+ "xyz": [
382
+ 0.6984935341585573,
383
+ -0.0036426372679738694,
384
+ -0.7154282613246883
385
+ ]
386
+ }
387
+ },
388
+ "grasp_5": {
389
+ "confidence": 0.9343291521072388,
390
+ "position": [
391
+ 0.16847991407848895,
392
+ 0.021788146812468767,
393
+ -0.007184612797573209
394
+ ],
395
+ "orientation": {
396
+ "w": 0.010160227032925833,
397
+ "xyz": [
398
+ 0.6991824194190396,
399
+ 0.011828450625850584,
400
+ -0.7147732521001116
401
+ ]
402
+ }
403
+ },
404
+ "grasp_7": {
405
+ "confidence": 0.9181615710258484,
406
+ "position": [
407
+ 0.16781165660358965,
408
+ 0.009857349330559373,
409
+ -0.0005179400322958827
410
+ ],
411
+ "orientation": {
412
+ "w": 0.04184068499715484,
413
+ "xyz": [
414
+ -0.7171184717576511,
415
+ 0.02864694994926331,
416
+ 0.6951041697483505
417
+ ]
418
+ }
419
+ },
420
+ "grasp_16": {
421
+ "confidence": 0.937933623790741,
422
+ "position": [
423
+ 0.16623910726048052,
424
+ 0.01010064734145999,
425
+ 0.003484803019091487
426
+ ],
427
+ "orientation": {
428
+ "w": 0.03647467226834184,
429
+ "xyz": [
430
+ -0.7199819106494598,
431
+ 0.040336451144690755,
432
+ 0.6918588131472508
433
+ ]
434
+ }
435
+ },
436
+ "grasp_18": {
437
+ "confidence": 0.9364773035049438,
438
+ "position": [
439
+ 0.1628362184856087,
440
+ 0.012581642251461744,
441
+ -0.0031243672128766775
442
+ ],
443
+ "orientation": {
444
+ "w": 0.04371580012181069,
445
+ "xyz": [
446
+ -0.7090413224210689,
447
+ 0.018825646321872114,
448
+ 0.7035587587114919
449
+ ]
450
+ }
451
+ }
452
+ }
453
+ },
454
+ {
455
+ "part_name": "side port/insert area",
456
+ "mask_color": "Yellow",
457
+ "graspable": false,
458
+ "grasp_scenarios": [],
459
+ "functional_labels": [
460
+ "cover or expose a small side opening",
461
+ "finish the housing edge",
462
+ "provide access to a small integrated feature"
463
+ ],
464
+ "semantic_description": "Small yellow-mask side feature visible only at the edge/back in several views, appearing as a compact recessed or covered area on the housing.",
465
+ "id": 3,
466
+ "grasp_group": {}
467
+ },
468
+ {
469
+ "part_name": "lens bezel",
470
+ "mask_color": "Pink",
471
+ "graspable": false,
472
+ "grasp_scenarios": [],
473
+ "functional_labels": [
474
+ "retain the lens",
475
+ "protect lens edge",
476
+ "frame the viewing area"
477
+ ],
478
+ "semantic_description": "Thin pale pinkish-gray ring-shaped bezel around the magnifying lens, forming a smooth hard rim that secures the lens.",
479
+ "id": 8,
480
+ "grasp_group": {}
481
+ }
482
+ ],
483
+ "quality_check": {
484
+ "success": false,
485
+ "message": "Yellow part and lens bezel descriptions/functions are incorrect; yellow is a side switch/slider, not a port/insert area."
486
+ }
487
+ }
dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4594a03076f67fe6556f6efb816c2698469caa050857becbaafba2ac44192907
3
+ size 3786008
dataset/desktop_supplies/office_tools/2f697d3319c957f6915e9bf1fc8f6d7d/magnifier_010.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
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>YES</PartSegChecker>