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
bfbed8b
·
verified ·
1 Parent(s): 38c8472

Add asset desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/affordance_annot.json +417 -0
  3. dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6503,4 +6503,4 @@ dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/affo
6503
  dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6504
  dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6505
  dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6506
- dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6503
  dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6504
  dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6505
  dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6506
+ dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/affordance_annot.json ADDED
@@ -0,0 +1,417 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "barrel",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the barrel to pick up and move the marker",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the barrel to orient the marker during use or placement",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "stabilize the barrel while pulling the cap off",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain ink reservoir",
24
+ "support writing assembly",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Long cylindrical white plastic body with a smooth slightly glossy hard surface, medium-sized and central, printed with black branding text and serving as the main marker housing.",
28
+ "id": 7,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "cap",
33
+ "mask_color": "Blue",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "grasp the cap to pull it off and expose the writing tip",
38
+ "confidence": 0.94
39
+ },
40
+ {
41
+ "scenario": "grasp the cap to place it back on and seal the marker",
42
+ "confidence": 0.91
43
+ },
44
+ {
45
+ "scenario": "hold the capped end to reposition the marker",
46
+ "confidence": 0.68
47
+ }
48
+ ],
49
+ "functional_labels": [
50
+ "cover the writing tip",
51
+ "seal against drying",
52
+ "protect tip during storage",
53
+ "provide a pull-off handle"
54
+ ],
55
+ "semantic_description": "Blue plastic cap with a smooth semi-gloss hard finish, cylindrical with rounded edges, fitted over one end of the marker and slightly thicker than the barrel.",
56
+ "id": 2,
57
+ "grasp_group": {
58
+ "grasp_0": {
59
+ "confidence": 0.987069845199585,
60
+ "position": [
61
+ 0.0840547190309735,
62
+ -0.03132729104254395,
63
+ 0.005190005642361939
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6535361095459745,
67
+ "xyz": [
68
+ -0.1668198600627493,
69
+ -0.7065889164258553,
70
+ -0.21399483870479896
71
+ ]
72
+ }
73
+ },
74
+ "grasp_1": {
75
+ "confidence": 0.9862650036811829,
76
+ "position": [
77
+ 0.0948562355042668,
78
+ 0.037370213656686246,
79
+ 0.008894573547877371
80
+ ],
81
+ "orientation": {
82
+ "w": 0.6671820616252581,
83
+ "xyz": [
84
+ 0.0806598241873205,
85
+ -0.736935596584756,
86
+ 0.07271874513363788
87
+ ]
88
+ }
89
+ },
90
+ "grasp_2": {
91
+ "confidence": 0.98548823595047,
92
+ "position": [
93
+ 0.09733456683170516,
94
+ 0.012630012235604227,
95
+ 0.0066043377155438066
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6783334849783583,
99
+ "xyz": [
100
+ 0.0031599704016990852,
101
+ -0.734460474079624,
102
+ -0.020530702835268456
103
+ ]
104
+ }
105
+ },
106
+ "grasp_3": {
107
+ "confidence": 0.9849315881729126,
108
+ "position": [
109
+ 0.07819428604852874,
110
+ -0.034342824132181704,
111
+ 0.03173675446305424
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5227924599930814,
115
+ "xyz": [
116
+ -0.1416077677408845,
117
+ -0.8036136817475426,
118
+ -0.24665833535071413
119
+ ]
120
+ }
121
+ },
122
+ "grasp_4": {
123
+ "confidence": 0.983628511428833,
124
+ "position": [
125
+ 0.0952178717852803,
126
+ 0.04488583782222122,
127
+ -0.007917915820144117
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7274955892554843,
131
+ "xyz": [
132
+ 0.09241962059888263,
133
+ -0.6749181055716659,
134
+ 0.0818188982676235
135
+ ]
136
+ }
137
+ },
138
+ "grasp_5": {
139
+ "confidence": 0.983184278011322,
140
+ "position": [
141
+ 0.0829972506762715,
142
+ 0.08776376897003502,
143
+ 0.017938778386451304
144
+ ],
145
+ "orientation": {
146
+ "w": 0.18841404326889452,
147
+ "xyz": [
148
+ 0.7452068016615062,
149
+ 0.19746280947195505,
150
+ -0.6084204220207751
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.9791193604469299,
156
+ "position": [
157
+ 0.08302261990320403,
158
+ 0.0733343263855204,
159
+ -0.005796063109301031
160
+ ],
161
+ "orientation": {
162
+ "w": 0.19353439320897536,
163
+ "xyz": [
164
+ 0.6525366644039101,
165
+ 0.21153969576216336,
166
+ -0.701420913126137
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.9787287712097168,
172
+ "position": [
173
+ -0.0854650928376941,
174
+ -0.02575969009194523,
175
+ -0.005297008785419166
176
+ ],
177
+ "orientation": {
178
+ "w": 0.15884722503394347,
179
+ "xyz": [
180
+ -0.6576340129884749,
181
+ -0.19271140696789357,
182
+ -0.7107372071899325
183
+ ]
184
+ }
185
+ },
186
+ "grasp_11": {
187
+ "confidence": 0.9768679141998291,
188
+ "position": [
189
+ -0.014753962561371736,
190
+ 0.022929824306629598,
191
+ 0.09626122994814068
192
+ ],
193
+ "orientation": {
194
+ "w": 0.08488021588796431,
195
+ "xyz": [
196
+ 0.006722511962947267,
197
+ 0.9956721947587258,
198
+ -0.037242950582128086
199
+ ]
200
+ }
201
+ },
202
+ "grasp_12": {
203
+ "confidence": 0.9766783118247986,
204
+ "position": [
205
+ 0.05903253641736228,
206
+ 0.09214035922195762,
207
+ 0.05965445248875767
208
+ ],
209
+ "orientation": {
210
+ "w": 0.36013555558065835,
211
+ "xyz": [
212
+ 0.08869953510770391,
213
+ -0.8893943093571723,
214
+ 0.2672312417389975
215
+ ]
216
+ }
217
+ },
218
+ "grasp_14": {
219
+ "confidence": 0.9757212996482849,
220
+ "position": [
221
+ -0.08510753947484773,
222
+ 0.07158515357878059,
223
+ -0.0019367485074326396
224
+ ],
225
+ "orientation": {
226
+ "w": 0.6903426683660681,
227
+ "xyz": [
228
+ 0.198737953966139,
229
+ 0.6756221202736217,
230
+ -0.16572560599842795
231
+ ]
232
+ }
233
+ },
234
+ "grasp_16": {
235
+ "confidence": 0.9742882251739502,
236
+ "position": [
237
+ -0.05151083382952493,
238
+ 0.016825390397571027,
239
+ 0.0848165942588821
240
+ ],
241
+ "orientation": {
242
+ "w": 0.27186648819927683,
243
+ "xyz": [
244
+ 0.000654557897631642,
245
+ 0.9623138897343836,
246
+ -0.006337331649138672
247
+ ]
248
+ }
249
+ },
250
+ "grasp_18": {
251
+ "confidence": 0.9718287587165833,
252
+ "position": [
253
+ 0.08047427546989638,
254
+ 0.09448827558662742,
255
+ -0.006616117316298187
256
+ ],
257
+ "orientation": {
258
+ "w": 0.20386893743867934,
259
+ "xyz": [
260
+ 0.65202510187285,
261
+ 0.21246401659101222,
262
+ -0.6986843096344281
263
+ ]
264
+ }
265
+ },
266
+ "grasp_19": {
267
+ "confidence": 0.9708643555641174,
268
+ "position": [
269
+ -0.08269641238439362,
270
+ 0.0838653048267588,
271
+ 6.220409613888478e-05
272
+ ],
273
+ "orientation": {
274
+ "w": 0.6770626822035153,
275
+ "xyz": [
276
+ 0.20129585086014987,
277
+ 0.6823005682894909,
278
+ -0.1884994411283702
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ },
284
+ {
285
+ "part_name": "cap end plug",
286
+ "mask_color": "Orange",
287
+ "graspable": false,
288
+ "grasp_scenarios": [],
289
+ "functional_labels": [
290
+ "close the cap end",
291
+ "provide end stop",
292
+ "finish cap assembly"
293
+ ],
294
+ "semantic_description": "Small blue plastic end piece at the outer tip of the blue cap, hard and smooth with a rounded circular face, forming the cap's terminal closure.",
295
+ "id": 4,
296
+ "grasp_group": {}
297
+ },
298
+ {
299
+ "part_name": "writing tip",
300
+ "mask_color": "Green",
301
+ "graspable": false,
302
+ "grasp_scenarios": [],
303
+ "functional_labels": [
304
+ "apply ink to a surface",
305
+ "form the writing contact point",
306
+ "indicate ink color"
307
+ ],
308
+ "semantic_description": "Small blue felt or porous writing tip visible at the uncapped end of the white barrel, rounded and slightly protruding from the end, located opposite the cap.",
309
+ "id": 1,
310
+ "grasp_group": {}
311
+ },
312
+ {
313
+ "part_name": "pocket clip",
314
+ "mask_color": "Yellow",
315
+ "graspable": true,
316
+ "grasp_scenarios": [
317
+ {
318
+ "scenario": "delicately grasp the clip area to pull the marker from a pocket or holder",
319
+ "confidence": 0.42
320
+ },
321
+ {
322
+ "scenario": "pinch near the clip to help stabilize the marker while uncapping",
323
+ "confidence": 0.34
324
+ }
325
+ ],
326
+ "functional_labels": [
327
+ "clip to pocket",
328
+ "retain marker in holder",
329
+ "provide orientation cue"
330
+ ],
331
+ "semantic_description": "Narrow dark blue to black plastic clip attached along the cap side, slightly curved with a smooth hard surface, projecting outward as a slim retention feature.",
332
+ "id": 3,
333
+ "grasp_group": {
334
+ "grasp_20": {
335
+ "confidence": 0.8848499059677124,
336
+ "position": [
337
+ -0.014598323657992296,
338
+ 0.1397732844343409,
339
+ 0.008428088971413672
340
+ ],
341
+ "orientation": {
342
+ "w": 0.5137189535300487,
343
+ "xyz": [
344
+ 0.5168191114746419,
345
+ 0.5208408231050857,
346
+ -0.444652313370537
347
+ ]
348
+ }
349
+ },
350
+ "grasp_21": {
351
+ "confidence": 0.9237627387046814,
352
+ "position": [
353
+ -0.06206632840621751,
354
+ 0.1172503208508715,
355
+ -0.0012693851022049785
356
+ ],
357
+ "orientation": {
358
+ "w": 0.6316604257060758,
359
+ "xyz": [
360
+ 0.3717938661748663,
361
+ 0.6050128784774298,
362
+ -0.3110206497131978
363
+ ]
364
+ }
365
+ },
366
+ "grasp_26": {
367
+ "confidence": 0.9195278286933899,
368
+ "position": [
369
+ -0.06112174007284921,
370
+ 0.12017838412430137,
371
+ -0.006371263763867319
372
+ ],
373
+ "orientation": {
374
+ "w": 0.6510707324624359,
375
+ "xyz": [
376
+ 0.37519440215782474,
377
+ 0.5811703802787775,
378
+ -0.3123732559085065
379
+ ]
380
+ }
381
+ }
382
+ }
383
+ },
384
+ {
385
+ "part_name": "logo mark",
386
+ "mask_color": "Cyan",
387
+ "graspable": false,
388
+ "grasp_scenarios": [],
389
+ "functional_labels": [
390
+ "brand identification",
391
+ "visual marking",
392
+ "indicate model area"
393
+ ],
394
+ "semantic_description": "Small printed black logo element on the white barrel, flat and smooth as part of the surface graphics, located near the center-side branding area.",
395
+ "id": 6,
396
+ "grasp_group": {}
397
+ },
398
+ {
399
+ "part_name": "printed text",
400
+ "mask_color": "Purple",
401
+ "graspable": false,
402
+ "grasp_scenarios": [],
403
+ "functional_labels": [
404
+ "display branding",
405
+ "show product information",
406
+ "provide visual identification"
407
+ ],
408
+ "semantic_description": "Small black printed lettering on the white barrel, flat and smooth with no raised texture, positioned along the side as product and brand markings.",
409
+ "id": 5,
410
+ "grasp_group": {}
411
+ }
412
+ ],
413
+ "quality_check": {
414
+ "success": false,
415
+ "message": "Writing tip is not visible; green mask marks rear end plug. Several text/logo masks are inaccurate."
416
+ }
417
+ }
dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bda35591809371a65bdae5666db500ca49a6e0d16b0cf33d2878627ee572f2b0
3
+ size 3784152