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
b3c6067
·
verified ·
1 Parent(s): b269d62

Add asset desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/affordance/affordance_annot.json +600 -0
  3. dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6644,3 +6644,4 @@ dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/affordanc
6644
  dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6645
  dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6646
  dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6644
  dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6645
  dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6646
  dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6647
+ dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,600 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main box body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the broad top-and-bottom or side faces to pick up and move the box",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the main body to stabilize the package while reading or opening it",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "pinch an edge or corner of the body to reorient it on a table",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain the staple refills",
23
+ "provide the main grasp surface",
24
+ "protect the contents",
25
+ "display product information",
26
+ "form the main outer package"
27
+ ],
28
+ "semantic_description": "Rectangular paperboard box with a white exterior and large turquoise printed panels, matte smooth surface, crisp folded edges, and visible product branding and text on the top and side faces.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_1": {
32
+ "confidence": 0.9782293438911438,
33
+ "position": [
34
+ 0.050394362420774996,
35
+ 0.08932865507085808,
36
+ -0.01550893449166324
37
+ ],
38
+ "orientation": {
39
+ "w": 0.39378186711994534,
40
+ "xyz": [
41
+ 0.5647595945195872,
42
+ 0.31429304462284735,
43
+ -0.6536071630783294
44
+ ]
45
+ }
46
+ },
47
+ "grasp_4": {
48
+ "confidence": 0.9780194759368896,
49
+ "position": [
50
+ 0.04946266359183937,
51
+ 0.09287572748144157,
52
+ -0.00017816371109802276
53
+ ],
54
+ "orientation": {
55
+ "w": 0.3525531137174956,
56
+ "xyz": [
57
+ 0.6225936332343303,
58
+ 0.35598064974132315,
59
+ -0.6011333020835898
60
+ ]
61
+ }
62
+ },
63
+ "grasp_9": {
64
+ "confidence": 0.9774198532104492,
65
+ "position": [
66
+ 0.04589344060514122,
67
+ 0.09174572772462852,
68
+ 0.002063520616502501
69
+ ],
70
+ "orientation": {
71
+ "w": 0.3493278340633556,
72
+ "xyz": [
73
+ 0.6190410078294541,
74
+ 0.36005504875657,
75
+ -0.6042504917987261
76
+ ]
77
+ }
78
+ },
79
+ "grasp_10": {
80
+ "confidence": 0.9771982431411743,
81
+ "position": [
82
+ 0.11131006351206452,
83
+ -0.00653190488810651,
84
+ 0.000311945826979354
85
+ ],
86
+ "orientation": {
87
+ "w": 0.030274130194849685,
88
+ "xyz": [
89
+ -0.7090001007620006,
90
+ -0.001718834757133636,
91
+ 0.7045561579941632
92
+ ]
93
+ }
94
+ },
95
+ "grasp_13": {
96
+ "confidence": 0.9768560528755188,
97
+ "position": [
98
+ -0.05152556800749153,
99
+ 0.09358327186782844,
100
+ 0.001355699627310969
101
+ ],
102
+ "orientation": {
103
+ "w": 0.36470010976398054,
104
+ "xyz": [
105
+ 0.5973283254529694,
106
+ -0.3714150650255792,
107
+ 0.6101176534257445
108
+ ]
109
+ }
110
+ },
111
+ "grasp_15": {
112
+ "confidence": 0.976732075214386,
113
+ "position": [
114
+ 0.11224043986294419,
115
+ -0.0019084562954958528,
116
+ 0.0017577514663571492
117
+ ],
118
+ "orientation": {
119
+ "w": 0.039406776070346886,
120
+ "xyz": [
121
+ -0.7094578180930607,
122
+ -0.011889714133540119,
123
+ 0.7035448422412021
124
+ ]
125
+ }
126
+ },
127
+ "grasp_18": {
128
+ "confidence": 0.9764522910118103,
129
+ "position": [
130
+ -0.04839667060878128,
131
+ 0.09414907640893944,
132
+ 0.003448939314694144
133
+ ],
134
+ "orientation": {
135
+ "w": 0.3600580985133263,
136
+ "xyz": [
137
+ 0.5999717115350094,
138
+ -0.3746246516351638,
139
+ 0.6083161032226192
140
+ ]
141
+ }
142
+ },
143
+ "grasp_19": {
144
+ "confidence": 0.9762634634971619,
145
+ "position": [
146
+ -0.05302024760749191,
147
+ 0.09232208228786476,
148
+ 0.002516207649023272
149
+ ],
150
+ "orientation": {
151
+ "w": 0.35962568485247176,
152
+ "xyz": [
153
+ 0.6016108420141436,
154
+ -0.37237529706933814,
155
+ 0.6083341184726914
156
+ ]
157
+ }
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "part_name": "front end panel",
163
+ "mask_color": "Green",
164
+ "graspable": true,
165
+ "grasp_scenarios": [
166
+ {
167
+ "scenario": "pinch the short end panel to steady the box during handling",
168
+ "confidence": 0.68
169
+ },
170
+ {
171
+ "scenario": "lightly grasp the short end while reorienting the package",
172
+ "confidence": 0.63
173
+ }
174
+ ],
175
+ "functional_labels": [
176
+ "form one short end of the package",
177
+ "close one end of the carton",
178
+ "provide an end surface for pushing or stabilizing",
179
+ "display end-face labeling"
180
+ ],
181
+ "semantic_description": "Small white paperboard end face at one short side of the box, matte and smooth with folded edges and printed labeling visible in some views.",
182
+ "id": 1,
183
+ "grasp_group": {
184
+ "grasp_20": {
185
+ "confidence": 0.7667637467384338,
186
+ "position": [
187
+ 0.02398274897132069,
188
+ -0.10096336805145256,
189
+ -0.0031600560614606366
190
+ ],
191
+ "orientation": {
192
+ "w": 0.5214284832787273,
193
+ "xyz": [
194
+ -0.49653226824031016,
195
+ 0.4834099023289441,
196
+ 0.49787840860203997
197
+ ]
198
+ }
199
+ },
200
+ "grasp_21": {
201
+ "confidence": 0.5745309591293335,
202
+ "position": [
203
+ -0.002468155580572784,
204
+ -0.08632311128894798,
205
+ 0.03329685739299748
206
+ ],
207
+ "orientation": {
208
+ "w": 0.5526354094932574,
209
+ "xyz": [
210
+ -0.830160295917513,
211
+ -0.04890750162216917,
212
+ -0.055100304367987796
213
+ ]
214
+ }
215
+ },
216
+ "grasp_22": {
217
+ "confidence": 0.5204650163650513,
218
+ "position": [
219
+ -0.004280698834918439,
220
+ 0.08328607774456032,
221
+ -0.049975208574323915
222
+ ],
223
+ "orientation": {
224
+ "w": 0.8743391830998918,
225
+ "xyz": [
226
+ 0.4844888708680615,
227
+ 0.02718312495853681,
228
+ 0.007912308050967286
229
+ ]
230
+ }
231
+ },
232
+ "grasp_23": {
233
+ "confidence": 0.607211172580719,
234
+ "position": [
235
+ -0.01879359723534435,
236
+ -0.0635397499136161,
237
+ 0.06602283976098988
238
+ ],
239
+ "orientation": {
240
+ "w": 0.3634516704485163,
241
+ "xyz": [
242
+ -0.926115824423597,
243
+ 0.03655251692560468,
244
+ -0.094213993158065
245
+ ]
246
+ }
247
+ },
248
+ "grasp_25": {
249
+ "confidence": 0.48904040455818176,
250
+ "position": [
251
+ 0.0019188177539035678,
252
+ 0.06378447360475548,
253
+ -0.07599797435977962
254
+ ],
255
+ "orientation": {
256
+ "w": 0.08148728359809479,
257
+ "xyz": [
258
+ 0.023797661024171024,
259
+ 0.3458143588915158,
260
+ -0.9344548801980929
261
+ ]
262
+ }
263
+ },
264
+ "grasp_26": {
265
+ "confidence": 0.4820375442504883,
266
+ "position": [
267
+ 0.0021872444776818156,
268
+ -0.08219954275409691,
269
+ -0.06697461345174816
270
+ ],
271
+ "orientation": {
272
+ "w": 0.9133427481804306,
273
+ "xyz": [
274
+ -0.4070772254980553,
275
+ -0.008605430440309036,
276
+ -0.004370742952968904
277
+ ]
278
+ }
279
+ },
280
+ "grasp_27": {
281
+ "confidence": 0.5709256529808044,
282
+ "position": [
283
+ 0.009637564071454108,
284
+ 0.05998083672602661,
285
+ -0.07650394328811672
286
+ ],
287
+ "orientation": {
288
+ "w": 0.9437236602448494,
289
+ "xyz": [
290
+ 0.3191421455676504,
291
+ -0.007660176210165237,
292
+ -0.0864596189962113
293
+ ]
294
+ }
295
+ },
296
+ "grasp_28": {
297
+ "confidence": 0.4837970435619354,
298
+ "position": [
299
+ 0.0058205375680699944,
300
+ -0.039484779321355745,
301
+ 0.09194596520683262
302
+ ],
303
+ "orientation": {
304
+ "w": 0.05387017472091334,
305
+ "xyz": [
306
+ -0.02256509781570373,
307
+ -0.9768333833320647,
308
+ -0.20587705516676236
309
+ ]
310
+ }
311
+ },
312
+ "grasp_29": {
313
+ "confidence": 0.4779534637928009,
314
+ "position": [
315
+ 0.006124055595137179,
316
+ 0.050010879553155974,
317
+ -0.08283721246698406
318
+ ],
319
+ "orientation": {
320
+ "w": 0.07979597290523753,
321
+ "xyz": [
322
+ 0.00034418241023644064,
323
+ -0.2942644691336086,
324
+ 0.952386952058926
325
+ ]
326
+ }
327
+ },
328
+ "grasp_30": {
329
+ "confidence": 0.44181743264198303,
330
+ "position": [
331
+ 0.002274974132888019,
332
+ -0.005570711073232815,
333
+ -0.09936411269882228
334
+ ],
335
+ "orientation": {
336
+ "w": 0.9986785648128591,
337
+ "xyz": [
338
+ 0.0040390794493424115,
339
+ -0.029167000961350498,
340
+ -0.042120019889018756
341
+ ]
342
+ }
343
+ },
344
+ "grasp_31": {
345
+ "confidence": 0.435032457113266,
346
+ "position": [
347
+ 0.014980974257923663,
348
+ -0.023241293587489054,
349
+ 0.09775662831088994
350
+ ],
351
+ "orientation": {
352
+ "w": 0.0714209176906019,
353
+ "xyz": [
354
+ -0.002726152015126459,
355
+ -0.9923716147744037,
356
+ -0.10044998159016323
357
+ ]
358
+ }
359
+ },
360
+ "grasp_33": {
361
+ "confidence": 0.42501553893089294,
362
+ "position": [
363
+ 0.0006697110366076231,
364
+ -0.048100425832672045,
365
+ -0.08559833803155925
366
+ ],
367
+ "orientation": {
368
+ "w": 0.9616195724700058,
369
+ "xyz": [
370
+ -0.2729699550405292,
371
+ -0.006380657641984255,
372
+ -0.027101451913689144
373
+ ]
374
+ }
375
+ },
376
+ "grasp_34": {
377
+ "confidence": 0.3157093822956085,
378
+ "position": [
379
+ 0.0018005279125645757,
380
+ 0.020671731821494177,
381
+ -0.09995861687639263
382
+ ],
383
+ "orientation": {
384
+ "w": 0.9977469862219537,
385
+ "xyz": [
386
+ 0.06431100022317542,
387
+ 0.005667154975205979,
388
+ 0.018246371962386168
389
+ ]
390
+ }
391
+ },
392
+ "grasp_35": {
393
+ "confidence": 0.3104014992713928,
394
+ "position": [
395
+ 0.01188451296184212,
396
+ -0.008502534561557695,
397
+ 0.10135291925689671
398
+ ],
399
+ "orientation": {
400
+ "w": 0.07212493375822503,
401
+ "xyz": [
402
+ -0.994766728538561,
403
+ 0.0615042339375816,
404
+ 0.038136320362770246
405
+ ]
406
+ }
407
+ },
408
+ "grasp_36": {
409
+ "confidence": 0.2316015511751175,
410
+ "position": [
411
+ 0.011502579436637461,
412
+ -0.01936414369265549,
413
+ 0.09934354237338994
414
+ ],
415
+ "orientation": {
416
+ "w": 0.005131297758503577,
417
+ "xyz": [
418
+ 0.003110241381795429,
419
+ 0.9976933228029838,
420
+ 0.06761678649715964
421
+ ]
422
+ }
423
+ },
424
+ "grasp_37": {
425
+ "confidence": 0.18206319212913513,
426
+ "position": [
427
+ -0.006653697579167783,
428
+ 0.002465270721586421,
429
+ 0.10239282659313176
430
+ ],
431
+ "orientation": {
432
+ "w": 0.021182336792981694,
433
+ "xyz": [
434
+ -0.004840058662291187,
435
+ -0.9995465331439889,
436
+ -0.020847314454551465
437
+ ]
438
+ }
439
+ },
440
+ "grasp_39": {
441
+ "confidence": 0.4283612072467804,
442
+ "position": [
443
+ -0.0009276785422116518,
444
+ 0.008744304097490385,
445
+ 0.09917010775825474
446
+ ],
447
+ "orientation": {
448
+ "w": 0.022370452918575322,
449
+ "xyz": [
450
+ 0.997911792850795,
451
+ 0.060328798596640115,
452
+ 0.00566150027959312
453
+ ]
454
+ }
455
+ }
456
+ }
457
+ },
458
+ {
459
+ "part_name": "rear end panel",
460
+ "mask_color": "Blue",
461
+ "graspable": true,
462
+ "grasp_scenarios": [
463
+ {
464
+ "scenario": "pinch the opposite short end panel to help reorient or steady the box",
465
+ "confidence": 0.66
466
+ },
467
+ {
468
+ "scenario": "use the short end as a light pushing surface during placement",
469
+ "confidence": 0.58
470
+ }
471
+ ],
472
+ "functional_labels": [
473
+ "form the opposite short end of the package",
474
+ "close the other end of the carton",
475
+ "provide an end surface for pushing or stabilizing",
476
+ "display end-face labeling"
477
+ ],
478
+ "semantic_description": "Small white paperboard end face on the opposite short side of the box, matte smooth with straight folded edges; appears as a narrow side panel rather than an interior opening.",
479
+ "id": 2,
480
+ "grasp_group": {
481
+ "grasp_40": {
482
+ "confidence": 0.5599196553230286,
483
+ "position": [
484
+ 0.00502645003143698,
485
+ -0.07873938881675713,
486
+ 0.06371730974933598
487
+ ],
488
+ "orientation": {
489
+ "w": 0.42910696742667503,
490
+ "xyz": [
491
+ -0.9028224140183658,
492
+ -0.02785896555113243,
493
+ -0.0016665204330299091
494
+ ]
495
+ }
496
+ },
497
+ "grasp_41": {
498
+ "confidence": 0.5454474091529846,
499
+ "position": [
500
+ -0.0046011003432795405,
501
+ -0.0517958281270694,
502
+ 0.08690677992126439
503
+ ],
504
+ "orientation": {
505
+ "w": 0.2752549979719887,
506
+ "xyz": [
507
+ -0.9611155774342377,
508
+ 0.0021858172022469202,
509
+ -0.0220625272317234
510
+ ]
511
+ }
512
+ },
513
+ "grasp_42": {
514
+ "confidence": 0.5098800659179688,
515
+ "position": [
516
+ -0.015627234592102468,
517
+ 0.03511579430778511,
518
+ 0.09880298039934132
519
+ ],
520
+ "orientation": {
521
+ "w": 0.16075443588526048,
522
+ "xyz": [
523
+ 0.9798307050128585,
524
+ -0.09421521366254407,
525
+ 0.0722031465501156
526
+ ]
527
+ }
528
+ },
529
+ "grasp_44": {
530
+ "confidence": 0.49120232462882996,
531
+ "position": [
532
+ -0.008424479863606393,
533
+ -0.056455097132129595,
534
+ 0.08850896767398808
535
+ ],
536
+ "orientation": {
537
+ "w": 0.268109441912166,
538
+ "xyz": [
539
+ -0.9625537391977925,
540
+ -0.0062670464178513074,
541
+ -0.03960240451149029
542
+ ]
543
+ }
544
+ },
545
+ "grasp_45": {
546
+ "confidence": 0.3959765136241913,
547
+ "position": [
548
+ 0.006235524197109044,
549
+ -0.05123514958540909,
550
+ -0.08886679598072078
551
+ ],
552
+ "orientation": {
553
+ "w": 0.9592771546608913,
554
+ "xyz": [
555
+ -0.27723412476965825,
556
+ 0.018420777980901692,
557
+ 0.05088472803783112
558
+ ]
559
+ }
560
+ },
561
+ "grasp_46": {
562
+ "confidence": 0.32537758350372314,
563
+ "position": [
564
+ 0.0069893148029223084,
565
+ 0.029391580290393904,
566
+ -0.09742783346155193
567
+ ],
568
+ "orientation": {
569
+ "w": 0.9942206538153108,
570
+ "xyz": [
571
+ 0.10385154698575945,
572
+ -0.019130744206528383,
573
+ -0.019343276398417122
574
+ ]
575
+ }
576
+ },
577
+ "grasp_47": {
578
+ "confidence": 0.32276031374931335,
579
+ "position": [
580
+ 0.002619071281515062,
581
+ 0.020401387504534796,
582
+ 0.09968351981660817
583
+ ],
584
+ "orientation": {
585
+ "w": 0.05019278864533409,
586
+ "xyz": [
587
+ 0.9972025288937019,
588
+ 0.0530171713777782,
589
+ -0.01603059185151867
590
+ ]
591
+ }
592
+ }
593
+ }
594
+ }
595
+ ],
596
+ "quality_check": {
597
+ "success": false,
598
+ "message": "End panel mask colors are swapped relative to visible segmented sides across views."
599
+ }
600
+ }
dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6bf4645f95bca3165f6c9cf2ffb2f37a92f73764311956b2e3c9dd571eefde92
3
+ size 3780632