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
b1bfc51
·
verified ·
1 Parent(s): 539092c

Add asset desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/affordance_annot.json +586 -0
  3. dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.urdf +1 -0
.gitattributes CHANGED
@@ -6499,3 +6499,4 @@ dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/affo
6499
  dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6500
  dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6501
  dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6499
  dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6500
  dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6501
  dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6502
+ dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/affordance_annot.json ADDED
@@ -0,0 +1,586 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main barrel",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main barrel to pick up and reposition the marker",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the barrel while writing or highlighting with the tip",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "stabilize the barrel while uncapping or manipulating the front end",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "houses ink reservoir",
24
+ "provide structural enclosure",
25
+ "support writing/highlighting use"
26
+ ],
27
+ "semantic_description": "Large cream-beige plastic barrel with a smooth matte finish, elongated rounded-rectangular shape, forming most of the object's size with black printed branding on the side.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9937731623649597,
32
+ "position": [
33
+ 0.07583320036064833,
34
+ 0.08088982943445444,
35
+ 0.029256623412948102
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2473819530782503,
39
+ "xyz": [
40
+ 0.7820877586827605,
41
+ 0.16195847178630918,
42
+ -0.5485529695721371
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9935169219970703,
48
+ "position": [
49
+ 0.05055683001410216,
50
+ 0.084410578943789,
51
+ 0.0642222763854079
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3380118266046631,
55
+ "xyz": [
56
+ 0.10143810416001958,
57
+ -0.8958739546025062,
58
+ 0.2699410557226646
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9935137033462524,
64
+ "position": [
65
+ 0.05979922681581229,
66
+ 0.10127380583435297,
67
+ 0.03162200207589194
68
+ ],
69
+ "orientation": {
70
+ "w": 0.49203632844672107,
71
+ "xyz": [
72
+ 0.20763402688249816,
73
+ -0.7766358513082811,
74
+ 0.33410345228969124
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9933788776397705,
80
+ "position": [
81
+ 0.05096153065096587,
82
+ 0.09432692918926477,
83
+ 0.055463779892306775
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3677341769564325,
87
+ "xyz": [
88
+ 0.13536646620969178,
89
+ -0.8634418576783438,
90
+ 0.317672241993295
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9932575225830078,
96
+ "position": [
97
+ 0.0870046679629013,
98
+ 0.014812924899160862,
99
+ 0.04923273267922923
100
+ ],
101
+ "orientation": {
102
+ "w": 0.018914839537781312,
103
+ "xyz": [
104
+ 0.860808952532516,
105
+ 0.026669540745352438,
106
+ -0.5078768666532909
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9931313395500183,
112
+ "position": [
113
+ 0.06376848265063018,
114
+ 0.07904155645519495,
115
+ 0.05828724446473643
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4096453037633751,
119
+ "xyz": [
120
+ 0.11299615584597997,
121
+ -0.8704928013056568,
122
+ 0.2483241364500705
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9930686950683594,
128
+ "position": [
129
+ 0.0445384782506153,
130
+ 0.09487693104892969,
131
+ 0.0611896479385905
132
+ ],
133
+ "orientation": {
134
+ "w": 0.31785691196071225,
135
+ "xyz": [
136
+ 0.1241416898108878,
137
+ -0.8842140375425502,
138
+ 0.3189378625726313
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.993036687374115,
144
+ "position": [
145
+ 0.07669225230347365,
146
+ 0.08134486619383097,
147
+ 0.03491833450971171
148
+ ],
149
+ "orientation": {
150
+ "w": 0.25313508378792,
151
+ "xyz": [
152
+ 0.7964228100225631,
153
+ 0.15162755925695148,
154
+ -0.5278659112930352
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9929963946342468,
160
+ "position": [
161
+ 0.08289170905482024,
162
+ 0.08335630688816309,
163
+ 0.011070640932302922
164
+ ],
165
+ "orientation": {
166
+ "w": 0.2215436888757873,
167
+ "xyz": [
168
+ 0.7194441702625419,
169
+ 0.1854187806731502,
170
+ -0.6316156707747467
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9929375052452087,
176
+ "position": [
177
+ 0.09899602725636214,
178
+ 0.026972697116434574,
179
+ 0.01881200837669894
180
+ ],
181
+ "orientation": {
182
+ "w": 0.005307811964470091,
183
+ "xyz": [
184
+ 0.7665660173624902,
185
+ -0.014851957544782635,
186
+ -0.6419717965099777
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9928743839263916,
192
+ "position": [
193
+ 0.04386658116709441,
194
+ 0.0957888001576066,
195
+ 0.05659763532457873
196
+ ],
197
+ "orientation": {
198
+ "w": 0.3345297309986571,
199
+ "xyz": [
200
+ 0.13903846033593453,
201
+ -0.8673963563196909,
202
+ 0.34114766109223515
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9927500486373901,
208
+ "position": [
209
+ 0.09702391072642058,
210
+ 0.020846436731517315,
211
+ 0.018493622716050595
212
+ ],
213
+ "orientation": {
214
+ "w": 0.006087578763610484,
215
+ "xyz": [
216
+ 0.770098654148429,
217
+ -0.001729706030572653,
218
+ -0.6378934177279327
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9927096366882324,
224
+ "position": [
225
+ -0.07251160696614534,
226
+ 0.08914113882929087,
227
+ 0.013569006870966405
228
+ ],
229
+ "orientation": {
230
+ "w": 0.267421671803119,
231
+ "xyz": [
232
+ 0.7062613263560857,
233
+ -0.2424646682688104,
234
+ 0.6090085984492034
235
+ ]
236
+ }
237
+ },
238
+ "grasp_14": {
239
+ "confidence": 0.992449164390564,
240
+ "position": [
241
+ 0.09542204334866256,
242
+ 0.032739886082708836,
243
+ 0.020633334468584508
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6381210221833407,
247
+ "xyz": [
248
+ 0.011814790119066018,
249
+ -0.7697061763244258,
250
+ 0.014641513247015413
251
+ ]
252
+ }
253
+ },
254
+ "grasp_15": {
255
+ "confidence": 0.9924348592758179,
256
+ "position": [
257
+ 0.07357515289913863,
258
+ 0.08617659751325846,
259
+ 0.04078951867995784
260
+ ],
261
+ "orientation": {
262
+ "w": 0.498303926862608,
263
+ "xyz": [
264
+ 0.1413764500536859,
265
+ -0.8201182240661397,
266
+ 0.24312958355190653
267
+ ]
268
+ }
269
+ },
270
+ "grasp_16": {
271
+ "confidence": 0.992316722869873,
272
+ "position": [
273
+ 0.09723140194546431,
274
+ -0.010867055505514145,
275
+ -0.0025622714892961085
276
+ ],
277
+ "orientation": {
278
+ "w": 0.019971669476319204,
279
+ "xyz": [
280
+ -0.6933405912149584,
281
+ 0.004425786414515409,
282
+ 0.7203196300300537
283
+ ]
284
+ }
285
+ },
286
+ "grasp_17": {
287
+ "confidence": 0.9923115372657776,
288
+ "position": [
289
+ 0.09560872509609908,
290
+ 0.019386530853807926,
291
+ -0.004405285057146102
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7291724931332786,
295
+ "xyz": [
296
+ 0.015119277710187414,
297
+ -0.6841166551732242,
298
+ 0.007955175291628633
299
+ ]
300
+ }
301
+ },
302
+ "grasp_18": {
303
+ "confidence": 0.9923102855682373,
304
+ "position": [
305
+ 0.0842125479830429,
306
+ 0.07966306153684855,
307
+ 0.016558712522964925
308
+ ],
309
+ "orientation": {
310
+ "w": 0.21112882607271463,
311
+ "xyz": [
312
+ 0.731455469063947,
313
+ 0.19146885913145517,
314
+ -0.619465246450919
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.9923009872436523,
320
+ "position": [
321
+ 0.04419270798098296,
322
+ 0.11536192242056131,
323
+ 0.0038972156471572816
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5996298771156412,
327
+ "xyz": [
328
+ 0.3617589338118793,
329
+ -0.6131540311631692,
330
+ 0.36553606982885967
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "front taper",
338
+ "mask_color": "Green",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "lightly pinch the front taper for precise orientation of the marker",
343
+ "confidence": 0.46
344
+ },
345
+ {
346
+ "scenario": "hold the front taper briefly while adjusting the tip position",
347
+ "confidence": 0.4
348
+ }
349
+ ],
350
+ "functional_labels": [
351
+ "support tip assembly",
352
+ "guide front-end alignment",
353
+ "connect tip to barrel",
354
+ "provide front housing"
355
+ ],
356
+ "semantic_description": "Small cream-beige plastic front section with a smooth matte surface, tapered toward the writing end and located between the main barrel and the tip.",
357
+ "id": 1,
358
+ "grasp_group": {
359
+ "grasp_21": {
360
+ "confidence": 0.9876255393028259,
361
+ "position": [
362
+ 0.09610318287741393,
363
+ -0.03677650075405836,
364
+ -0.03217596170725301
365
+ ],
366
+ "orientation": {
367
+ "w": 0.011472286546306222,
368
+ "xyz": [
369
+ -0.5816751316169867,
370
+ -0.001951808401966293,
371
+ 0.8133379484222549
372
+ ]
373
+ }
374
+ },
375
+ "grasp_22": {
376
+ "confidence": 0.9858108758926392,
377
+ "position": [
378
+ -0.08503146574366838,
379
+ -0.08420129027217627,
380
+ -0.014051713806111366
381
+ ],
382
+ "orientation": {
383
+ "w": 0.11849054929435479,
384
+ "xyz": [
385
+ -0.6012823383787314,
386
+ -0.21244610227279725,
387
+ -0.7611085289962419
388
+ ]
389
+ }
390
+ },
391
+ "grasp_23": {
392
+ "confidence": 0.9854831695556641,
393
+ "position": [
394
+ 0.07458098873030394,
395
+ -0.052902176044881344,
396
+ 0.06591094302712008
397
+ ],
398
+ "orientation": {
399
+ "w": 0.4198134450639386,
400
+ "xyz": [
401
+ -0.034851293279417724,
402
+ -0.9045766227084986,
403
+ -0.06544610263098509
404
+ ]
405
+ }
406
+ },
407
+ "grasp_24": {
408
+ "confidence": 0.9846908450126648,
409
+ "position": [
410
+ 0.08639109774958342,
411
+ -0.05394964199513197,
412
+ 0.04864229651866481
413
+ ],
414
+ "orientation": {
415
+ "w": 0.49994904964492587,
416
+ "xyz": [
417
+ -0.05694960368693564,
418
+ -0.8615621878839073,
419
+ -0.06721820294928121
420
+ ]
421
+ }
422
+ },
423
+ "grasp_26": {
424
+ "confidence": 0.9833027720451355,
425
+ "position": [
426
+ -0.09121295914519578,
427
+ -0.04600745718926191,
428
+ -0.024217502970714122
429
+ ],
430
+ "orientation": {
431
+ "w": 0.0315799178506043,
432
+ "xyz": [
433
+ -0.6017701224076807,
434
+ -0.03310256045032678,
435
+ -0.7973579177870038
436
+ ]
437
+ }
438
+ },
439
+ "grasp_29": {
440
+ "confidence": 0.982144832611084,
441
+ "position": [
442
+ 0.08099843456875533,
443
+ -0.04992437642067671,
444
+ 0.059528116311412305
445
+ ],
446
+ "orientation": {
447
+ "w": 0.45710053663325506,
448
+ "xyz": [
449
+ -0.04213246140208832,
450
+ -0.8873066476443553,
451
+ -0.04439446082483318
452
+ ]
453
+ }
454
+ },
455
+ "grasp_30": {
456
+ "confidence": 0.9812998175621033,
457
+ "position": [
458
+ 0.08079393103253096,
459
+ -0.0531696705147624,
460
+ 0.058558043267112225
461
+ ],
462
+ "orientation": {
463
+ "w": 0.4642472010824075,
464
+ "xyz": [
465
+ -0.040914738092422784,
466
+ -0.8828768966559368,
467
+ -0.05769667100588829
468
+ ]
469
+ }
470
+ },
471
+ "grasp_33": {
472
+ "confidence": 0.9808608293533325,
473
+ "position": [
474
+ 0.08811118348967284,
475
+ -0.047399493865668774,
476
+ 0.04606404545484111
477
+ ],
478
+ "orientation": {
479
+ "w": 0.509778605717407,
480
+ "xyz": [
481
+ -0.02360696113539893,
482
+ -0.8591452182312094,
483
+ -0.03792068735157231
484
+ ]
485
+ }
486
+ },
487
+ "grasp_34": {
488
+ "confidence": 0.9803169965744019,
489
+ "position": [
490
+ 0.05228030204307288,
491
+ -0.08885823097079992,
492
+ 0.06778001057682559
493
+ ],
494
+ "orientation": {
495
+ "w": 0.24774952193947972,
496
+ "xyz": [
497
+ -0.9184567833440562,
498
+ 0.07127185434075889,
499
+ 0.29996272149531816
500
+ ]
501
+ }
502
+ },
503
+ "grasp_37": {
504
+ "confidence": 0.9793500304222107,
505
+ "position": [
506
+ 0.05404437973629683,
507
+ -0.051701671443879604,
508
+ 0.08287647383986041
509
+ ],
510
+ "orientation": {
511
+ "w": 0.3102919409025578,
512
+ "xyz": [
513
+ -0.0320702777129279,
514
+ -0.9485743308061917,
515
+ -0.05382515800186217
516
+ ]
517
+ }
518
+ },
519
+ "grasp_38": {
520
+ "confidence": 0.9780199527740479,
521
+ "position": [
522
+ 0.05591327219735831,
523
+ -0.09023258741945028,
524
+ 0.06244175526080653
525
+ ],
526
+ "orientation": {
527
+ "w": 0.2525819542641353,
528
+ "xyz": [
529
+ -0.903967983403001,
530
+ 0.09418215411347064,
531
+ 0.3319246348329214
532
+ ]
533
+ }
534
+ },
535
+ "grasp_39": {
536
+ "confidence": 0.9779024720191956,
537
+ "position": [
538
+ 0.045304356957785785,
539
+ -0.09632628317922354,
540
+ 0.06803981977282092
541
+ ],
542
+ "orientation": {
543
+ "w": 0.2809059306945021,
544
+ "xyz": [
545
+ -0.9177427218483023,
546
+ 0.06775401844914958,
547
+ 0.2724877017025129
548
+ ]
549
+ }
550
+ }
551
+ }
552
+ },
553
+ {
554
+ "part_name": "front ring",
555
+ "mask_color": "Yellow",
556
+ "graspable": false,
557
+ "grasp_scenarios": [],
558
+ "functional_labels": [
559
+ "join barrel to front taper",
560
+ "reinforce front connection",
561
+ "define transition between parts"
562
+ ],
563
+ "semantic_description": "Thin cream-beige plastic ring with a smooth matte finish, visible as a narrow band between the main barrel and the tapered front section.",
564
+ "id": 3,
565
+ "grasp_group": {}
566
+ },
567
+ {
568
+ "part_name": "marker tip",
569
+ "mask_color": "Cyan",
570
+ "graspable": false,
571
+ "grasp_scenarios": [],
572
+ "functional_labels": [
573
+ "apply ink to paper",
574
+ "contact writing surface",
575
+ "define writing/highlighting point"
576
+ ],
577
+ "semantic_description": "Small yellow chisel-like tip element at the very front, with a firm plastic/felt appearance, used for marking on paper.",
578
+ "id": 6,
579
+ "grasp_group": {}
580
+ }
581
+ ],
582
+ "quality_check": {
583
+ "success": true,
584
+ "message": "YES"
585
+ }
586
+ }
dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e1266fbb521e7614ad013ab407adde0146ae8a7b651686c826c4d4d1545c285
3
+ size 3783352
dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.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>