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
4a6a669
·
verified ·
1 Parent(s): 5f0ded9

Add asset desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/affordance/affordance_annot.json +303 -0
  3. dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/eraser_040.urdf +1 -0
.gitattributes CHANGED
@@ -6386,3 +6386,4 @@ dataset/desktop_supplies/office_stationery/7f39ebff0a2a5df78f8fc8704c6ea561/affo
6386
  dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6387
  dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6388
  dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6386
  dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6387
  dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6388
  dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6389
+ dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,303 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "outer sleeve with bunny topper",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sleeve sides to pick up and move the eraser",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the sleeve while rubbing the exposed eraser end on paper",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the sleeve to stabilize the object while adjusting eraser exposure",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide the main grip surface",
23
+ "hold the eraser core",
24
+ "protect the eraser during handling",
25
+ "support controlled erasing",
26
+ "provide decoration and branding"
27
+ ],
28
+ "semantic_description": "Large pink outer sleeve with a smooth matte finish and rounded rectangular shape, covering most of the eraser body. The top has a prominent raised white bunny face-and-ears decoration, and the sides include white text and bunny graphics.",
29
+ "id": 2,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9170644879341125,
33
+ "position": [
34
+ 0.08031678173574619,
35
+ 0.05553116009104997,
36
+ -0.012540115916635841
37
+ ],
38
+ "orientation": {
39
+ "w": 0.7199444212635779,
40
+ "xyz": [
41
+ 0.20733101780475907,
42
+ -0.6348686968111971,
43
+ 0.18877398432185394
44
+ ]
45
+ }
46
+ },
47
+ "grasp_4": {
48
+ "confidence": 0.9112060070037842,
49
+ "position": [
50
+ 0.09771043036016636,
51
+ 0.0010848047386389226,
52
+ -0.0020448003779165447
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7012828143660499,
56
+ "xyz": [
57
+ 0.02981983367894702,
58
+ -0.71201093840165,
59
+ -0.018804664064907845
60
+ ]
61
+ }
62
+ },
63
+ "grasp_8": {
64
+ "confidence": 0.9089994430541992,
65
+ "position": [
66
+ 0.07658842179807834,
67
+ 0.061450851266272366,
68
+ -0.0037276865332387388
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6881909504948922,
72
+ "xyz": [
73
+ 0.21794494076621254,
74
+ -0.6570761478065035,
75
+ 0.21712704676091138
76
+ ]
77
+ }
78
+ },
79
+ "grasp_9": {
80
+ "confidence": 0.9088566899299622,
81
+ "position": [
82
+ 0.047305956220952794,
83
+ 0.08961182192433625,
84
+ -0.010943286994006485
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6682455382460709,
88
+ "xyz": [
89
+ 0.3962148840924383,
90
+ -0.537324065571643,
91
+ 0.3282445959881072
92
+ ]
93
+ }
94
+ },
95
+ "grasp_10": {
96
+ "confidence": 0.908656120300293,
97
+ "position": [
98
+ 0.0953439993027132,
99
+ 0.01749668561387807,
100
+ 0.014163986837957054
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6592485808146373,
104
+ "xyz": [
105
+ 0.05868133916062846,
106
+ -0.7491740914312268,
107
+ 0.026191408064437965
108
+ ]
109
+ }
110
+ },
111
+ "grasp_12": {
112
+ "confidence": 0.9085719585418701,
113
+ "position": [
114
+ 0.09596755329403095,
115
+ 0.00803857867140323,
116
+ -0.02159426821162924
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7711717145059612,
120
+ "xyz": [
121
+ 0.03752961246816853,
122
+ -0.6354952017944059,
123
+ -0.005618134050813262
124
+ ]
125
+ }
126
+ },
127
+ "grasp_15": {
128
+ "confidence": 0.907821774482727,
129
+ "position": [
130
+ 0.0861991343263071,
131
+ 0.05008556426037103,
132
+ -0.0110882100998424
133
+ ],
134
+ "orientation": {
135
+ "w": 0.721746071105365,
136
+ "xyz": [
137
+ 0.19881359669888088,
138
+ -0.6405268138878765,
139
+ 0.17111739625844555
140
+ ]
141
+ }
142
+ },
143
+ "grasp_17": {
144
+ "confidence": 0.9054486751556396,
145
+ "position": [
146
+ 0.09653181556495838,
147
+ -0.0005464082350954413,
148
+ -0.007082668540533632
149
+ ],
150
+ "orientation": {
151
+ "w": 0.7224969070051851,
152
+ "xyz": [
153
+ 0.03437601470539445,
154
+ -0.6903027337695757,
155
+ -0.017281340548873002
156
+ ]
157
+ }
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "part_name": "eraser core",
163
+ "mask_color": "Purple",
164
+ "graspable": true,
165
+ "grasp_scenarios": [
166
+ {
167
+ "scenario": "grasp the exposed eraser end to pull or reposition it relative to the sleeve",
168
+ "confidence": 0.58
169
+ },
170
+ {
171
+ "scenario": "delicately pinch the exposed eraser tip to pick up the object when the sleeve is inaccessible",
172
+ "confidence": 0.34
173
+ }
174
+ ],
175
+ "functional_labels": [
176
+ "erase pencil marks",
177
+ "provide frictional contact for rubbing",
178
+ "serve as the consumable writing-correction material",
179
+ "protrude for contact with paper"
180
+ ],
181
+ "semantic_description": "Small off-white rubber eraser block with a matte soft-looking smooth surface and simple rectangular form, exposed at one end of the pink sleeve as the working tip.",
182
+ "id": 5,
183
+ "grasp_group": {
184
+ "grasp_20": {
185
+ "confidence": 0.6337318420410156,
186
+ "position": [
187
+ 0.08614801589283161,
188
+ -0.06365366920363158,
189
+ -0.005473761761095375
190
+ ],
191
+ "orientation": {
192
+ "w": 0.2200601325905185,
193
+ "xyz": [
194
+ -0.692790179055907,
195
+ 0.13851758534589986,
196
+ 0.672627820118875
197
+ ]
198
+ }
199
+ },
200
+ "grasp_22": {
201
+ "confidence": 0.5652296543121338,
202
+ "position": [
203
+ -0.08876354273525067,
204
+ -0.06645672663580626,
205
+ 0.005786645750049502
206
+ ],
207
+ "orientation": {
208
+ "w": 0.21212215142776294,
209
+ "xyz": [
210
+ -0.7172810317915664,
211
+ -0.16007175109198968,
212
+ -0.644118893379186
213
+ ]
214
+ }
215
+ },
216
+ "grasp_28": {
217
+ "confidence": 0.4825345277786255,
218
+ "position": [
219
+ 0.025966446584789082,
220
+ -0.0704655860317871,
221
+ 0.0776032573194243
222
+ ],
223
+ "orientation": {
224
+ "w": 0.29703215756888346,
225
+ "xyz": [
226
+ -0.946899153950918,
227
+ -0.03128200811579879,
228
+ 0.11906017631959309
229
+ ]
230
+ }
231
+ },
232
+ "grasp_33": {
233
+ "confidence": 0.26541224122047424,
234
+ "position": [
235
+ 0.014626424497691914,
236
+ 0.02403920062351972,
237
+ 0.0889187446446158
238
+ ],
239
+ "orientation": {
240
+ "w": 0.2169151526474018,
241
+ "xyz": [
242
+ 0.9735208849968485,
243
+ 0.02528449578880096,
244
+ -0.06756920378111267
245
+ ]
246
+ }
247
+ },
248
+ "grasp_34": {
249
+ "confidence": 0.8755595088005066,
250
+ "position": [
251
+ 0.07466237220796756,
252
+ 0.01909195550251752,
253
+ 0.05599970283219591
254
+ ],
255
+ "orientation": {
256
+ "w": 0.25484532873022836,
257
+ "xyz": [
258
+ -0.625871626192107,
259
+ -0.6421607106566606,
260
+ 0.36189527164769886
261
+ ]
262
+ }
263
+ },
264
+ "grasp_37": {
265
+ "confidence": 0.6307400465011597,
266
+ "position": [
267
+ 0.10082615885767154,
268
+ -0.0211771511239931,
269
+ 0.005514306540135294
270
+ ],
271
+ "orientation": {
272
+ "w": 0.67290585902343,
273
+ "xyz": [
274
+ -0.0050882777479335,
275
+ -0.7381807664426525,
276
+ -0.047549662203192795
277
+ ]
278
+ }
279
+ },
280
+ "grasp_38": {
281
+ "confidence": 0.5378679037094116,
282
+ "position": [
283
+ 0.017328098154393956,
284
+ -0.09850772365462035,
285
+ 0.04465600015828386
286
+ ],
287
+ "orientation": {
288
+ "w": 0.5047957989557372,
289
+ "xyz": [
290
+ -0.8602664091392793,
291
+ -0.021191278518123746,
292
+ 0.06836546187963749
293
+ ]
294
+ }
295
+ }
296
+ }
297
+ }
298
+ ],
299
+ "quality_check": {
300
+ "success": true,
301
+ "message": "YES"
302
+ }
303
+ }
dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cca66f6effb29c25a9aa9f02642e7d47731696ed45e121e907bc3ee4d9f5b6ac
3
+ size 3779204
dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/eraser_040.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>