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
c2c963c
·
verified ·
1 Parent(s): 5fd691e

Add asset desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/affordance/affordance_annot.json +246 -0
  3. dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/sticky_notes_014.urdf +1 -0
.gitattributes CHANGED
@@ -6577,4 +6577,4 @@ dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordanc
6577
  dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6578
  dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6579
  dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6580
- dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6577
  dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6578
  dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6579
  dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6580
+ dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,246 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sticky note pad",
5
+ "mask_color": "Lime Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pad from the sides to pick it up and relocate it",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "pinch the pad near an edge to stabilize it while dispensing a note",
14
+ "confidence": 0.77
15
+ },
16
+ {
17
+ "scenario": "grasp the stack to align or place it on a surface",
18
+ "confidence": 0.83
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide writable note sheets",
23
+ "stack and store notes",
24
+ "dispense individual sheets",
25
+ "support temporary posting",
26
+ "main grasp surface"
27
+ ],
28
+ "semantic_description": "A small thick stack of pale off-white paper sheets with matte smooth surfaces, crisp rectangular shape, and a yellowish adhesive band visible along one edge of the pad.",
29
+ "id": 9,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9904214143753052,
33
+ "position": [
34
+ -0.022184756118804216,
35
+ -0.11428310358314775,
36
+ -0.00023254542611539364
37
+ ],
38
+ "orientation": {
39
+ "w": 0.47358373815030025,
40
+ "xyz": [
41
+ -0.5421866568895819,
42
+ -0.4593054484238247,
43
+ -0.5203754193836175
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9903698563575745,
49
+ "position": [
50
+ -0.0033084736205637455,
51
+ -0.11306529128341936,
52
+ -0.0022365060285665095
53
+ ],
54
+ "orientation": {
55
+ "w": 0.48474708022088253,
56
+ "xyz": [
57
+ -0.5193567331056388,
58
+ 0.48660813165520556,
59
+ 0.5084303081074117
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9900460839271545,
65
+ "position": [
66
+ -0.10893578128889203,
67
+ -0.036372296599438414,
68
+ -5.076476372778416e-05
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6875960456348181,
72
+ "xyz": [
73
+ -0.08296374263813752,
74
+ 0.7131376429220614,
75
+ 0.1084591982378665
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9898908138275146,
81
+ "position": [
82
+ 0.11369123263284564,
83
+ 0.025971192779252306,
84
+ 0.001425763824954629
85
+ ],
86
+ "orientation": {
87
+ "w": 0.061250777830997666,
88
+ "xyz": [
89
+ 0.7127270253425461,
90
+ 0.03475944313612478,
91
+ -0.6978970630933549
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9897159934043884,
97
+ "position": [
98
+ 0.10132627142593265,
99
+ 0.06318027144880034,
100
+ 0.0019681251142174006
101
+ ],
102
+ "orientation": {
103
+ "w": 0.17469365184661814,
104
+ "xyz": [
105
+ 0.6873139114765543,
106
+ 0.2013597070800166,
107
+ -0.6756744655971112
108
+ ]
109
+ }
110
+ },
111
+ "grasp_8": {
112
+ "confidence": 0.9891869425773621,
113
+ "position": [
114
+ 0.11339451326057315,
115
+ -0.0022301027493085712,
116
+ -0.0032450410653837025
117
+ ],
118
+ "orientation": {
119
+ "w": 0.0009653129349962371,
120
+ "xyz": [
121
+ -0.698585769746056,
122
+ 0.000128551601800031,
123
+ 0.7155256626800567
124
+ ]
125
+ }
126
+ },
127
+ "grasp_9": {
128
+ "confidence": 0.9891085624694824,
129
+ "position": [
130
+ -0.006065837573260069,
131
+ -0.10809757941751741,
132
+ 0.0029317287262529135
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4873887650475095,
136
+ "xyz": [
137
+ -0.5122835544862406,
138
+ 0.501165610121796,
139
+ 0.49884945899505095
140
+ ]
141
+ }
142
+ },
143
+ "grasp_11": {
144
+ "confidence": 0.9888549447059631,
145
+ "position": [
146
+ -0.11262507038190961,
147
+ -0.012784095568349585,
148
+ -0.0012657068436965346
149
+ ],
150
+ "orientation": {
151
+ "w": 0.697525268312952,
152
+ "xyz": [
153
+ 0.005530649906155021,
154
+ 0.7158467415208635,
155
+ 0.031485784578469345
156
+ ]
157
+ }
158
+ },
159
+ "grasp_12": {
160
+ "confidence": 0.9888426065444946,
161
+ "position": [
162
+ -0.10034569399431348,
163
+ -0.06257343673496507,
164
+ -0.0010341283632442355
165
+ ],
166
+ "orientation": {
167
+ "w": 0.18016289031976723,
168
+ "xyz": [
169
+ -0.6795739704297441,
170
+ -0.17330208843013573,
171
+ -0.689700614623283
172
+ ]
173
+ }
174
+ },
175
+ "grasp_14": {
176
+ "confidence": 0.9888172149658203,
177
+ "position": [
178
+ -0.09956557350233197,
179
+ -0.06064340108423494,
180
+ -0.0008340183412656188
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6849396074038038,
184
+ "xyz": [
185
+ -0.17743918105025042,
186
+ 0.6824178146499111,
187
+ 0.18351838459995942
188
+ ]
189
+ }
190
+ },
191
+ "grasp_16": {
192
+ "confidence": 0.9887744188308716,
193
+ "position": [
194
+ -0.09999753581359982,
195
+ -0.06251507633714937,
196
+ -0.003010341984918341
197
+ ],
198
+ "orientation": {
199
+ "w": 0.1761917697459685,
200
+ "xyz": [
201
+ -0.6748966465998126,
202
+ -0.1727497423615887,
203
+ -0.6954340394286982
204
+ ]
205
+ }
206
+ },
207
+ "grasp_17": {
208
+ "confidence": 0.9887505173683167,
209
+ "position": [
210
+ -0.0594191406853497,
211
+ -0.1016559787967708,
212
+ -0.001909650512970984
213
+ ],
214
+ "orientation": {
215
+ "w": 0.3488862857044544,
216
+ "xyz": [
217
+ -0.6106170330539845,
218
+ -0.3465021932924085,
219
+ -0.6207748614717327
220
+ ]
221
+ }
222
+ },
223
+ "grasp_19": {
224
+ "confidence": 0.9886670112609863,
225
+ "position": [
226
+ -0.008761912118643522,
227
+ -0.11425215387134813,
228
+ -0.0012063323520123959
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5322862516750263,
232
+ "xyz": [
233
+ -0.5045626186007889,
234
+ 0.47684928013503947,
235
+ 0.4844612205565682
236
+ ]
237
+ }
238
+ }
239
+ }
240
+ }
241
+ ],
242
+ "quality_check": {
243
+ "success": true,
244
+ "message": "YES"
245
+ }
246
+ }
dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff9eb5b79d618036bbf0c2c44a82e6d7234b575d1703ad9aaedc60c00c4d5ab8
3
+ size 3777016
dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/sticky_notes_014.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>