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
a8fddbd
·
verified ·
1 Parent(s): d4742b0

Add asset desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/affordance/affordance_annot.json +262 -0
  3. dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/sticky_notes_048.urdf +1 -0
.gitattributes CHANGED
@@ -6630,3 +6630,4 @@ dataset/desktop_supplies/office_tools/a83d5010a07450d981df2de4c349d92c/affordanc
6630
  dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6631
  dataset/desktop_supplies/office_tools/a90261fd9d9850b9b2ae9390b1e6af5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6632
  dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6630
  dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6631
  dataset/desktop_supplies/office_tools/a90261fd9d9850b9b2ae9390b1e6af5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6632
  dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6633
+ dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,262 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sticky note pad",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pad from the sides to pick it up and relocate it",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "pinch the pad near an edge to stabilize it while dispensing a note",
14
+ "confidence": 0.78
15
+ },
16
+ {
17
+ "scenario": "hold the pad body while placing it on a desk or in a container",
18
+ "confidence": 0.85
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writable note sheets",
23
+ "dispense individual notes",
24
+ "stack and store notes",
25
+ "main grasp surface",
26
+ "support temporary attachment of notes"
27
+ ],
28
+ "semantic_description": "Star-shaped pad of pale yellow paper sheets with a matte smooth slightly fibrous surface, medium-sized and fairly thick, with printed brown text on the top sheet and a small translucent adhesive tab visible near one edge.",
29
+ "id": 2,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.8137227296829224,
33
+ "position": [
34
+ 0.0861070416867733,
35
+ -0.03909700196436461,
36
+ 0.02357130218297243
37
+ ],
38
+ "orientation": {
39
+ "w": 0.14094019790189152,
40
+ "xyz": [
41
+ -0.7805119453132089,
42
+ 0.13315569549176132,
43
+ 0.5943118075529645
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.8063516020774841,
49
+ "position": [
50
+ -0.06588618084788322,
51
+ 0.07583568040081445,
52
+ -0.01471742894500494
53
+ ],
54
+ "orientation": {
55
+ "w": 0.3383269265614665,
56
+ "xyz": [
57
+ 0.5927656965646744,
58
+ -0.2758914879750114,
59
+ 0.6767921443121238
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.8038135766983032,
65
+ "position": [
66
+ 0.0958884172141552,
67
+ -0.023743426615510543,
68
+ 0.008702410385012627
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6695281985149562,
72
+ "xyz": [
73
+ -0.12578587622384904,
74
+ -0.7314885855181532,
75
+ -0.028885186386237292
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.8022657632827759,
81
+ "position": [
82
+ -0.08707037940621376,
83
+ 0.04806485567041818,
84
+ -0.0032650611829012632
85
+ ],
86
+ "orientation": {
87
+ "w": 0.17887279078973567,
88
+ "xyz": [
89
+ 0.6772330521814774,
90
+ -0.18632052936515897,
91
+ 0.6889445391939312
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.7999114990234375,
97
+ "position": [
98
+ 0.05682740733027458,
99
+ 0.07640417460152094,
100
+ -0.02610319573432207
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7100421569357942,
104
+ "xyz": [
105
+ 0.26870364670601343,
106
+ -0.5506586182080879,
107
+ 0.3470065875657313
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.7996577620506287,
113
+ "position": [
114
+ 0.09389359131455421,
115
+ -0.01892366465381201,
116
+ 0.012207075022161007
117
+ ],
118
+ "orientation": {
119
+ "w": 0.6561915101704893,
120
+ "xyz": [
121
+ -0.0786226245212978,
122
+ -0.7483628153170594,
123
+ -0.05642943863162628
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.7991247177124023,
129
+ "position": [
130
+ 0.058487050235271454,
131
+ -0.07991884853890951,
132
+ 0.016391952522099018
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5606088375392537,
136
+ "xyz": [
137
+ -0.3036765739170737,
138
+ -0.7044453003448473,
139
+ -0.311857481149535
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.7986899018287659,
145
+ "position": [
146
+ 0.07376439496874809,
147
+ -0.06727102603963431,
148
+ 0.001102333830203861
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6455599852982377,
152
+ "xyz": [
153
+ -0.23431524307323254,
154
+ -0.679960870855382,
155
+ -0.2569083228524558
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.7978071570396423,
161
+ "position": [
162
+ -0.020214037969708443,
163
+ 0.09344433042952005,
164
+ -0.02659980859607458
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5545344374790651,
168
+ "xyz": [
169
+ 0.5041317386431212,
170
+ -0.3535445892419732,
171
+ 0.559775822236156
172
+ ]
173
+ }
174
+ },
175
+ "grasp_14": {
176
+ "confidence": 0.7959974408149719,
177
+ "position": [
178
+ 0.07563375309109688,
179
+ 0.05835168231078569,
180
+ -0.006996032316237688
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6647119186531888,
184
+ "xyz": [
185
+ 0.16734333477247484,
186
+ -0.6710708790746251,
187
+ 0.2825210589772632
188
+ ]
189
+ }
190
+ },
191
+ "grasp_15": {
192
+ "confidence": 0.7956477403640747,
193
+ "position": [
194
+ 0.04337555915117264,
195
+ 0.08814575318046991,
196
+ -0.012180027551949024
197
+ ],
198
+ "orientation": {
199
+ "w": 0.6395651573392758,
200
+ "xyz": [
201
+ 0.3486192546812632,
202
+ -0.5661740307942553,
203
+ 0.38583415042898167
204
+ ]
205
+ }
206
+ },
207
+ "grasp_16": {
208
+ "confidence": 0.794646680355072,
209
+ "position": [
210
+ -0.046281713992357254,
211
+ 0.08470516446777765,
212
+ -0.026957699097692966
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4962248201054282,
216
+ "xyz": [
217
+ 0.5459897848900158,
218
+ -0.26427308497779356,
219
+ 0.621140740302397
220
+ ]
221
+ }
222
+ },
223
+ "grasp_18": {
224
+ "confidence": 0.7895744442939758,
225
+ "position": [
226
+ 0.0861222855746746,
227
+ 0.0354915762300152,
228
+ 0.03380714450031519
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5591913417028498,
232
+ "xyz": [
233
+ 0.10741888713312256,
234
+ -0.8095073901845911,
235
+ 0.14305247739266902
236
+ ]
237
+ }
238
+ },
239
+ "grasp_19": {
240
+ "confidence": 0.7893766760826111,
241
+ "position": [
242
+ 0.09045619890093803,
243
+ 0.04209397528120462,
244
+ -6.912881508469582e-05
245
+ ],
246
+ "orientation": {
247
+ "w": 0.6763763819472366,
248
+ "xyz": [
249
+ 0.1286795288882064,
250
+ -0.7039930188608237,
251
+ 0.17421365671008499
252
+ ]
253
+ }
254
+ }
255
+ }
256
+ }
257
+ ],
258
+ "quality_check": {
259
+ "success": true,
260
+ "message": "YES"
261
+ }
262
+ }
dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:82341eb3ec31362766fed9a1aea19e39e2e8f81cae5d2c5fcecec01022a19a6a
3
+ size 3777012
dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/sticky_notes_048.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>