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
b60f7d8
·
verified ·
1 Parent(s): f53cd05

Add asset desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/affordance/affordance_annot.json +351 -0
  3. dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6483,3 +6483,4 @@ dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affo
6483
  dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6484
  dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6485
  dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6483
  dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6484
  dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6485
  dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6486
+ dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,351 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "notebook cover",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook cover/body from the side to pick up the notebook",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the cover surfaces to reposition or place the notebook",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "stabilize the notebook by clamping the closed cover faces",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "protect the pages",
23
+ "form the main outer body",
24
+ "provide a writing support surface",
25
+ "enable opening and closing",
26
+ "support handling and storage"
27
+ ],
28
+ "semantic_description": "Large rectangular gray cover set with rounded corners, likely cardboard or paperboard with a matte smooth hard surface, enclosing most of the notebook and forming the outer front and back faces.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9879441261291504,
33
+ "position": [
34
+ 0.022484527944470756,
35
+ -0.14620731212198734,
36
+ 0.004315810321713798
37
+ ],
38
+ "orientation": {
39
+ "w": 0.43567964561439443,
40
+ "xyz": [
41
+ -0.5536200497665826,
42
+ 0.4416863498437865,
43
+ 0.5555189062988177
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9875357747077942,
49
+ "position": [
50
+ 0.024809455542708747,
51
+ -0.14769979752600193,
52
+ -0.003102719972957857
53
+ ],
54
+ "orientation": {
55
+ "w": 0.4283097498870602,
56
+ "xyz": [
57
+ -0.5680287525903918,
58
+ 0.41491663005918467,
59
+ 0.5672197849886914
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9874268770217896,
65
+ "position": [
66
+ -0.053003728346084245,
67
+ -0.1472193542867899,
68
+ 0.0031784153979970142
69
+ ],
70
+ "orientation": {
71
+ "w": 0.4956047774282052,
72
+ "xyz": [
73
+ -0.5102520853884702,
74
+ 0.5015551586885002,
75
+ 0.4924034288467226
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9870938658714294,
81
+ "position": [
82
+ -0.05834262813732494,
83
+ -0.14430699683725834,
84
+ 0.002181894189561717
85
+ ],
86
+ "orientation": {
87
+ "w": 0.49391927788233664,
88
+ "xyz": [
89
+ -0.5006484889868971,
90
+ 0.5037541908090668,
91
+ 0.5016239155519107
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9870412349700928,
97
+ "position": [
98
+ -0.0015078801225172356,
99
+ -0.14749076403677464,
100
+ -0.004194041670416482
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5198391691835093,
104
+ "xyz": [
105
+ -0.4720306393085267,
106
+ -0.5099370233771139,
107
+ -0.4969089915928989
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9869721531867981,
113
+ "position": [
114
+ 0.0028310846973909065,
115
+ -0.14758352376520634,
116
+ 0.004538637163932435
117
+ ],
118
+ "orientation": {
119
+ "w": 0.4851171147481725,
120
+ "xyz": [
121
+ -0.5123096029060499,
122
+ 0.48508179876984847,
123
+ 0.5166196901501744
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.986894965171814,
129
+ "position": [
130
+ -0.04409558321640361,
131
+ -0.14610364474356174,
132
+ 0.0007145485578803346
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5017777965784421,
136
+ "xyz": [
137
+ -0.5079667486132237,
138
+ 0.4970091473189373,
139
+ 0.4931234456457088
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9865720272064209,
145
+ "position": [
146
+ -0.010684952096198685,
147
+ -0.1458254847675562,
148
+ -0.0028760965942637995
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5061235193063874,
152
+ "xyz": [
153
+ -0.48767394158214844,
154
+ -0.501215945899379,
155
+ -0.5047729048620169
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9864714741706848,
161
+ "position": [
162
+ -0.023612657518242486,
163
+ -0.14684205688536167,
164
+ 0.0011138690606458113
165
+ ],
166
+ "orientation": {
167
+ "w": 0.4792326586906597,
168
+ "xyz": [
169
+ -0.5200805518344706,
170
+ 0.4796917248406667,
171
+ 0.5193728213597818
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9864645004272461,
177
+ "position": [
178
+ -0.047661356584285386,
179
+ -0.1495486292988062,
180
+ 0.002379155994276516
181
+ ],
182
+ "orientation": {
183
+ "w": 0.49800540929847903,
184
+ "xyz": [
185
+ -0.498718011804152,
186
+ 0.5075251035676429,
187
+ 0.4956704815300397
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.986397922039032,
193
+ "position": [
194
+ -0.03622262548014987,
195
+ -0.1468005869537592,
196
+ 0.0018219248595414683
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4996677835583851,
200
+ "xyz": [
201
+ -0.499855307730928,
202
+ 0.4986228368327983,
203
+ 0.5018486265756662
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9861510396003723,
209
+ "position": [
210
+ -0.06042151893780101,
211
+ -0.1439418736845255,
212
+ -0.000240879860939458
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4879568353281677,
216
+ "xyz": [
217
+ -0.5013846055410457,
218
+ 0.5054811177064461,
219
+ 0.5049756863703555
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9861201047897339,
225
+ "position": [
226
+ -0.0061370264302240685,
227
+ -0.1445996705442667,
228
+ -0.001092833306756802
229
+ ],
230
+ "orientation": {
231
+ "w": 0.4554499676941554,
232
+ "xyz": [
233
+ -0.5448790445912365,
234
+ 0.44094749690733526,
235
+ 0.5488510350394629
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9861191511154175,
241
+ "position": [
242
+ -0.05321549992368091,
243
+ -0.14265302754938602,
244
+ 0.00047612264461349696
245
+ ],
246
+ "orientation": {
247
+ "w": 0.47316870940257366,
248
+ "xyz": [
249
+ -0.5192264978351747,
250
+ -0.4645527106759084,
251
+ -0.5391715825150541
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9860038161277771,
257
+ "position": [
258
+ -0.05367563288018573,
259
+ -0.14630999602377415,
260
+ -0.0003967324591940269
261
+ ],
262
+ "orientation": {
263
+ "w": 0.5227279231487437,
264
+ "xyz": [
265
+ -0.46572828040506037,
266
+ 0.5359708622239883,
267
+ 0.4717922445721434
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.9858961701393127,
273
+ "position": [
274
+ -0.05284924055740703,
275
+ -0.14673984982073307,
276
+ -0.0021295458573149517
277
+ ],
278
+ "orientation": {
279
+ "w": 0.49149215322454226,
280
+ "xyz": [
281
+ -0.5060992765310129,
282
+ 0.5010573198842754,
283
+ 0.5012390126515254
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9858471751213074,
289
+ "position": [
290
+ -0.05984611432359088,
291
+ -0.14339026249945164,
292
+ -0.003215155054931529
293
+ ],
294
+ "orientation": {
295
+ "w": 0.4513043790224623,
296
+ "xyz": [
297
+ -0.5351090119015031,
298
+ -0.4369599753450828,
299
+ -0.5648439455313051
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.9858328104019165,
305
+ "position": [
306
+ -0.04902416835830081,
307
+ -0.14524909295141697,
308
+ -0.002376132833887823
309
+ ],
310
+ "orientation": {
311
+ "w": 0.49559819717297116,
312
+ "xyz": [
313
+ -0.5034679157613875,
314
+ 0.4995262837631613,
315
+ 0.5013740884684322
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ },
321
+ {
322
+ "part_name": "pages",
323
+ "mask_color": "Green",
324
+ "graspable": true,
325
+ "grasp_scenarios": [
326
+ {
327
+ "scenario": "pinch the page block edge to pull or lift the notebook lightly",
328
+ "confidence": 0.48
329
+ },
330
+ {
331
+ "scenario": "grasp the exposed page edges to open or flip the notebook",
332
+ "confidence": 0.62
333
+ }
334
+ ],
335
+ "functional_labels": [
336
+ "provide writing pages",
337
+ "store notes",
338
+ "define page thickness",
339
+ "enable page turning",
340
+ "indicate notebook opening side"
341
+ ],
342
+ "semantic_description": "Exposed light beige paper page block with a matte dry smooth texture, appearing as a medium-thick layered edge band along one side of the closed notebook.",
343
+ "id": 1,
344
+ "grasp_group": {}
345
+ }
346
+ ],
347
+ "quality_check": {
348
+ "success": true,
349
+ "message": "YES"
350
+ }
351
+ }
dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cf4e0cabf48f01e3aace3418022608d0352093c2199b3469d684a18fb52b64a4
3
+ size 1897744