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
40981c9
·
verified ·
1 Parent(s): 3325bd4

Add asset desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/affordance/affordance_annot.json +563 -0
  3. dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6356,3 +6356,4 @@ dataset/desktop_supplies/office_stationery/657bc05bc85d5e39974ccff0bdff370d/affo
6356
  dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6357
  dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6358
  dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6356
  dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6357
  dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6358
  dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6359
+ dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main housing",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing to pick up and reposition the correction tape tool",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the main housing as the primary grip while applying correction tape across paper",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "clamp the body to stabilize the tool during handoff or storage handling",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal tape mechanism",
24
+ "support tool handling",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Large dark blue and white plastic body with a smooth satin finish, rounded rectangular rear section, and white printed branding on the blue side panel, forming most of the tool's bulk.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9884592890739441,
32
+ "position": [
33
+ 0.0032876802069949917,
34
+ 0.0792355639860034,
35
+ -0.08765043630046421
36
+ ],
37
+ "orientation": {
38
+ "w": 0.01319508730410628,
39
+ "xyz": [
40
+ 0.019238412158345628,
41
+ 0.28052192275688626,
42
+ -0.9595640802059244
43
+ ]
44
+ }
45
+ },
46
+ "grasp_4": {
47
+ "confidence": 0.9871521592140198,
48
+ "position": [
49
+ 0.00314001342485426,
50
+ 0.01524259801954031,
51
+ -0.10092078461093479
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0004345615503747884,
55
+ "xyz": [
56
+ 0.005624260413719585,
57
+ 0.022833976416520296,
58
+ -0.9997233559200603
59
+ ]
60
+ }
61
+ },
62
+ "grasp_6": {
63
+ "confidence": 0.9870933890342712,
64
+ "position": [
65
+ 0.0012462850354495458,
66
+ 0.02003685850650072,
67
+ -0.09996123923701816
68
+ ],
69
+ "orientation": {
70
+ "w": 0.013160520156574122,
71
+ "xyz": [
72
+ 0.01262749508282778,
73
+ 0.017442516789394236,
74
+ -0.9996815021221473
75
+ ]
76
+ }
77
+ },
78
+ "grasp_7": {
79
+ "confidence": 0.9870861768722534,
80
+ "position": [
81
+ -0.001821037039917428,
82
+ 0.026502405293285847,
83
+ -0.1023676873628574
84
+ ],
85
+ "orientation": {
86
+ "w": 0.009820735587998246,
87
+ "xyz": [
88
+ -0.0010549413018909927,
89
+ 0.021485898695520866,
90
+ -0.9997203591047877
91
+ ]
92
+ }
93
+ },
94
+ "grasp_8": {
95
+ "confidence": 0.9870383739471436,
96
+ "position": [
97
+ 0.004634057862858754,
98
+ 0.007876656949520111,
99
+ -0.09954037829083973
100
+ ],
101
+ "orientation": {
102
+ "w": 0.0005029002623803586,
103
+ "xyz": [
104
+ 0.02458877485803174,
105
+ 0.012918401876149677,
106
+ -0.9996140525899346
107
+ ]
108
+ }
109
+ },
110
+ "grasp_14": {
111
+ "confidence": 0.9863699674606323,
112
+ "position": [
113
+ 0.004089425543497782,
114
+ 0.018552335910499096,
115
+ -0.1027576358501392
116
+ ],
117
+ "orientation": {
118
+ "w": 0.018992191773492005,
119
+ "xyz": [
120
+ 0.021315604583738455,
121
+ 0.016596770227709334,
122
+ -0.9994545957025149
123
+ ]
124
+ }
125
+ },
126
+ "grasp_16": {
127
+ "confidence": 0.9863075613975525,
128
+ "position": [
129
+ 0.09267460251430748,
130
+ -0.013923659920692444,
131
+ 0.022408953544072574
132
+ ],
133
+ "orientation": {
134
+ "w": 0.09365742585988479,
135
+ "xyz": [
136
+ -0.7784211738963013,
137
+ 0.03806064647396634,
138
+ 0.6195483433931435
139
+ ]
140
+ }
141
+ },
142
+ "grasp_17": {
143
+ "confidence": 0.9861392378807068,
144
+ "position": [
145
+ 0.0006711766400258057,
146
+ 0.025234214030206203,
147
+ -0.10413416041774326
148
+ ],
149
+ "orientation": {
150
+ "w": 0.01785393642392516,
151
+ "xyz": [
152
+ 0.009825935236599949,
153
+ 0.02028826803526529,
154
+ -0.9995864515543542
155
+ ]
156
+ }
157
+ },
158
+ "grasp_19": {
159
+ "confidence": 0.9860198497772217,
160
+ "position": [
161
+ 0.001673978280450683,
162
+ 0.03097348567098379,
163
+ -0.10379358692807727
164
+ ],
165
+ "orientation": {
166
+ "w": 0.022579613604867457,
167
+ "xyz": [
168
+ 0.019521949511158928,
169
+ 0.022697200306153076,
170
+ -0.9992966985010016
171
+ ]
172
+ }
173
+ }
174
+ }
175
+ },
176
+ {
177
+ "part_name": "tapered applicator nose",
178
+ "mask_color": "Green",
179
+ "graspable": true,
180
+ "grasp_scenarios": [
181
+ {
182
+ "scenario": "lightly grasp the tapered front section to orient the tool during inspection or precise placement",
183
+ "confidence": 0.56
184
+ },
185
+ {
186
+ "scenario": "pinch the front section to stabilize the tool while manipulating or aligning the tip",
187
+ "confidence": 0.5
188
+ }
189
+ ],
190
+ "functional_labels": [
191
+ "guide tape to the surface",
192
+ "provide forward alignment",
193
+ "support precise application",
194
+ "house the front applicator path"
195
+ ],
196
+ "semantic_description": "Smaller tapered front section in dark blue on top and white on the lower side, with a smooth plastic finish and wedge-like shape leading to the dispensing tip.",
197
+ "id": 1,
198
+ "grasp_group": {
199
+ "grasp_20": {
200
+ "confidence": 0.9856729507446289,
201
+ "position": [
202
+ 0.0028131578510510735,
203
+ -0.017870383337140083,
204
+ -0.0987913192693668
205
+ ],
206
+ "orientation": {
207
+ "w": 0.0005218227256265224,
208
+ "xyz": [
209
+ -0.01987433850389833,
210
+ -0.016401171204757148,
211
+ 0.9996678148030912
212
+ ]
213
+ }
214
+ },
215
+ "grasp_21": {
216
+ "confidence": 0.9851827025413513,
217
+ "position": [
218
+ -0.009365773999888916,
219
+ -0.07388064730912447,
220
+ 0.0871065302308125
221
+ ],
222
+ "orientation": {
223
+ "w": 0.2653954175269012,
224
+ "xyz": [
225
+ -0.9634165769395996,
226
+ 0.00834433570073112,
227
+ -0.03638878529739025
228
+ ]
229
+ }
230
+ },
231
+ "grasp_22": {
232
+ "confidence": 0.9848945736885071,
233
+ "position": [
234
+ 0.0006804311342420988,
235
+ -0.11909835506230593,
236
+ 0.05059010223703808
237
+ ],
238
+ "orientation": {
239
+ "w": 0.4940308749435829,
240
+ "xyz": [
241
+ -0.8693716957030598,
242
+ -0.006874183063497352,
243
+ 0.008893532485683473
244
+ ]
245
+ }
246
+ },
247
+ "grasp_23": {
248
+ "confidence": 0.984464704990387,
249
+ "position": [
250
+ -0.002089564462949056,
251
+ -0.12210435140877962,
252
+ 0.04464647234635777
253
+ ],
254
+ "orientation": {
255
+ "w": 0.5118003035742447,
256
+ "xyz": [
257
+ -0.85889576494534,
258
+ -0.015483545982629687,
259
+ -0.010898349603221402
260
+ ]
261
+ }
262
+ },
263
+ "grasp_24": {
264
+ "confidence": 0.9843980669975281,
265
+ "position": [
266
+ -0.002024138120759744,
267
+ -0.0747752832248807,
268
+ 0.08538424656944699
269
+ ],
270
+ "orientation": {
271
+ "w": 0.2554626736605487,
272
+ "xyz": [
273
+ -0.9667093813939769,
274
+ -0.008303231301628411,
275
+ -0.011952014099320542
276
+ ]
277
+ }
278
+ },
279
+ "grasp_25": {
280
+ "confidence": 0.9842654466629028,
281
+ "position": [
282
+ -0.005203972345043439,
283
+ -0.08330969978123903,
284
+ 0.08241446004467434
285
+ ],
286
+ "orientation": {
287
+ "w": 0.26151160932814216,
288
+ "xyz": [
289
+ -0.9647553346889834,
290
+ -0.011116866942160686,
291
+ -0.02711526590581196
292
+ ]
293
+ }
294
+ },
295
+ "grasp_26": {
296
+ "confidence": 0.9837082028388977,
297
+ "position": [
298
+ -0.0007188764357124455,
299
+ -0.07336673606187105,
300
+ 0.08852861509876675
301
+ ],
302
+ "orientation": {
303
+ "w": 0.2541277161658109,
304
+ "xyz": [
305
+ -0.9671249387127997,
306
+ -0.005406285904200225,
307
+ -0.007696029420060923
308
+ ]
309
+ }
310
+ },
311
+ "grasp_27": {
312
+ "confidence": 0.9834127426147461,
313
+ "position": [
314
+ -0.001343186835583765,
315
+ -0.0742499204352498,
316
+ 0.08980042175608105
317
+ ],
318
+ "orientation": {
319
+ "w": 0.2504622571103186,
320
+ "xyz": [
321
+ -0.9680178802407409,
322
+ -0.011736035090589403,
323
+ -0.008503339213518368
324
+ ]
325
+ }
326
+ },
327
+ "grasp_28": {
328
+ "confidence": 0.9833676815032959,
329
+ "position": [
330
+ -0.0017513173006591387,
331
+ -0.083247778005898,
332
+ 0.08425472364979214
333
+ ],
334
+ "orientation": {
335
+ "w": 0.255061695179776,
336
+ "xyz": [
337
+ -0.9668596214978042,
338
+ -0.0073434603097286,
339
+ -0.00848985040040613
340
+ ]
341
+ }
342
+ },
343
+ "grasp_29": {
344
+ "confidence": 0.983308732509613,
345
+ "position": [
346
+ -0.004477818270970602,
347
+ -0.1187346326187253,
348
+ 0.04549566344576306
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5095820488695857,
352
+ "xyz": [
353
+ -0.8601350614789532,
354
+ -0.005209022568013921,
355
+ -0.021602721318342878
356
+ ]
357
+ }
358
+ },
359
+ "grasp_30": {
360
+ "confidence": 0.9830784201622009,
361
+ "position": [
362
+ 0.0013359134245547466,
363
+ -0.12064651865512133,
364
+ 0.04343399466233677
365
+ ],
366
+ "orientation": {
367
+ "w": 0.5158377837251155,
368
+ "xyz": [
369
+ -0.856609692843405,
370
+ -0.010581244938446366,
371
+ 0.004387740174738581
372
+ ]
373
+ }
374
+ },
375
+ "grasp_31": {
376
+ "confidence": 0.982528805732727,
377
+ "position": [
378
+ 0.0026803826840477996,
379
+ -0.07450935710221529,
380
+ 0.08537602857904858
381
+ ],
382
+ "orientation": {
383
+ "w": 0.2643397104671876,
384
+ "xyz": [
385
+ -0.9644020950328708,
386
+ -0.0011313728867438644,
387
+ 0.007199761226882511
388
+ ]
389
+ }
390
+ },
391
+ "grasp_32": {
392
+ "confidence": 0.9823055863380432,
393
+ "position": [
394
+ -0.0018019873023149557,
395
+ -0.12080431450158358,
396
+ 0.04783231080728001
397
+ ],
398
+ "orientation": {
399
+ "w": 0.5104452643276589,
400
+ "xyz": [
401
+ -0.8597802665912001,
402
+ -0.006625619158694418,
403
+ -0.013402480240427695
404
+ ]
405
+ }
406
+ },
407
+ "grasp_33": {
408
+ "confidence": 0.9821036458015442,
409
+ "position": [
410
+ 0.0028228314986336045,
411
+ -0.08108376432210207,
412
+ 0.08351517156916088
413
+ ],
414
+ "orientation": {
415
+ "w": 0.26226643817196477,
416
+ "xyz": [
417
+ -0.9649445370904816,
418
+ -0.007899225422834166,
419
+ 0.005996497773419993
420
+ ]
421
+ }
422
+ },
423
+ "grasp_34": {
424
+ "confidence": 0.9820826053619385,
425
+ "position": [
426
+ 0.004264073671947699,
427
+ -0.03163520712405443,
428
+ -0.09911854131860309
429
+ ],
430
+ "orientation": {
431
+ "w": 0.0006851394796792506,
432
+ "xyz": [
433
+ -0.029477478930153164,
434
+ -0.001704909869742366,
435
+ 0.9995637558966171
436
+ ]
437
+ }
438
+ },
439
+ "grasp_35": {
440
+ "confidence": 0.9816539287567139,
441
+ "position": [
442
+ 0.002586885115306359,
443
+ -0.0786313833668828,
444
+ 0.08644804791765637
445
+ ],
446
+ "orientation": {
447
+ "w": 0.022994831511743814,
448
+ "xyz": [
449
+ 0.0025849130976982886,
450
+ -0.9675356338363793,
451
+ -0.25167310783009533
452
+ ]
453
+ }
454
+ },
455
+ "grasp_36": {
456
+ "confidence": 0.9816095232963562,
457
+ "position": [
458
+ -0.0015174168001976795,
459
+ -0.07809037435799837,
460
+ 0.08781344131784863
461
+ ],
462
+ "orientation": {
463
+ "w": 0.25654130636469635,
464
+ "xyz": [
465
+ -0.9663055855379625,
466
+ -0.012173431923790445,
467
+ -0.01708452639166249
468
+ ]
469
+ }
470
+ },
471
+ "grasp_37": {
472
+ "confidence": 0.9813054203987122,
473
+ "position": [
474
+ -0.0006253130341065116,
475
+ -0.0748939635232091,
476
+ 0.0886558859165234
477
+ ],
478
+ "orientation": {
479
+ "w": 0.25091684413104715,
480
+ "xyz": [
481
+ -0.967894216202116,
482
+ -0.0050218845585774385,
483
+ -0.014010861832414886
484
+ ]
485
+ }
486
+ },
487
+ "grasp_38": {
488
+ "confidence": 0.9812560677528381,
489
+ "position": [
490
+ -0.0034597588310134597,
491
+ -0.1307357670739293,
492
+ 0.02006851011174149
493
+ ],
494
+ "orientation": {
495
+ "w": 0.6097089973075192,
496
+ "xyz": [
497
+ -0.7925274728729247,
498
+ -0.003734992170742024,
499
+ -0.0118824735387863
500
+ ]
501
+ }
502
+ },
503
+ "grasp_39": {
504
+ "confidence": 0.9805520176887512,
505
+ "position": [
506
+ -0.002120552358974237,
507
+ -0.04055273998528719,
508
+ 0.09369222508030361
509
+ ],
510
+ "orientation": {
511
+ "w": 0.07850792351865754,
512
+ "xyz": [
513
+ -0.9967144496498483,
514
+ -0.019807923651019396,
515
+ -0.0021113892639512844
516
+ ]
517
+ }
518
+ }
519
+ }
520
+ },
521
+ {
522
+ "part_name": "textured grip pad",
523
+ "mask_color": "Purple",
524
+ "graspable": true,
525
+ "grasp_scenarios": [
526
+ {
527
+ "scenario": "lightly pinch or press on the textured pad to improve grip and stabilize the tool during application",
528
+ "confidence": 0.62
529
+ },
530
+ {
531
+ "scenario": "use the textured pad as a secondary contact area for a gripper to prevent slipping while reorienting the object",
532
+ "confidence": 0.58
533
+ }
534
+ ],
535
+ "functional_labels": [
536
+ "provide finger traction",
537
+ "improve handling grip",
538
+ "support controlled application"
539
+ ],
540
+ "semantic_description": "Small dark blue textured rectangular pad on the sloped top-front face, with a visibly rough, non-glossy surface distinct from the smoother surrounding plastic.",
541
+ "id": 5,
542
+ "grasp_group": {}
543
+ },
544
+ {
545
+ "part_name": "applicator tip",
546
+ "mask_color": "Blue",
547
+ "graspable": false,
548
+ "grasp_scenarios": [],
549
+ "functional_labels": [
550
+ "contact the paper at the dispensing end",
551
+ "define the tape outlet edge",
552
+ "support precise tape application"
553
+ ],
554
+ "semantic_description": "Very small white tip piece at the extreme front end with a smooth hard finish and thin rectangular form, serving as the exposed dispensing and contact interface of the correction tape tool.",
555
+ "id": 2,
556
+ "grasp_group": {}
557
+ }
558
+ ],
559
+ "quality_check": {
560
+ "success": true,
561
+ "message": "YES"
562
+ }
563
+ }
dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9ac629499cd0fc3d6befb4f6f5be94b17e5f2ff3eb3f8615d3ece3de5db52b1
3
+ size 3782476