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
1fd6187
·
verified ·
1 Parent(s): 2f3ac94

Add asset livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/affordance/affordance_annot.json +464 -0
  3. dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7711,4 +7711,4 @@ dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/affordanc
7711
  dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7712
  dataset/livingroom_supplies/ornaments/6bbb49a9d9045184ba92a5bc93171fa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7713
  dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7714
- dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7711
  dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7712
  dataset/livingroom_supplies/ornaments/6bbb49a9d9045184ba92a5bc93171fa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7713
  dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7714
+ dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,464 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top frame border",
5
+ "mask_color": "Teal",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top edge of the frame to pick up and reposition it",
10
+ "confidence": 0.89
11
+ },
12
+ {
13
+ "scenario": "hold the top border while placing the frame onto a surface",
14
+ "confidence": 0.82
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "surround the photo",
19
+ "provide structural support",
20
+ "protect the inner contents",
21
+ "main grasp surface"
22
+ ],
23
+ "semantic_description": "Medium-brown wooden top border with a smooth matte to satin finish, beveled rectangular profile, forming the upper outer edge of the frame.",
24
+ "id": 10,
25
+ "grasp_group": {
26
+ "grasp_43": {
27
+ "confidence": 0.8975696563720703,
28
+ "position": [
29
+ 0.013190588913857937,
30
+ 0.0217842630809173,
31
+ 0.19307952839881182
32
+ ],
33
+ "orientation": {
34
+ "w": 0.13849062613823604,
35
+ "xyz": [
36
+ 0.023059219481168135,
37
+ -0.9889476312834408,
38
+ -0.04765712378680276
39
+ ]
40
+ }
41
+ },
42
+ "grasp_44": {
43
+ "confidence": 0.8964276909828186,
44
+ "position": [
45
+ 0.009845797903835773,
46
+ 0.03715236147399992,
47
+ 0.18644766230136156
48
+ ],
49
+ "orientation": {
50
+ "w": 0.21694773123732314,
51
+ "xyz": [
52
+ 0.967358808217116,
53
+ 0.05997323931824339,
54
+ -0.11642091152974177
55
+ ]
56
+ }
57
+ },
58
+ "grasp_47": {
59
+ "confidence": 0.889667272567749,
60
+ "position": [
61
+ -0.021934076212346554,
62
+ 0.0031728263711556792,
63
+ 0.18855285365134478
64
+ ],
65
+ "orientation": {
66
+ "w": 0.20243955975038147,
67
+ "xyz": [
68
+ 0.978622535960526,
69
+ 0.01937027259514787,
70
+ 0.03067489686780809
71
+ ]
72
+ }
73
+ },
74
+ "grasp_49": {
75
+ "confidence": 0.8840228915214539,
76
+ "position": [
77
+ -0.022355380468070507,
78
+ -0.02427957730833441,
79
+ 0.19024635571986437
80
+ ],
81
+ "orientation": {
82
+ "w": 0.03126119399055098,
83
+ "xyz": [
84
+ -0.009874750845300031,
85
+ 0.9811434206789745,
86
+ 0.19048048483870875
87
+ ]
88
+ }
89
+ },
90
+ "grasp_50": {
91
+ "confidence": 0.8833832144737244,
92
+ "position": [
93
+ -0.023314441554248333,
94
+ 0.01903310266789049,
95
+ 0.1904824050143361
96
+ ],
97
+ "orientation": {
98
+ "w": 0.02335236436348833,
99
+ "xyz": [
100
+ 0.01889198589939262,
101
+ 0.9843111367761925,
102
+ -0.17386588499694852
103
+ ]
104
+ }
105
+ },
106
+ "grasp_52": {
107
+ "confidence": 0.8806174993515015,
108
+ "position": [
109
+ -0.02467541303485632,
110
+ 0.01652891596313566,
111
+ 0.1891049863770604
112
+ ],
113
+ "orientation": {
114
+ "w": 0.026657358183741344,
115
+ "xyz": [
116
+ 0.022756495494860272,
117
+ 0.9712113785762593,
118
+ -0.23562679238884765
119
+ ]
120
+ }
121
+ },
122
+ "grasp_53": {
123
+ "confidence": 0.8744385838508606,
124
+ "position": [
125
+ 0.0063058678060770035,
126
+ 0.05214243789669126,
127
+ 0.18985494691878557
128
+ ],
129
+ "orientation": {
130
+ "w": 0.10595098893377915,
131
+ "xyz": [
132
+ -0.0015539688998443342,
133
+ -0.9735919886834182,
134
+ 0.20221427421445515
135
+ ]
136
+ }
137
+ },
138
+ "grasp_54": {
139
+ "confidence": 0.8715267777442932,
140
+ "position": [
141
+ -0.006852008868008852,
142
+ 0.003954822546802461,
143
+ 0.18428505677729845
144
+ ],
145
+ "orientation": {
146
+ "w": 0.26092323007011575,
147
+ "xyz": [
148
+ 0.9648121773309604,
149
+ 0.019651287130058592,
150
+ -0.025891261031494125
151
+ ]
152
+ }
153
+ },
154
+ "grasp_57": {
155
+ "confidence": 0.8695014119148254,
156
+ "position": [
157
+ -0.02383748535066843,
158
+ 0.02902162482496351,
159
+ 0.18969155568629503
160
+ ],
161
+ "orientation": {
162
+ "w": 0.02703401012084237,
163
+ "xyz": [
164
+ 0.036100215584690384,
165
+ 0.9821885514212473,
166
+ -0.18240500593064163
167
+ ]
168
+ }
169
+ },
170
+ "grasp_59": {
171
+ "confidence": 0.8671383261680603,
172
+ "position": [
173
+ -0.024996747262775898,
174
+ -0.03818520496133715,
175
+ 0.19640153367072344
176
+ ],
177
+ "orientation": {
178
+ "w": 0.05871096570093527,
179
+ "xyz": [
180
+ 0.9946440936681862,
181
+ 0.06322955163024298,
182
+ 0.056904949152902465
183
+ ]
184
+ }
185
+ }
186
+ }
187
+ },
188
+ {
189
+ "part_name": "side frame borders",
190
+ "mask_color": "Pink",
191
+ "graspable": true,
192
+ "grasp_scenarios": [
193
+ {
194
+ "scenario": "grasp one side of the frame to lift or rotate it",
195
+ "confidence": 0.9
196
+ },
197
+ {
198
+ "scenario": "hold the side edges to stabilize the frame while adjusting the rear stand",
199
+ "confidence": 0.79
200
+ }
201
+ ],
202
+ "functional_labels": [
203
+ "surround the photo",
204
+ "provide structural support",
205
+ "protect the inner contents",
206
+ "main grasp surface"
207
+ ],
208
+ "semantic_description": "Medium-brown wooden left and right border pieces with a smooth matte to satin finish, beveled shape, running vertically along the sides of the frame.",
209
+ "id": 8,
210
+ "grasp_group": {
211
+ "grasp_34": {
212
+ "confidence": 0.83244389295578,
213
+ "position": [
214
+ 0.0049064503982663155,
215
+ 0.16140465473290533,
216
+ 0.028857038356363773
217
+ ],
218
+ "orientation": {
219
+ "w": 0.03628215569070302,
220
+ "xyz": [
221
+ -0.060070280497484294,
222
+ -0.5065972734662091,
223
+ 0.8593220403876487
224
+ ]
225
+ }
226
+ }
227
+ }
228
+ },
229
+ {
230
+ "part_name": "inner mat border",
231
+ "mask_color": "Gray",
232
+ "graspable": false,
233
+ "grasp_scenarios": [],
234
+ "functional_labels": [
235
+ "border the picture opening",
236
+ "visually separate photo from frame",
237
+ "help retain the displayed image"
238
+ ],
239
+ "semantic_description": "Narrow white to off-white mat border with a flat matte paperlike appearance, forming a rectangular ring just inside the wooden frame around the picture.",
240
+ "id": 15,
241
+ "grasp_group": {}
242
+ },
243
+ {
244
+ "part_name": "back panel",
245
+ "mask_color": "Navy",
246
+ "graspable": true,
247
+ "grasp_scenarios": [
248
+ {
249
+ "scenario": "grasp the back panel from behind to steady the frame during setup",
250
+ "confidence": 0.69
251
+ },
252
+ {
253
+ "scenario": "hold the back panel while opening or folding the stand",
254
+ "confidence": 0.75
255
+ }
256
+ ],
257
+ "functional_labels": [
258
+ "close the back of the frame",
259
+ "support the photo and front insert",
260
+ "provide rear structure",
261
+ "mount the stand connection"
262
+ ],
263
+ "semantic_description": "Flat medium-brown rear panel covering most of the back side, with a smooth wood-like surface and rectangular shape behind the frame.",
264
+ "id": 13,
265
+ "grasp_group": {
266
+ "grasp_61": {
267
+ "confidence": 0.32535746693611145,
268
+ "position": [
269
+ -0.028651761822402477,
270
+ -0.08666334266308695,
271
+ -0.13909066002815962
272
+ ],
273
+ "orientation": {
274
+ "w": 0.9162644902628679,
275
+ "xyz": [
276
+ -0.16051531144919642,
277
+ 0.14403214849283263,
278
+ 0.33756326647642354
279
+ ]
280
+ }
281
+ },
282
+ "grasp_68": {
283
+ "confidence": 0.10381867736577988,
284
+ "position": [
285
+ -0.11398260574787855,
286
+ 0.03875116293784231,
287
+ 0.0698168920353055
288
+ ],
289
+ "orientation": {
290
+ "w": 0.4329756368071899,
291
+ "xyz": [
292
+ -0.5234095660459024,
293
+ 0.5716852716139347,
294
+ -0.4601635299790178
295
+ ]
296
+ }
297
+ },
298
+ "grasp_72": {
299
+ "confidence": 0.6702162623405457,
300
+ "position": [
301
+ -0.002094496972858906,
302
+ 0.15609525179024786,
303
+ 0.0572073245421052
304
+ ],
305
+ "orientation": {
306
+ "w": 0.7310449031441307,
307
+ "xyz": [
308
+ 0.6813790732620135,
309
+ -0.02105806479030725,
310
+ 0.029197020650663166
311
+ ]
312
+ }
313
+ },
314
+ "grasp_74": {
315
+ "confidence": 0.6472011208534241,
316
+ "position": [
317
+ -0.008928332477807999,
318
+ -0.15567067230585963,
319
+ 0.014582808129489422
320
+ ],
321
+ "orientation": {
322
+ "w": 0.05964464078622568,
323
+ "xyz": [
324
+ -0.024271095841742144,
325
+ 0.6677351003832146,
326
+ 0.7416085668655272
327
+ ]
328
+ }
329
+ },
330
+ "grasp_76": {
331
+ "confidence": 0.6447251439094543,
332
+ "position": [
333
+ -0.04143489431589842,
334
+ 0.1567946228897199,
335
+ 0.06228907126933336
336
+ ],
337
+ "orientation": {
338
+ "w": 0.7267808274656229,
339
+ "xyz": [
340
+ 0.6658970309733512,
341
+ 0.06339389990830258,
342
+ 0.15605123012548439
343
+ ]
344
+ }
345
+ },
346
+ "grasp_77": {
347
+ "confidence": 0.6405428647994995,
348
+ "position": [
349
+ -0.008349977899342775,
350
+ 0.15657490526791662,
351
+ 0.057301235385239124
352
+ ],
353
+ "orientation": {
354
+ "w": 0.6902844657736504,
355
+ "xyz": [
356
+ 0.7207003957494186,
357
+ -0.0339044391298966,
358
+ 0.05430271526825091
359
+ ]
360
+ }
361
+ },
362
+ "grasp_78": {
363
+ "confidence": 0.6129657030105591,
364
+ "position": [
365
+ -0.0334835285320878,
366
+ 0.15315786038991064,
367
+ 0.06809903401881456
368
+ ],
369
+ "orientation": {
370
+ "w": 0.11618842854910157,
371
+ "xyz": [
372
+ -0.02769315948045752,
373
+ 0.6784638573309187,
374
+ -0.7248586981508405
375
+ ]
376
+ }
377
+ }
378
+ }
379
+ },
380
+ {
381
+ "part_name": "fold-out stand",
382
+ "mask_color": "Green",
383
+ "graspable": true,
384
+ "grasp_scenarios": [
385
+ {
386
+ "scenario": "grasp the stand flap to open or fold it closed",
387
+ "confidence": 0.91
388
+ },
389
+ {
390
+ "scenario": "hold the stand while adjusting the display angle",
391
+ "confidence": 0.86
392
+ },
393
+ {
394
+ "scenario": "pinch the stand during tabletop setup",
395
+ "confidence": 0.61
396
+ }
397
+ ],
398
+ "functional_labels": [
399
+ "support tabletop display",
400
+ "set viewing angle",
401
+ "stabilize the frame in an upright position",
402
+ "fold for storage"
403
+ ],
404
+ "semantic_description": "Flat support leg hinged to the back and leaning outward from the rear panel, appearing dark blue in the rear views with a smooth planar rectangular shape.",
405
+ "id": 1,
406
+ "grasp_group": {}
407
+ },
408
+ {
409
+ "part_name": "bottom frame border",
410
+ "mask_color": "Olive",
411
+ "graspable": true,
412
+ "grasp_scenarios": [
413
+ {
414
+ "scenario": "grasp the bottom edge to lift the frame from below",
415
+ "confidence": 0.77
416
+ },
417
+ {
418
+ "scenario": "hold the bottom border to stabilize the frame while setting it down",
419
+ "confidence": 0.81
420
+ }
421
+ ],
422
+ "functional_labels": [
423
+ "surround the photo",
424
+ "provide lower structural support",
425
+ "protect the inner contents",
426
+ "support tabletop handling"
427
+ ],
428
+ "semantic_description": "Medium-brown wooden bottom border with a smooth matte to satin finish, elongated beveled rectangular form, running along the lower outer edge of the frame.",
429
+ "id": 14,
430
+ "grasp_group": {}
431
+ },
432
+ {
433
+ "part_name": "photo print",
434
+ "mask_color": "Blue",
435
+ "graspable": false,
436
+ "grasp_scenarios": [],
437
+ "functional_labels": [
438
+ "display the picture",
439
+ "provide visual content",
440
+ "show the framed scene"
441
+ ],
442
+ "semantic_description": "Glossy printed image beneath the front opening, showing a dark nighttime interior or window scene with multiple colors, centered within the inner mat border.",
443
+ "id": 2,
444
+ "grasp_group": {}
445
+ },
446
+ {
447
+ "part_name": "front brand label",
448
+ "mask_color": "Red",
449
+ "graspable": false,
450
+ "grasp_scenarios": [],
451
+ "functional_labels": [
452
+ "brand marking",
453
+ "visual identification"
454
+ ],
455
+ "semantic_description": "Small red sticker-like brand label with white text attached near the upper-left front corner of the frame, flat and glossy against the wood surface.",
456
+ "id": 0,
457
+ "grasp_group": {}
458
+ }
459
+ ],
460
+ "quality_check": {
461
+ "success": false,
462
+ "message": "Back panel color/part identity and stand description are inaccurate; front label location also mismatched."
463
+ }
464
+ }
dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b3a265b8eb8da8fd3f3b7ce66fab6429c8730175563d682d9b3ce943d69e1742
3
+ size 3815872