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
41db7ec
·
verified ·
1 Parent(s): 73f9d76

Add asset desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/affordance_annot.json +400 -0
  3. dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.urdf +1 -0
.gitattributes CHANGED
@@ -6473,3 +6473,4 @@ dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/affo
6473
  dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6474
  dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6475
  dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6473
  dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6474
  dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6475
  dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6476
+ dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/affordance_annot.json ADDED
@@ -0,0 +1,400 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sharpener body",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and reposition the sharpener",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body steady while inserting and twisting a pencil",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the body while opening or emptying the shavings container",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house the sharpening mechanism",
24
+ "support and stabilize the sharpener",
25
+ "contain shavings"
26
+ ],
27
+ "semantic_description": "The main body is a small rounded-rectangular pink plastic shell with a smooth slightly matte hard surface, forming most of the sharpener housing. It has softly rounded edges and a visible seam around the middle where the container likely separates.",
28
+ "id": 6,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.8803908824920654,
32
+ "position": [
33
+ 0.11260939660132863,
34
+ 0.0005176926497370005,
35
+ -0.028242056258022785
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5170577563616962,
39
+ "xyz": [
40
+ -0.4878351183969006,
41
+ -0.5013604641847378,
42
+ 0.4932604370891261
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.875607430934906,
48
+ "position": [
49
+ 0.11956450613797642,
50
+ 0.0038290272932499647,
51
+ -0.026697945781052113
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5010190949577502,
55
+ "xyz": [
56
+ -0.48976215310266297,
57
+ -0.5216656766107609,
58
+ 0.4868036788297709
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.8700570464134216,
64
+ "position": [
65
+ 0.11750519546330906,
66
+ 0.0018633536528795958,
67
+ -0.030824908055365086
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5066762389816006,
71
+ "xyz": [
72
+ -0.4900642803928708,
73
+ -0.5177832811165415,
74
+ 0.48478517276280786
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.8679955005645752,
80
+ "position": [
81
+ 0.12176717343390919,
82
+ 0.00538847572170198,
83
+ -0.02616866771131754
84
+ ],
85
+ "orientation": {
86
+ "w": 0.49889985938535725,
87
+ "xyz": [
88
+ -0.48704267848667754,
89
+ -0.5233541422738524,
90
+ 0.4898865189026884
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.866841733455658,
96
+ "position": [
97
+ 0.11858313056291081,
98
+ -0.004114625742658973,
99
+ -0.034223862923681736
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5421315911348075,
103
+ "xyz": [
104
+ -0.4645804502052321,
105
+ -0.47338036050043497,
106
+ 0.5159160566150505
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.8662542104721069,
112
+ "position": [
113
+ 0.11287891390384175,
114
+ 0.0014848604332655668,
115
+ -0.03260399121791124
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5080525229906877,
119
+ "xyz": [
120
+ -0.48875174565088103,
121
+ -0.5106554057288919,
122
+ 0.49217417811774083
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.8662506341934204,
128
+ "position": [
129
+ 0.11743444474996068,
130
+ 0.0018999383319169283,
131
+ -0.01714767049998045
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5033029323644727,
135
+ "xyz": [
136
+ 0.5044689039456708,
137
+ -0.5006100489941886,
138
+ -0.4915148645475671
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.8646534085273743,
144
+ "position": [
145
+ 0.12289902838529088,
146
+ 0.001901670591905713,
147
+ -0.030849584378302097
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5071378310189318,
151
+ "xyz": [
152
+ -0.49311089862418855,
153
+ -0.5132586461405757,
154
+ 0.48602306958559255
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.8633084893226624,
160
+ "position": [
161
+ 0.1167387765890453,
162
+ 0.0002301784697920084,
163
+ -0.014931096695363522
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4973039489051866,
167
+ "xyz": [
168
+ 0.5036237643586121,
169
+ -0.520611551672887,
170
+ -0.4775096843429641
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.8609153628349304,
176
+ "position": [
177
+ 0.12079354646266438,
178
+ -0.004501517047174275,
179
+ -0.022200861014425755
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4885551080697202,
183
+ "xyz": [
184
+ 0.5049199279164768,
185
+ -0.5102673311888999,
186
+ -0.4959808700879112
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.8607984185218811,
192
+ "position": [
193
+ 0.11757442625821568,
194
+ 0.0027092343661934137,
195
+ -0.016146167181432247
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4897439256950807,
199
+ "xyz": [
200
+ 0.5094624633432184,
201
+ -0.5046091801688062,
202
+ -0.49595207528388846
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.8603525161743164,
208
+ "position": [
209
+ 0.12133963676751591,
210
+ -0.001714318699669093,
211
+ -0.01626931969076395
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4906411806666417,
215
+ "xyz": [
216
+ 0.5014732142606289,
217
+ -0.5271211566613705,
218
+ -0.4795196903289123
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.8594387769699097,
224
+ "position": [
225
+ 0.11311787637532689,
226
+ 0.002249513054266572,
227
+ -0.013537644408643246
228
+ ],
229
+ "orientation": {
230
+ "w": 0.49876751230509386,
231
+ "xyz": [
232
+ -0.48961284220791534,
233
+ -0.5134911825748721,
234
+ 0.49783234008241684
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.8587369322776794,
240
+ "position": [
241
+ 0.11856751414597966,
242
+ 0.0011333778966218233,
243
+ -0.01275357324630022
244
+ ],
245
+ "orientation": {
246
+ "w": 0.502272025182825,
247
+ "xyz": [
248
+ 0.5050456434132068,
249
+ -0.5006087754694302,
250
+ -0.49197821568752514
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.8579931855201721,
256
+ "position": [
257
+ 0.10938315364182927,
258
+ 0.0038514265324920416,
259
+ -0.08649299014359713
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6282808925744242,
263
+ "xyz": [
264
+ -0.34116894264228154,
265
+ -0.37296112708123064,
266
+ 0.591410914921707
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.8560205698013306,
272
+ "position": [
273
+ 0.11023162576020695,
274
+ 0.002109059365466237,
275
+ -0.07810397911816835
276
+ ],
277
+ "orientation": {
278
+ "w": 0.6272947589481792,
279
+ "xyz": [
280
+ -0.3423544087093571,
281
+ -0.37637850978692133,
282
+ 0.5896049199285812
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.8542602062225342,
288
+ "position": [
289
+ 0.11921247365535237,
290
+ 0.0051095939707010984,
291
+ -0.01531680766493082
292
+ ],
293
+ "orientation": {
294
+ "w": 0.4968528748293257,
295
+ "xyz": [
296
+ 0.5146980055786979,
297
+ -0.5088318765684777,
298
+ -0.47886668835381113
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.8536273837089539,
304
+ "position": [
305
+ 0.12406523796380498,
306
+ 0.0006859274581074715,
307
+ -0.025606476701796055
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4999357127247521,
311
+ "xyz": [
312
+ -0.49362405890865196,
313
+ -0.510686369472467,
314
+ 0.49557946249211404
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.8530393242835999,
320
+ "position": [
321
+ 0.11291019144118764,
322
+ 0.00034913746640086174,
323
+ 0.013229002594016492
324
+ ],
325
+ "orientation": {
326
+ "w": 0.43632507572663215,
327
+ "xyz": [
328
+ 0.5522654085825993,
329
+ -0.5664640706200899,
330
+ -0.42865114425574685
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.8525261878967285,
336
+ "position": [
337
+ 0.11549122157157399,
338
+ 0.005634742556139827,
339
+ 0.015821196138858795
340
+ ],
341
+ "orientation": {
342
+ "w": 0.44195505803601653,
343
+ "xyz": [
344
+ -0.5384366504801127,
345
+ -0.5728791113592991,
346
+ 0.4319389121905063
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "left top nub",
354
+ "mask_color": "Green",
355
+ "graspable": false,
356
+ "grasp_scenarios": [],
357
+ "functional_labels": [
358
+ "raised exterior feature",
359
+ "tactile reference",
360
+ "styling/detail feature"
361
+ ],
362
+ "semantic_description": "A small rounded pink plastic nub on the top of the sharpener, smooth and hard with a dome-like shape that protrudes slightly above the main body near one top corner.",
363
+ "id": 1,
364
+ "grasp_group": {}
365
+ },
366
+ {
367
+ "part_name": "right top nub",
368
+ "mask_color": "Green",
369
+ "graspable": false,
370
+ "grasp_scenarios": [],
371
+ "functional_labels": [
372
+ "raised exterior feature",
373
+ "tactile reference",
374
+ "styling/detail feature"
375
+ ],
376
+ "semantic_description": "A second small rounded pink plastic nub on the top of the sharpener, similar in material and finish to the other nub, positioned near the opposite top corner.",
377
+ "id": 1,
378
+ "grasp_group": {}
379
+ },
380
+ {
381
+ "part_name": "pencil entry hole",
382
+ "mask_color": "Yellow",
383
+ "graspable": false,
384
+ "grasp_scenarios": [],
385
+ "functional_labels": [
386
+ "guide pencil insertion",
387
+ "position pencil for sharpening",
388
+ "provide access to cutter",
389
+ "indicate operating side"
390
+ ],
391
+ "semantic_description": "The entry hole is a small oval opening on a side face of the pink body, recessed with smooth hard edges and sized for a pencil tip.",
392
+ "id": 3,
393
+ "grasp_group": {}
394
+ }
395
+ ],
396
+ "quality_check": {
397
+ "success": false,
398
+ "message": "Green parts are not top nubs; one is side crank/handle, descriptions and functions mismatch visible parts."
399
+ }
400
+ }
dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d350f9e32b98db79dc5add51166544fc05e4f5bd86921e54fab8dae211240d1
3
+ size 3783316
dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>