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
9c93bd4
·
verified ·
1 Parent(s): 674b3a2

Add asset desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/affordance/affordance_annot.json +308 -0
  3. dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6660,3 +6660,4 @@ dataset/desktop_supplies/office_tools/c96e244a0d035cfa88f6c136ecb1d3b3/affordanc
6660
  dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6661
  dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6662
  dataset/desktop_supplies/office_tools/cfd2f293d8525b83a9477cbe7ea38bf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6660
  dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6661
  dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6662
  dataset/desktop_supplies/office_tools/cfd2f293d8525b83a9477cbe7ea38bf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6663
+ dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,308 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "holder body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer side walls to pick up and move the pen holder",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the body to reposition the pen holder on a desk",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "stabilize the holder by clamping the body while inserting or removing pens",
18
+ "confidence": 0.71
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain writing tools",
23
+ "provide main structure",
24
+ "support the container upright",
25
+ "present outer grasp surface",
26
+ "protect contents"
27
+ ],
28
+ "semantic_description": "Large rectangular hollow wooden body with a warm light-brown color, matte to satin finish, smooth hard surface, rounded edges, and subtle vertical wood grain forming the main outer shell.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_1": {
32
+ "confidence": 0.8989199995994568,
33
+ "position": [
34
+ 0.004683152190409601,
35
+ 0.0038830707781016827,
36
+ -0.14657503925263882
37
+ ],
38
+ "orientation": {
39
+ "w": 0.9897122585931637,
40
+ "xyz": [
41
+ -0.14302986507150328,
42
+ -0.00048439089740837105,
43
+ -0.0034450331645047845
44
+ ]
45
+ }
46
+ },
47
+ "grasp_4": {
48
+ "confidence": 0.8784540295600891,
49
+ "position": [
50
+ -0.0032190646743401885,
51
+ 0.14299092651344836,
52
+ 0.0009926538914442062
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5732978514675842,
56
+ "xyz": [
57
+ 0.8189264380052379,
58
+ 0.0005010963542976254,
59
+ 0.026245219396086036
60
+ ]
61
+ }
62
+ },
63
+ "grasp_5": {
64
+ "confidence": 0.8737307786941528,
65
+ "position": [
66
+ 0.0051682606572285295,
67
+ -0.013328958069905639,
68
+ -0.14917183481156826
69
+ ],
70
+ "orientation": {
71
+ "w": 0.03680489395863229,
72
+ "xyz": [
73
+ 0.016014158445832333,
74
+ -0.17638963828823317,
75
+ -0.9835017244593481
76
+ ]
77
+ }
78
+ },
79
+ "grasp_6": {
80
+ "confidence": 0.8699781894683838,
81
+ "position": [
82
+ 0.0022431857651099563,
83
+ 0.1430855488870293,
84
+ -0.03786132298409939
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7166245768126861,
88
+ "xyz": [
89
+ 0.6968367272406292,
90
+ -0.013629650096377177,
91
+ 0.026115591413141823
92
+ ]
93
+ }
94
+ },
95
+ "grasp_7": {
96
+ "confidence": 0.8689464926719666,
97
+ "position": [
98
+ 0.0032226910116150975,
99
+ 0.1429024285171181,
100
+ -0.040530091151595116
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7242799582879424,
104
+ "xyz": [
105
+ 0.6889366551782735,
106
+ -0.01129456108943483,
107
+ 0.025637083765238787
108
+ ]
109
+ }
110
+ },
111
+ "grasp_8": {
112
+ "confidence": 0.8665518164634705,
113
+ "position": [
114
+ 0.004785909899510443,
115
+ 0.1431591755244881,
116
+ -0.02529539167881012
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7222509527848651,
120
+ "xyz": [
121
+ 0.6912916256575594,
122
+ -0.007992917477035566,
123
+ 0.020138589009377192
124
+ ]
125
+ }
126
+ },
127
+ "grasp_10": {
128
+ "confidence": 0.8634259700775146,
129
+ "position": [
130
+ 0.004797746776603162,
131
+ 0.14688176871277392,
132
+ -0.024156595580279827
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7212846639025459,
136
+ "xyz": [
137
+ 0.6923838405194498,
138
+ -0.010952617586079683,
139
+ 0.015267323751776134
140
+ ]
141
+ }
142
+ },
143
+ "grasp_11": {
144
+ "confidence": 0.8634089231491089,
145
+ "position": [
146
+ 0.0019180821254849434,
147
+ 0.1472441202495247,
148
+ -0.039460983127355576
149
+ ],
150
+ "orientation": {
151
+ "w": 0.7184628658072787,
152
+ "xyz": [
153
+ 0.6952269006091648,
154
+ -0.0021031158653164184,
155
+ 0.02159268461827109
156
+ ]
157
+ }
158
+ },
159
+ "grasp_12": {
160
+ "confidence": 0.8626408576965332,
161
+ "position": [
162
+ -0.00021806883160024881,
163
+ 0.1400148964021355,
164
+ -0.03965252451598644
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7227496356572788,
168
+ "xyz": [
169
+ 0.6907318046329542,
170
+ 0.0019598846018726856,
171
+ 0.022774922132030053
172
+ ]
173
+ }
174
+ },
175
+ "grasp_13": {
176
+ "confidence": 0.861259400844574,
177
+ "position": [
178
+ 0.004075584118254483,
179
+ 0.14137377799488604,
180
+ -0.02762165479362011
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7353691293936702,
184
+ "xyz": [
185
+ 0.6771825651082957,
186
+ -0.011412138247168135,
187
+ 0.022929896396894266
188
+ ]
189
+ }
190
+ },
191
+ "grasp_14": {
192
+ "confidence": 0.8601816296577454,
193
+ "position": [
194
+ 0.0010963005006487947,
195
+ 0.14431452215649188,
196
+ -0.023129286244511604
197
+ ],
198
+ "orientation": {
199
+ "w": 0.710169953176084,
200
+ "xyz": [
201
+ 0.7035513100566056,
202
+ 0.0015556918368189177,
203
+ 0.025918556025001562
204
+ ]
205
+ }
206
+ },
207
+ "grasp_15": {
208
+ "confidence": 0.8597508668899536,
209
+ "position": [
210
+ 0.0017206287011504173,
211
+ 0.14232050837017596,
212
+ -0.04141235537827015
213
+ ],
214
+ "orientation": {
215
+ "w": 0.01535648993538424,
216
+ "xyz": [
217
+ -0.002868329059904491,
218
+ -0.6941669769764093,
219
+ 0.7196444670673858
220
+ ]
221
+ }
222
+ },
223
+ "grasp_17": {
224
+ "confidence": 0.8591486215591431,
225
+ "position": [
226
+ 0.010134685900993645,
227
+ 0.14598981500603259,
228
+ -0.024576252326369286
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7197048804026224,
232
+ "xyz": [
233
+ 0.6933660111538567,
234
+ -0.02722763372584802,
235
+ 0.022958999606433262
236
+ ]
237
+ }
238
+ },
239
+ "grasp_18": {
240
+ "confidence": 0.858489990234375,
241
+ "position": [
242
+ 0.0037794081727042794,
243
+ 0.1474032795522362,
244
+ -0.02653096616268158
245
+ ],
246
+ "orientation": {
247
+ "w": 0.725119495371718,
248
+ "xyz": [
249
+ 0.688404868533982,
250
+ -0.00735559183637402,
251
+ 0.015695530552121893
252
+ ]
253
+ }
254
+ },
255
+ "grasp_19": {
256
+ "confidence": 0.8584524989128113,
257
+ "position": [
258
+ 0.0061998117016628385,
259
+ 0.14779936731792986,
260
+ -0.03986089117825031
261
+ ],
262
+ "orientation": {
263
+ "w": 0.7193718985286438,
264
+ "xyz": [
265
+ 0.6941108607890679,
266
+ -0.015168131426901765,
267
+ 0.022002552828472344
268
+ ]
269
+ }
270
+ }
271
+ }
272
+ },
273
+ {
274
+ "part_name": "inner cavity",
275
+ "mask_color": "Blue",
276
+ "graspable": false,
277
+ "grasp_scenarios": [],
278
+ "functional_labels": [
279
+ "hold pens and pencils",
280
+ "provide storage volume",
281
+ "guide item insertion",
282
+ "define opening for access"
283
+ ],
284
+ "semantic_description": "Deep rectangular interior cavity at the top opening, appearing darker brown inside with a smooth hard finish and rounded inner corners, centered within the holder body.",
285
+ "id": 2,
286
+ "grasp_group": {}
287
+ },
288
+ {
289
+ "part_name": "perforation holes",
290
+ "mask_color": "Orange",
291
+ "graspable": false,
292
+ "grasp_scenarios": [],
293
+ "functional_labels": [
294
+ "add decorative pattern",
295
+ "create visual texture on the side panels",
296
+ "reveal interior through side openings",
297
+ "distinguish perforated faces from plain faces"
298
+ ],
299
+ "semantic_description": "Multiple small round perforations arranged in a grid-like pattern on two side panels, appearing as dark circular openings through the light-brown wooden walls.",
300
+ "id": 4,
301
+ "grasp_group": {}
302
+ }
303
+ ],
304
+ "quality_check": {
305
+ "success": true,
306
+ "message": "YES"
307
+ }
308
+ }
dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ca9d94f91d0f71d50e3485e644c803a98f0e1655151cafbfa4502c91f7d2aa0f
3
+ size 2029244