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
e63e925
·
verified ·
1 Parent(s): 32bd2a9

Add asset desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/affordance_annot.json +402 -0
  3. dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.urdf +1 -0
.gitattributes CHANGED
@@ -6373,3 +6373,4 @@ dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affo
6373
  dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6374
  dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6375
  dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6373
  dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6374
  dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6375
  dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6376
+ dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/affordance_annot.json ADDED
@@ -0,0 +1,402 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sharpener body housing",
5
+ "mask_color": "Brown",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing from the sides to pick up and relocate the sharpener",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "hold the housing steady while turning the side crank",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the housing to reposition the sharpener on a desk",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main housing",
23
+ "support internal sharpening mechanism",
24
+ "provide grasp surface",
25
+ "stabilize during operation"
26
+ ],
27
+ "semantic_description": "The main body is a compact, rounded trapezoidal housing, mostly dark blue plastic with a smooth semi-gloss finish, a black base trim, and red printed lettering on the side. It forms the bulk of the sharpener and excludes the front white cutter face, lavender shavings bin, and side crank.",
28
+ "id": 11,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9833250045776367,
32
+ "position": [
33
+ -0.001878140668850392,
34
+ 0.009694670792669058,
35
+ 0.12150933314114809
36
+ ],
37
+ "orientation": {
38
+ "w": 0.003598280647034612,
39
+ "xyz": [
40
+ 0.001382593865633667,
41
+ 0.9999414163753872,
42
+ -0.01011457501688776
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9829447865486145,
48
+ "position": [
49
+ 0.0015710200532339513,
50
+ 0.010696763638406992,
51
+ 0.12264119554311037
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0031890377565857607,
55
+ "xyz": [
56
+ -0.0031614607186022316,
57
+ 0.9999894870958748,
58
+ -0.0009278480692416207
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9827445149421692,
64
+ "position": [
65
+ 0.0013432661653496325,
66
+ 0.0067555890418589115,
67
+ 0.12328966427594423
68
+ ],
69
+ "orientation": {
70
+ "w": 0.002649498656794137,
71
+ "xyz": [
72
+ 0.0030376015357393127,
73
+ 0.9999910474376048,
74
+ -0.0012877027682158947
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9826521873474121,
80
+ "position": [
81
+ -0.0004165219725109637,
82
+ 0.012290960643440485,
83
+ 0.12066948879510164
84
+ ],
85
+ "orientation": {
86
+ "w": 0.005517053593630423,
87
+ "xyz": [
88
+ -0.0017654775141866049,
89
+ 0.9999809745483996,
90
+ -0.002120318378201662
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.982554018497467,
96
+ "position": [
97
+ -0.004636241297703236,
98
+ 0.0032380041666328907,
99
+ 0.12349220085889101
100
+ ],
101
+ "orientation": {
102
+ "w": 0.02211076321677437,
103
+ "xyz": [
104
+ -0.00961288397203256,
105
+ 0.9997064009016641,
106
+ 0.002412179088104699
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9821354150772095,
112
+ "position": [
113
+ -0.0012769405147992074,
114
+ 0.0073457020334899426,
115
+ 0.12153423298150301
116
+ ],
117
+ "orientation": {
118
+ "w": 0.008877474792855443,
119
+ "xyz": [
120
+ 0.009737411708311838,
121
+ 0.9998706155317825,
122
+ -0.00922634546392647
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.98201984167099,
128
+ "position": [
129
+ 0.000800750318376231,
130
+ 0.005668999161571264,
131
+ 0.12370381224900484
132
+ ],
133
+ "orientation": {
134
+ "w": 0.006027857238342093,
135
+ "xyz": [
136
+ 0.0052963699789948795,
137
+ 0.9998998605690702,
138
+ -0.0116568536112448
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.98184734582901,
144
+ "position": [
145
+ 0.0015052888775244355,
146
+ 0.00627635233104229,
147
+ 0.12411830294877291
148
+ ],
149
+ "orientation": {
150
+ "w": 0.0050064869865126,
151
+ "xyz": [
152
+ 0.004494208917353505,
153
+ 0.9999761853155149,
154
+ -0.001538172971638965
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9815605878829956,
160
+ "position": [
161
+ -0.004279746382962912,
162
+ 0.016871757339686155,
163
+ 0.12119181919842958
164
+ ],
165
+ "orientation": {
166
+ "w": 0.008763395968213539,
167
+ "xyz": [
168
+ 0.0010180060987929386,
169
+ 0.9998753068761492,
170
+ -0.013097223141312042
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9815050959587097,
176
+ "position": [
177
+ -0.008413815114181489,
178
+ 0.0021602066699415445,
179
+ 0.12308857310563326
180
+ ],
181
+ "orientation": {
182
+ "w": 0.030393763556074087,
183
+ "xyz": [
184
+ 0.001367153461228566,
185
+ 0.9995037344633277,
186
+ -0.008163015507296426
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9813118577003479,
192
+ "position": [
193
+ -0.0011494166101329029,
194
+ 0.0007238348480314016,
195
+ 0.12446777988225222
196
+ ],
197
+ "orientation": {
198
+ "w": 0.007613064432498443,
199
+ "xyz": [
200
+ -0.002977578501110995,
201
+ 0.9999665073795879,
202
+ -0.00039924339055407506
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9810386300086975,
208
+ "position": [
209
+ 0.0041066769626922905,
210
+ 0.009296357166022062,
211
+ 0.12285192776471376
212
+ ],
213
+ "orientation": {
214
+ "w": 0.0003697117226340254,
215
+ "xyz": [
216
+ 0.014595349720100709,
217
+ 0.9997646862292412,
218
+ -0.016044040910481297
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.980995237827301,
224
+ "position": [
225
+ -0.006872146565001458,
226
+ 0.00306518143042922,
227
+ 0.12483318615704775
228
+ ],
229
+ "orientation": {
230
+ "w": 0.029270474821800736,
231
+ "xyz": [
232
+ -0.012604851998034731,
233
+ 0.9994776840214212,
234
+ 0.00535874546795535
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9808669686317444,
240
+ "position": [
241
+ -0.0013443873613141477,
242
+ 0.009965373668819666,
243
+ 0.12474628258496523
244
+ ],
245
+ "orientation": {
246
+ "w": 0.011034816803411313,
247
+ "xyz": [
248
+ 0.02027647931609444,
249
+ 0.9995544306049031,
250
+ -0.01892187788691937
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9808493256568909,
256
+ "position": [
257
+ -0.0056143958936445415,
258
+ 0.013585522305220366,
259
+ 0.11936850566416979
260
+ ],
261
+ "orientation": {
262
+ "w": 0.022554708337357298,
263
+ "xyz": [
264
+ 0.0112735006189243,
265
+ 0.9992960001957114,
266
+ -0.02777944039148448
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.9802789688110352,
272
+ "position": [
273
+ 0.003848928085062653,
274
+ 0.017636920791119337,
275
+ 0.12230191100388765
276
+ ],
277
+ "orientation": {
278
+ "w": 2.3527942730617075e-05,
279
+ "xyz": [
280
+ 0.0015326035409509277,
281
+ -0.9999850497772121,
282
+ -0.0052488851090405925
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9802340865135193,
288
+ "position": [
289
+ 0.005440309003461152,
290
+ 0.029685573186725378,
291
+ 0.1237928019836545
292
+ ],
293
+ "orientation": {
294
+ "w": 0.06325984627627315,
295
+ "xyz": [
296
+ 0.9977652625100097,
297
+ 0.014790777298036406,
298
+ -0.015617480089754566
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.9801771640777588,
304
+ "position": [
305
+ 0.005862172518391162,
306
+ 0.025009994860738516,
307
+ 0.12234861124306917
308
+ ],
309
+ "orientation": {
310
+ "w": 0.04469272010191727,
311
+ "xyz": [
312
+ 0.9988738935128129,
313
+ 0.007769337469886672,
314
+ -0.013897590572627107
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.979963481426239,
320
+ "position": [
321
+ -0.0012886905460618436,
322
+ 0.010890233796089888,
323
+ 0.12514047790318727
324
+ ],
325
+ "orientation": {
326
+ "w": 0.016844386413394648,
327
+ "xyz": [
328
+ -0.0047581365546805745,
329
+ 0.9998442720600461,
330
+ -0.002249091283177166
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.9798881411552429,
336
+ "position": [
337
+ 0.0033364755217917264,
338
+ 0.0009517271537333727,
339
+ 0.12433228362351656
340
+ ],
341
+ "orientation": {
342
+ "w": 0.0035831418203918644,
343
+ "xyz": [
344
+ -0.005768827982070839,
345
+ 0.9999670999206709,
346
+ 0.004436304165908281
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "side crank handle",
354
+ "mask_color": "Cyan",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the crank grip to rotate the sharpening mechanism",
359
+ "confidence": 0.97
360
+ },
361
+ {
362
+ "scenario": "hold the handle while sharpening a pencil",
363
+ "confidence": 0.95
364
+ },
365
+ {
366
+ "scenario": "lightly hold the crank assembly to make a small positional adjustment",
367
+ "confidence": 0.42
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "rotate sharpening mechanism",
372
+ "provide handhold for turning",
373
+ "transmit torque",
374
+ "enable pencil sharpening"
375
+ ],
376
+ "semantic_description": "The side crank assembly is mounted on the body and includes a ribbed dark knob near the body, a light-colored bent arm, and a short dark cylindrical grip at the outer end. It protrudes from the side and has mixed smooth and ridged textures.",
377
+ "id": 6,
378
+ "grasp_group": {
379
+ "grasp_16": {
380
+ "confidence": 0.725651741027832,
381
+ "position": [
382
+ 0.01649290305795148,
383
+ 0.13499857438728213,
384
+ 0.022741165943443775
385
+ ],
386
+ "orientation": {
387
+ "w": 0.6933278541625241,
388
+ "xyz": [
389
+ 0.7192451477889522,
390
+ -0.012665159629807632,
391
+ -0.042690722130106135
392
+ ]
393
+ }
394
+ }
395
+ }
396
+ }
397
+ ],
398
+ "quality_check": {
399
+ "success": true,
400
+ "message": "YES"
401
+ }
402
+ }
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb66857842a0e71fffd7603c838a4907e7d10336822052bbe2570c83000ae835
3
+ size 3903716
dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.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>NO: {"summary":"Most functional parts are merged into one body color; missing separations cannot be fixed by merging.","merge_groups":[]}</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>NO: {"summary":"Most functional parts are merged into one body color; missing separations cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>