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
d795278
·
verified ·
1 Parent(s): 2a06f09

Add asset desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/affordance_annot.json +397 -0
  3. dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6666,3 +6666,4 @@ dataset/desktop_supplies/office_tools/d6e8df246b4d58c7b5eaaeacccaef76c/affordanc
6666
  dataset/desktop_supplies/office_tools/d96ffbd0686c54f1af2940efd3e620a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6667
  dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6668
  dataset/desktop_supplies/office_tools/dae8caed57e75202b64be22e18b7db84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6666
  dataset/desktop_supplies/office_tools/d96ffbd0686c54f1af2940efd3e620a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6667
  dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6668
  dataset/desktop_supplies/office_tools/dae8caed57e75202b64be22e18b7db84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6669
+ dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/affordance_annot.json ADDED
@@ -0,0 +1,397 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and control the utility knife",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle while extending or retracting the blade",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the tool during cutting",
18
+ "confidence": 0.95
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "support tool control",
24
+ "house internal blade track",
25
+ "stabilize during cutting",
26
+ "protect hand from blade body"
27
+ ],
28
+ "semantic_description": "Long light gray to silver metal handle forming the main body of the utility knife, with a smooth satin finish, rounded rectangular profile, elongated slot on one side, and ribbed grooves near the front underside.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_5": {
32
+ "confidence": 0.8838522434234619,
33
+ "position": [
34
+ -0.010102677319082431,
35
+ -0.11335345823317766,
36
+ -0.0015936649142531678
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5256474606560037,
40
+ "xyz": [
41
+ -0.4963485577388573,
42
+ 0.5039626822014109,
43
+ 0.47260392643820776
44
+ ]
45
+ }
46
+ },
47
+ "grasp_8": {
48
+ "confidence": 0.8586239218711853,
49
+ "position": [
50
+ -0.006017064835759811,
51
+ -0.12884859461337328,
52
+ -0.0039653439744142815
53
+ ],
54
+ "orientation": {
55
+ "w": 0.42512803916684866,
56
+ "xyz": [
57
+ -0.41372080509966547,
58
+ -0.5534602461302236,
59
+ -0.5846221016137757
60
+ ]
61
+ }
62
+ },
63
+ "grasp_9": {
64
+ "confidence": 0.8184473514556885,
65
+ "position": [
66
+ 0.006589467011508532,
67
+ -0.11459837574511766,
68
+ -0.0013337531563593075
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5046673908314075,
72
+ "xyz": [
73
+ -0.49967110116343194,
74
+ 0.4930507907928472,
75
+ 0.5025341112721513
76
+ ]
77
+ }
78
+ },
79
+ "grasp_10": {
80
+ "confidence": 0.8039517402648926,
81
+ "position": [
82
+ 0.085574148062733,
83
+ 0.01627268921583891,
84
+ -0.00943802080291789
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7257524176869583,
88
+ "xyz": [
89
+ 0.1851864488038233,
90
+ -0.6337762886064998,
91
+ 0.193176146045867
92
+ ]
93
+ }
94
+ },
95
+ "grasp_12": {
96
+ "confidence": 0.7758886218070984,
97
+ "position": [
98
+ 0.013234869416919537,
99
+ -0.1253104479983449,
100
+ 0.0026633009110810235
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4904193815217125,
104
+ "xyz": [
105
+ -0.5324321963956031,
106
+ 0.4730038043121686,
107
+ 0.5022670480684855
108
+ ]
109
+ }
110
+ },
111
+ "grasp_14": {
112
+ "confidence": 0.7572934031486511,
113
+ "position": [
114
+ -0.005513277996215038,
115
+ -0.11318060476332903,
116
+ -0.0008832114253891632
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7152795576050013,
120
+ "xyz": [
121
+ -0.6968259332462595,
122
+ -0.03440353624708681,
123
+ -0.04031339630406432
124
+ ]
125
+ }
126
+ },
127
+ "grasp_17": {
128
+ "confidence": 0.7495424747467041,
129
+ "position": [
130
+ 0.009598571647075005,
131
+ -0.12694826442748308,
132
+ -0.005664047479513101
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5163036264248242,
136
+ "xyz": [
137
+ -0.5171653500565483,
138
+ 0.4719785221012941,
139
+ 0.4931600558809901
140
+ ]
141
+ }
142
+ }
143
+ }
144
+ },
145
+ {
146
+ "part_name": "blade",
147
+ "mask_color": "Blue",
148
+ "graspable": false,
149
+ "grasp_scenarios": [],
150
+ "functional_labels": [
151
+ "cut materials",
152
+ "score surfaces",
153
+ "pierce thin material",
154
+ "provide sharp working edge"
155
+ ],
156
+ "semantic_description": "Short silver metal utility blade with a reflective finish, thin flat shape, exposed at the front of the knife, with visible angled tip and segmented snap-off lines.",
157
+ "id": 2,
158
+ "grasp_group": {}
159
+ },
160
+ {
161
+ "part_name": "blade slider",
162
+ "mask_color": "Orange",
163
+ "graspable": true,
164
+ "grasp_scenarios": [
165
+ {
166
+ "scenario": "pinch or press the slider to extend the blade",
167
+ "confidence": 0.87
168
+ },
169
+ {
170
+ "scenario": "pinch or press the slider to retract the blade",
171
+ "confidence": 0.89
172
+ },
173
+ {
174
+ "scenario": "hold the slider briefly to adjust blade position",
175
+ "confidence": 0.78
176
+ }
177
+ ],
178
+ "functional_labels": [
179
+ "extend blade",
180
+ "retract blade",
181
+ "adjust blade exposure",
182
+ "lock cutting position"
183
+ ],
184
+ "semantic_description": "Small light gray metal slider tab with a smooth finish and slightly raised elongated shape, positioned within the long slot on the handle for thumb operation.",
185
+ "id": 4,
186
+ "grasp_group": {
187
+ "grasp_20": {
188
+ "confidence": 0.8945441246032715,
189
+ "position": [
190
+ -0.0011472508049337193,
191
+ -0.11958293337374926,
192
+ -0.0034098840988008305
193
+ ],
194
+ "orientation": {
195
+ "w": 0.5173392245689574,
196
+ "xyz": [
197
+ -0.49948966192380667,
198
+ 0.49009869190142263,
199
+ 0.49261899735002695
200
+ ]
201
+ }
202
+ },
203
+ "grasp_21": {
204
+ "confidence": 0.8870006203651428,
205
+ "position": [
206
+ -0.0029343608039198443,
207
+ -0.1185062499716878,
208
+ 0.0007174057682277635
209
+ ],
210
+ "orientation": {
211
+ "w": 0.5259255011494637,
212
+ "xyz": [
213
+ -0.5032732635809963,
214
+ 0.49539971712273434,
215
+ 0.4740226889927667
216
+ ]
217
+ }
218
+ },
219
+ "grasp_23": {
220
+ "confidence": 0.8815369009971619,
221
+ "position": [
222
+ -0.00223527655180078,
223
+ -0.1176527114585042,
224
+ 0.0015369958273367956
225
+ ],
226
+ "orientation": {
227
+ "w": 0.5164587573915836,
228
+ "xyz": [
229
+ -0.49869164851775755,
230
+ 0.5014572048885756,
231
+ 0.48282260021411594
232
+ ]
233
+ }
234
+ },
235
+ "grasp_26": {
236
+ "confidence": 0.8477449417114258,
237
+ "position": [
238
+ -0.0008236288995249197,
239
+ -0.11768877226859331,
240
+ -0.005975902240606956
241
+ ],
242
+ "orientation": {
243
+ "w": 0.5580545567386462,
244
+ "xyz": [
245
+ -0.5229822450756868,
246
+ -0.4354885437441659,
247
+ -0.47477827594195265
248
+ ]
249
+ }
250
+ },
251
+ "grasp_27": {
252
+ "confidence": 0.8272756338119507,
253
+ "position": [
254
+ 0.00497691503551323,
255
+ -0.11994099337607622,
256
+ -0.0016007502999855205
257
+ ],
258
+ "orientation": {
259
+ "w": 0.5020417326858541,
260
+ "xyz": [
261
+ -0.4802445525679896,
262
+ -0.5049639485276168,
263
+ -0.5121822713233591
264
+ ]
265
+ }
266
+ },
267
+ "grasp_29": {
268
+ "confidence": 0.8604440689086914,
269
+ "position": [
270
+ 0.001465891909901984,
271
+ -0.12252285797148943,
272
+ 0.0006521264585899189
273
+ ],
274
+ "orientation": {
275
+ "w": 0.5140882817387449,
276
+ "xyz": [
277
+ -0.5057151342069841,
278
+ 0.49308513034139734,
279
+ 0.4866543905577392
280
+ ]
281
+ }
282
+ },
283
+ "grasp_31": {
284
+ "confidence": 0.9041296243667603,
285
+ "position": [
286
+ -0.004366607565316372,
287
+ -0.12290619034320116,
288
+ -0.002111367808538489
289
+ ],
290
+ "orientation": {
291
+ "w": 0.5252470932924205,
292
+ "xyz": [
293
+ -0.4986121439606478,
294
+ 0.4931870921000514,
295
+ 0.48194181502410055
296
+ ]
297
+ }
298
+ },
299
+ "grasp_35": {
300
+ "confidence": 0.8835369348526001,
301
+ "position": [
302
+ -0.0010477145406184718,
303
+ -0.12476443964987993,
304
+ -0.0017544016445754096
305
+ ],
306
+ "orientation": {
307
+ "w": 0.5194523632903635,
308
+ "xyz": [
309
+ -0.5013179880574982,
310
+ 0.4927226116878417,
311
+ 0.4858744128409635
312
+ ]
313
+ }
314
+ },
315
+ "grasp_38": {
316
+ "confidence": 0.876205563545227,
317
+ "position": [
318
+ -0.00012100343155907467,
319
+ -0.12495037633925676,
320
+ -0.0004497030604397878
321
+ ],
322
+ "orientation": {
323
+ "w": 0.5250180939722752,
324
+ "xyz": [
325
+ -0.511958296720003,
326
+ 0.4846177975986964,
327
+ 0.47686506862199673
328
+ ]
329
+ }
330
+ },
331
+ "grasp_39": {
332
+ "confidence": 0.8747106194496155,
333
+ "position": [
334
+ -0.0009372646891279146,
335
+ -0.12273257691413164,
336
+ 0.0012015102693112567
337
+ ],
338
+ "orientation": {
339
+ "w": 0.45215288609928866,
340
+ "xyz": [
341
+ -0.45518186871770894,
342
+ -0.5364158707594611,
343
+ -0.5482930307601106
344
+ ]
345
+ }
346
+ }
347
+ }
348
+ },
349
+ {
350
+ "part_name": "blade carriage",
351
+ "mask_color": "Yellow",
352
+ "graspable": false,
353
+ "grasp_scenarios": [],
354
+ "functional_labels": [
355
+ "support blade",
356
+ "guide blade motion",
357
+ "connect slider to blade",
358
+ "position blade during extension"
359
+ ],
360
+ "semantic_description": "Narrow light gray metal sliding carriage section running along the center of the knife near the blade track, partially recessed in the handle and connecting the slider mechanism to the blade.",
361
+ "id": 3,
362
+ "grasp_group": {}
363
+ },
364
+ {
365
+ "part_name": "lanyard hole ring",
366
+ "mask_color": "Red",
367
+ "graspable": false,
368
+ "grasp_scenarios": [],
369
+ "functional_labels": [
370
+ "reinforce lanyard hole area",
371
+ "protect handle end opening",
372
+ "finish rear handle detail"
373
+ ],
374
+ "semantic_description": "Small circular ring detail around the lanyard hole at the rounded rear of the handle, appearing the same light gray metallic color as the rest of the knife rather than a separate colored cap.",
375
+ "id": 0,
376
+ "grasp_group": {}
377
+ },
378
+ {
379
+ "part_name": "side rail",
380
+ "mask_color": "Magenta",
381
+ "graspable": false,
382
+ "grasp_scenarios": [],
383
+ "functional_labels": [
384
+ "guide slider path",
385
+ "cover internal mechanism",
386
+ "reinforce handle side"
387
+ ],
388
+ "semantic_description": "Thin light gray narrow strip along the edge of the handle slot, appearing as a slim elongated guide or rail adjacent to the slider path.",
389
+ "id": 7,
390
+ "grasp_group": {}
391
+ }
392
+ ],
393
+ "quality_check": {
394
+ "success": false,
395
+ "message": "Several part identities are too speculative: yellow is blade body, not carriage; magenta is not a side rail; red is hole, not ring."
396
+ }
397
+ }
dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d4a8e30715eccfd56b5086b891cb130c335e29a67f9c166abbac68502b6faaf
3
+ size 3791384