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
2074e3e
·
verified ·
1 Parent(s): 0bb4905

Add asset bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/affordance/affordance_annot.json +508 -0
  3. dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/alarm_clock_019.urdf +1 -0
.gitattributes CHANGED
@@ -5916,4 +5916,4 @@ dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/affo
5916
  dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5917
  dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5918
  dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5919
- dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5916
  dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5917
  dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5918
  dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5919
+ dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/affordance/affordance_annot.json ADDED
@@ -0,0 +1,508 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "clock housing",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the rounded clock housing from the sides to lift the alarm clock",
10
+ "confidence": 0.83
11
+ },
12
+ {
13
+ "scenario": "hold the housing to reposition the clock on a surface",
14
+ "confidence": 0.79
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "enclose clock mechanism",
19
+ "protect internal components",
20
+ "support the clock face",
21
+ "main grasp surface"
22
+ ],
23
+ "semantic_description": "Large rounded wooden housing with a smooth satin finish and visible medium-brown wood grain, forming the main upper body around the dial.",
24
+ "id": 4,
25
+ "grasp_group": {
26
+ "grasp_40": {
27
+ "confidence": 0.9189243912696838,
28
+ "position": [
29
+ -0.022874944494105875,
30
+ 0.12410941321286373,
31
+ 0.0869728154502809
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5216948942742321,
35
+ "xyz": [
36
+ 0.8454430282218162,
37
+ -0.007877256662088827,
38
+ 0.11401084223354714
39
+ ]
40
+ }
41
+ },
42
+ "grasp_41": {
43
+ "confidence": 0.9151427745819092,
44
+ "position": [
45
+ -0.025535885826684535,
46
+ -0.12022285562125035,
47
+ 0.09374371683225036
48
+ ],
49
+ "orientation": {
50
+ "w": 0.4904564306470951,
51
+ "xyz": [
52
+ -0.86497575536108,
53
+ 0.027407994046042106,
54
+ -0.10255844254283986
55
+ ]
56
+ }
57
+ },
58
+ "grasp_42": {
59
+ "confidence": 0.8817148804664612,
60
+ "position": [
61
+ -0.01747283770237118,
62
+ -0.03744589563575573,
63
+ 0.1486294991336763
64
+ ],
65
+ "orientation": {
66
+ "w": 0.08158019366986435,
67
+ "xyz": [
68
+ -0.0015445073994968164,
69
+ 0.9963748910148376,
70
+ 0.02406996162959969
71
+ ]
72
+ }
73
+ },
74
+ "grasp_43": {
75
+ "confidence": 0.8718022704124451,
76
+ "position": [
77
+ -0.0009335636859759688,
78
+ -0.13341362428036518,
79
+ -0.016101703513413668
80
+ ],
81
+ "orientation": {
82
+ "w": 0.7210056909665205,
83
+ "xyz": [
84
+ -0.6923511719540497,
85
+ -0.016799746634428625,
86
+ -0.02276876809937844
87
+ ]
88
+ }
89
+ },
90
+ "grasp_44": {
91
+ "confidence": 0.8577784299850464,
92
+ "position": [
93
+ -0.03228943480644375,
94
+ 0.09916238088044338,
95
+ 0.10619596904143691
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4471159812650294,
99
+ "xyz": [
100
+ 0.8768030537085015,
101
+ -0.05117465202983701,
102
+ 0.16936605118642153
103
+ ]
104
+ }
105
+ },
106
+ "grasp_45": {
107
+ "confidence": 0.8443587422370911,
108
+ "position": [
109
+ -0.0060112663777545094,
110
+ 0.11865980524453335,
111
+ 0.025718369986861944
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5484845168805176,
115
+ "xyz": [
116
+ 0.8346455858111949,
117
+ -0.001169322317549737,
118
+ 0.0503002337325601
119
+ ]
120
+ }
121
+ },
122
+ "grasp_46": {
123
+ "confidence": 0.8301792144775391,
124
+ "position": [
125
+ 0.02294304163660854,
126
+ 0.03345975626143627,
127
+ 0.1408636993728578
128
+ ],
129
+ "orientation": {
130
+ "w": 0.030547591589147556,
131
+ "xyz": [
132
+ -0.9913050877863425,
133
+ -0.04747848827139553,
134
+ 0.11885647112579631
135
+ ]
136
+ }
137
+ },
138
+ "grasp_47": {
139
+ "confidence": 0.8275774717330933,
140
+ "position": [
141
+ -0.008952678763307631,
142
+ -0.03516083981958218,
143
+ 0.15302872424945235
144
+ ],
145
+ "orientation": {
146
+ "w": 0.030814017135539377,
147
+ "xyz": [
148
+ 0.12895409208927186,
149
+ 0.990832287664137,
150
+ 0.025936773192816447
151
+ ]
152
+ }
153
+ },
154
+ "grasp_48": {
155
+ "confidence": 0.8218910694122314,
156
+ "position": [
157
+ -0.04105386196170002,
158
+ -0.11731413405505009,
159
+ 0.08288773661479354
160
+ ],
161
+ "orientation": {
162
+ "w": 0.4913088140083805,
163
+ "xyz": [
164
+ -0.8507841287072262,
165
+ 0.09965864895773224,
166
+ -0.15763936470781562
167
+ ]
168
+ }
169
+ },
170
+ "grasp_49": {
171
+ "confidence": 0.8189067244529724,
172
+ "position": [
173
+ -0.037565041915513575,
174
+ 0.100109357124893,
175
+ 0.09931374853476882
176
+ ],
177
+ "orientation": {
178
+ "w": 0.45252012210682263,
179
+ "xyz": [
180
+ 0.8638295922600877,
181
+ -0.048916744254915434,
182
+ 0.2159424153696912
183
+ ]
184
+ }
185
+ },
186
+ "grasp_50": {
187
+ "confidence": 0.8186975121498108,
188
+ "position": [
189
+ -0.021336068050004542,
190
+ -0.12797410439816304,
191
+ 0.007464311085641384
192
+ ],
193
+ "orientation": {
194
+ "w": 0.6116363331597636,
195
+ "xyz": [
196
+ -0.7851387746564765,
197
+ -0.001970777460863715,
198
+ -0.09723279552704965
199
+ ]
200
+ }
201
+ },
202
+ "grasp_52": {
203
+ "confidence": 0.8082591891288757,
204
+ "position": [
205
+ -0.016964000300504267,
206
+ 0.02612891953322105,
207
+ 0.14303487306460738
208
+ ],
209
+ "orientation": {
210
+ "w": 0.06596821503085397,
211
+ "xyz": [
212
+ 0.02150107283347176,
213
+ 0.9658639747050575,
214
+ -0.24958501725784837
215
+ ]
216
+ }
217
+ },
218
+ "grasp_54": {
219
+ "confidence": 0.7923390865325928,
220
+ "position": [
221
+ -0.02449420711491257,
222
+ -0.13286023985710926,
223
+ 0.07348456000909209
224
+ ],
225
+ "orientation": {
226
+ "w": 0.15034301765457417,
227
+ "xyz": [
228
+ 0.003288582518228122,
229
+ 0.8289204636042049,
230
+ 0.5387736326934783
231
+ ]
232
+ }
233
+ },
234
+ "grasp_56": {
235
+ "confidence": 0.7812126278877258,
236
+ "position": [
237
+ -0.025433507398702204,
238
+ -0.08426101904478855,
239
+ 0.12843368714675307
240
+ ],
241
+ "orientation": {
242
+ "w": 0.11041428622923212,
243
+ "xyz": [
244
+ 0.09419240226285415,
245
+ 0.9539486159425523,
246
+ 0.26252336066287757
247
+ ]
248
+ }
249
+ },
250
+ "grasp_58": {
251
+ "confidence": 0.7736623883247375,
252
+ "position": [
253
+ -0.05361472500953823,
254
+ -0.0025717073876876384,
255
+ 0.14225068455561996
256
+ ],
257
+ "orientation": {
258
+ "w": 0.24609051746005287,
259
+ "xyz": [
260
+ -0.03224745647490154,
261
+ 0.968528270819971,
262
+ 0.018776245354696665
263
+ ]
264
+ }
265
+ }
266
+ }
267
+ },
268
+ {
269
+ "part_name": "base",
270
+ "mask_color": "Blue",
271
+ "graspable": true,
272
+ "grasp_scenarios": [
273
+ {
274
+ "scenario": "grasp the base from opposite side edges to pick up the clock",
275
+ "confidence": 0.89
276
+ },
277
+ {
278
+ "scenario": "hold the base to stabilize the clock while moving or setting it down",
279
+ "confidence": 0.86
280
+ }
281
+ ],
282
+ "functional_labels": [
283
+ "support on a table",
284
+ "stabilize the clock",
285
+ "provide a resting platform",
286
+ "main lifting surface"
287
+ ],
288
+ "semantic_description": "Rectangular light wood base with rounded corners, a smooth matte-to-satin finish, and visible grain, located beneath the clock body as the support platform.",
289
+ "id": 2,
290
+ "grasp_group": {
291
+ "grasp_22": {
292
+ "confidence": 0.8061444163322449,
293
+ "position": [
294
+ 0.011294062598608434,
295
+ 0.1346458231273573,
296
+ -0.07244389737024903
297
+ ],
298
+ "orientation": {
299
+ "w": 0.10574129092370842,
300
+ "xyz": [
301
+ 0.07670579322870111,
302
+ 0.5547558295009557,
303
+ -0.8216939639024075
304
+ ]
305
+ }
306
+ },
307
+ "grasp_29": {
308
+ "confidence": 0.7871102690696716,
309
+ "position": [
310
+ 0.00026867620181292295,
311
+ 0.13507284570368938,
312
+ -0.04045466938987374
313
+ ],
314
+ "orientation": {
315
+ "w": 0.1067983647836759,
316
+ "xyz": [
317
+ 0.08618455280430837,
318
+ 0.706091714617382,
319
+ -0.6946947694391686
320
+ ]
321
+ }
322
+ }
323
+ }
324
+ },
325
+ {
326
+ "part_name": "clock face",
327
+ "mask_color": "Magenta",
328
+ "graspable": false,
329
+ "grasp_scenarios": [],
330
+ "functional_labels": [
331
+ "display time",
332
+ "provide dial background",
333
+ "support hour markings",
334
+ "enable reading the clock"
335
+ ],
336
+ "semantic_description": "Circular light beige wooden dial recessed in the front, with printed dark hour markers and a clean minimal appearance framed by a pale bezel and the wooden body.",
337
+ "id": 7,
338
+ "grasp_group": {}
339
+ },
340
+ {
341
+ "part_name": "clock hands",
342
+ "mask_color": "Light Pink",
343
+ "graspable": false,
344
+ "grasp_scenarios": [],
345
+ "functional_labels": [
346
+ "indicate hour",
347
+ "indicate minute",
348
+ "indicate seconds",
349
+ "show current time"
350
+ ],
351
+ "semantic_description": "Thin dark clock hands centered on the dial, including two thicker black hands and a slender darker second hand, delicate and not suitable for grasping.",
352
+ "id": null
353
+ },
354
+ {
355
+ "part_name": "side peg",
356
+ "mask_color": "Red",
357
+ "graspable": true,
358
+ "grasp_scenarios": [
359
+ {
360
+ "scenario": "pinch the small side peg or protrusion to steady or slightly reorient the clock during manipulation",
361
+ "confidence": 0.39
362
+ },
363
+ {
364
+ "scenario": "use a gripper to contact the peg as a small auxiliary feature while repositioning the object",
365
+ "confidence": 0.28
366
+ }
367
+ ],
368
+ "functional_labels": [
369
+ "small protruding feature",
370
+ "possible alignment or assembly feature",
371
+ "secondary contact point"
372
+ ],
373
+ "semantic_description": "Small round wooden peg-like protrusion on the side area above the base, matching the wood tone of the object and visible as a short smooth cylinder.",
374
+ "id": 0,
375
+ "grasp_group": {
376
+ "grasp_6": {
377
+ "confidence": 0.8145599365234375,
378
+ "position": [
379
+ 0.010984872817061841,
380
+ 0.1358423118654173,
381
+ -0.03138304362073541
382
+ ],
383
+ "orientation": {
384
+ "w": 0.7279172812942688,
385
+ "xyz": [
386
+ 0.6845322375051853,
387
+ -0.03196377372604409,
388
+ 0.02302964564414745
389
+ ]
390
+ }
391
+ },
392
+ "grasp_7": {
393
+ "confidence": 0.7171598672866821,
394
+ "position": [
395
+ 0.007945328834466636,
396
+ -0.13278114449349232,
397
+ -0.03146594995632768
398
+ ],
399
+ "orientation": {
400
+ "w": 0.7324342881969965,
401
+ "xyz": [
402
+ -0.6804208384865255,
403
+ -0.023722452067706512,
404
+ -0.002177451388254847
405
+ ]
406
+ }
407
+ },
408
+ "grasp_12": {
409
+ "confidence": 0.5721505284309387,
410
+ "position": [
411
+ 0.02604067453648895,
412
+ -0.019159151503117755,
413
+ -0.1267209672369063
414
+ ],
415
+ "orientation": {
416
+ "w": 0.9927116203683878,
417
+ "xyz": [
418
+ 0.07018659010336221,
419
+ -0.09580371970525603,
420
+ 0.020472631630278827
421
+ ]
422
+ }
423
+ },
424
+ "grasp_13": {
425
+ "confidence": 0.5669503211975098,
426
+ "position": [
427
+ 0.019277307554148138,
428
+ 0.044310655182925984,
429
+ -0.12762128049507737
430
+ ],
431
+ "orientation": {
432
+ "w": 0.11710327138854414,
433
+ "xyz": [
434
+ -0.04322963301516727,
435
+ -0.0590382329947331,
436
+ 0.9904203701986011
437
+ ]
438
+ }
439
+ },
440
+ "grasp_14": {
441
+ "confidence": 0.5572906136512756,
442
+ "position": [
443
+ 0.009199672262184322,
444
+ -0.05485884871450253,
445
+ -0.12562296027317643
446
+ ],
447
+ "orientation": {
448
+ "w": 0.0430444522356379,
449
+ "xyz": [
450
+ -0.01896243523746119,
451
+ 0.11768354274451753,
452
+ 0.9919365831285276
453
+ ]
454
+ }
455
+ },
456
+ "grasp_19": {
457
+ "confidence": 0.7297803163528442,
458
+ "position": [
459
+ 0.002743166987784207,
460
+ -0.046970352792413905,
461
+ -0.1293314122594893
462
+ ],
463
+ "orientation": {
464
+ "w": 0.9953622435163892,
465
+ "xyz": [
466
+ -0.09514639854932806,
467
+ 0.008064932242350387,
468
+ 0.011667214450689883
469
+ ]
470
+ }
471
+ }
472
+ }
473
+ },
474
+ {
475
+ "part_name": "feet",
476
+ "mask_color": "Cyan",
477
+ "graspable": false,
478
+ "grasp_scenarios": [],
479
+ "functional_labels": [
480
+ "support contact points",
481
+ "improve stability",
482
+ "elevate the base slightly",
483
+ "reduce slipping"
484
+ ],
485
+ "semantic_description": "Tiny rounded feet under the base at the corners, small support pads that slightly elevate the base above the surface.",
486
+ "id": 6,
487
+ "grasp_group": {}
488
+ },
489
+ {
490
+ "part_name": "front label plate",
491
+ "mask_color": "Lime Green",
492
+ "graspable": false,
493
+ "grasp_scenarios": [],
494
+ "functional_labels": [
495
+ "display branding or text",
496
+ "provide product identification",
497
+ "add decorative detail"
498
+ ],
499
+ "semantic_description": "A very thin narrow strip near the lower front edge of the base, appearing yellowish with small elongated printed markings like branding text.",
500
+ "id": 9,
501
+ "grasp_group": {}
502
+ }
503
+ ],
504
+ "quality_check": {
505
+ "success": false,
506
+ "message": "Several part descriptions mismatch visible parts: no side peg, feet graspability wrong, and clock face/housing materials and bezel details are inaccurate."
507
+ }
508
+ }
dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b22c5d4ad5af3369584cae53a6a93e9432aab22e9deb873c326bef36245401fd
3
+ size 3783996
dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/alarm_clock_019.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>