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
a917c18
·
verified ·
1 Parent(s): a80b428

Add asset desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/affordance/affordance_annot.json +246 -0
  3. dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.urdf +1 -0
.gitattributes CHANGED
@@ -6583,3 +6583,4 @@ dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordanc
6583
  dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6584
  dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6585
  dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6583
  dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6584
  dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6585
  dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6586
+ dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/affordance/affordance_annot.json ADDED
@@ -0,0 +1,246 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sticky note pad",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pad from opposite side faces to pick it up and move it",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "pinch the pad near a top corner to reorient or place it",
14
+ "confidence": 0.79
15
+ },
16
+ {
17
+ "scenario": "hold the pad along its sides to stabilize it while peeling a sheet",
18
+ "confidence": 0.68
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writable note sheets",
23
+ "dispense individual notes",
24
+ "stack and store notes",
25
+ "present flat writing surfaces",
26
+ "support temporary posting"
27
+ ],
28
+ "semantic_description": "A compact rectangular stack of small pastel paper sheets with a matte smooth papery texture, sharp edges, and visible layered colors across the sides, forming the entire note block.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.8689523339271545,
33
+ "position": [
34
+ 0.06899295654147863,
35
+ 0.11061364854685962,
36
+ 0.0026297688018530607
37
+ ],
38
+ "orientation": {
39
+ "w": 0.3534917324060398,
40
+ "xyz": [
41
+ 0.615967774262431,
42
+ 0.3631369884238782,
43
+ -0.6031242192361376
44
+ ]
45
+ }
46
+ },
47
+ "grasp_2": {
48
+ "confidence": 0.8653020858764648,
49
+ "position": [
50
+ 0.00399448920506984,
51
+ 0.004052403150126338,
52
+ -0.12212011241354048
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7095632407016489,
56
+ "xyz": [
57
+ -0.0049763232054719836,
58
+ -0.02027154288005617,
59
+ 0.7043325267241255
60
+ ]
61
+ }
62
+ },
63
+ "grasp_3": {
64
+ "confidence": 0.8647050261497498,
65
+ "position": [
66
+ -0.09239313844591379,
67
+ -0.0029196678078733385,
68
+ -0.08508514636196196
69
+ ],
70
+ "orientation": {
71
+ "w": 0.628294220722273,
72
+ "xyz": [
73
+ 0.3209457992301578,
74
+ 0.3276342220867109,
75
+ 0.6284074973145551
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.8617672920227051,
81
+ "position": [
82
+ -0.00015017250552773476,
83
+ 0.0017001971136778593,
84
+ -0.1194820108357817
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7063501609924001,
88
+ "xyz": [
89
+ -0.002457864019662868,
90
+ -0.0028932274097198674,
91
+ 0.7078524127285473
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.8612878918647766,
97
+ "position": [
98
+ -0.011179805733263493,
99
+ 0.0012141114566475153,
100
+ -0.12238869094289839
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7162675092526903,
104
+ "xyz": [
105
+ 0.00776399095375348,
106
+ 0.01022931774007041,
107
+ 0.6977076298077804
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.861214816570282,
113
+ "position": [
114
+ 0.07323009427636862,
115
+ 0.10700250859372318,
116
+ 0.0034912556875497103
117
+ ],
118
+ "orientation": {
119
+ "w": 0.3418080754482488,
120
+ "xyz": [
121
+ 0.6214331012774573,
122
+ 0.3642707217778284,
123
+ -0.6035685391490399
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.8608938455581665,
129
+ "position": [
130
+ 0.1042982554063201,
131
+ -0.002876779588405043,
132
+ -0.07117015891708434
133
+ ],
134
+ "orientation": {
135
+ "w": 0.6167912418188354,
136
+ "xyz": [
137
+ -0.3685753063772235,
138
+ -0.35291992666391225,
139
+ 0.5993065433549453
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.8605935573577881,
145
+ "position": [
146
+ 0.06764408852905035,
147
+ 0.11075371201150119,
148
+ 0.002769891871139407
149
+ ],
150
+ "orientation": {
151
+ "w": 0.34919608328000007,
152
+ "xyz": [
153
+ 0.6179762592649929,
154
+ 0.368095906942707,
155
+ -0.6005604396717948
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.8592866659164429,
161
+ "position": [
162
+ -0.06970141176134348,
163
+ -0.10740808700211346,
164
+ -0.006448623491451144
165
+ ],
166
+ "orientation": {
167
+ "w": 0.322388306855799,
168
+ "xyz": [
169
+ -0.6074112463247624,
170
+ -0.3425014001244058,
171
+ -0.6401641573484658
172
+ ]
173
+ }
174
+ },
175
+ "grasp_12": {
176
+ "confidence": 0.8568972945213318,
177
+ "position": [
178
+ -0.006932158023118973,
179
+ -0.001443004934117198,
180
+ -0.12192985438741744
181
+ ],
182
+ "orientation": {
183
+ "w": 0.713447408664775,
184
+ "xyz": [
185
+ -0.0009505270106212029,
186
+ -0.003313377800639117,
187
+ 0.7007003019090761
188
+ ]
189
+ }
190
+ },
191
+ "grasp_14": {
192
+ "confidence": 0.8561392426490784,
193
+ "position": [
194
+ 0.008977218996733427,
195
+ 0.003308441722765565,
196
+ -0.12385754310525954
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7102899926813027,
200
+ "xyz": [
201
+ -0.006334870683917972,
202
+ -0.016513089394396885,
203
+ 0.7036869428864415
204
+ ]
205
+ }
206
+ },
207
+ "grasp_18": {
208
+ "confidence": 0.8524712920188904,
209
+ "position": [
210
+ -0.08885568473488092,
211
+ 0.0038860763888806105,
212
+ -0.08680532150901854
213
+ ],
214
+ "orientation": {
215
+ "w": 0.6488135572351592,
216
+ "xyz": [
217
+ 0.30837666431363736,
218
+ 0.2841343837540935,
219
+ 0.6349901202564764
220
+ ]
221
+ }
222
+ },
223
+ "grasp_19": {
224
+ "confidence": 0.8521474599838257,
225
+ "position": [
226
+ 0.009576288517564535,
227
+ -0.0007846015505492687,
228
+ -0.11713216477073729
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7162812388682788,
232
+ "xyz": [
233
+ -0.01971601364088329,
234
+ -0.018213110097259566,
235
+ 0.6972953092284655
236
+ ]
237
+ }
238
+ }
239
+ }
240
+ }
241
+ ],
242
+ "quality_check": {
243
+ "success": true,
244
+ "message": "YES"
245
+ }
246
+ }
dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:61c559418fb11c92667c31a507da41251282c4b9b2deabfd0808a987dfc81115
3
+ size 3777016
dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.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>