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
21d8c05
·
verified ·
1 Parent(s): c494118

Add asset livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/affordance_annot.json +359 -0
  3. dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/mesh_part_seg.glb +3 -0
  4. dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/candle_holder_033.urdf +4 -3
.gitattributes CHANGED
@@ -7764,3 +7764,4 @@ dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/affordanc
7764
  dataset/livingroom_supplies/ornaments/ca11e60e19a75c4c86ba5d70471d8f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7765
  dataset/livingroom_supplies/ornaments/cca53a72e8e45d1bbb993976d6dbc321/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7766
  dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7764
  dataset/livingroom_supplies/ornaments/ca11e60e19a75c4c86ba5d70471d8f96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7765
  dataset/livingroom_supplies/ornaments/cca53a72e8e45d1bbb993976d6dbc321/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7766
  dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7767
+ dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/affordance_annot.json ADDED
@@ -0,0 +1,359 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "candle cup",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the metal cup body to pick up and reposition the candle holder",
10
+ "confidence": 0.84
11
+ },
12
+ {
13
+ "scenario": "hold the cup body to stabilize the holder during placement on a surface",
14
+ "confidence": 0.77
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "hold the candle wax",
19
+ "surround the candle",
20
+ "provide the main upper structure",
21
+ "help contain dripping wax"
22
+ ],
23
+ "semantic_description": "A medium-sized cup-shaped holder at the top with a dark purple metallic appearance, glossy reflective finish, hard smooth surface, and a scalloped rim around the candle.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_22": {
27
+ "confidence": 0.9474106431007385,
28
+ "position": [
29
+ -0.09506015793886036,
30
+ -0.02724233956541866,
31
+ 0.006791362538933754
32
+ ],
33
+ "orientation": {
34
+ "w": 0.38515237487279713,
35
+ "xyz": [
36
+ 0.4743981967968811,
37
+ 0.5489932222083089,
38
+ 0.5702722516264053
39
+ ]
40
+ }
41
+ },
42
+ "grasp_23": {
43
+ "confidence": 0.9442734718322754,
44
+ "position": [
45
+ 0.039733119891025126,
46
+ -0.09466336981859058,
47
+ -0.018540809862315655
48
+ ],
49
+ "orientation": {
50
+ "w": 0.18791212411679856,
51
+ "xyz": [
52
+ 0.110138327331678,
53
+ -0.6335913523657128,
54
+ -0.7423749596193828
55
+ ]
56
+ }
57
+ },
58
+ "grasp_24": {
59
+ "confidence": 0.9418050050735474,
60
+ "position": [
61
+ -0.10356758849229664,
62
+ -0.01010439672973007,
63
+ 0.009061528369784355
64
+ ],
65
+ "orientation": {
66
+ "w": 0.4520432147769872,
67
+ "xyz": [
68
+ 0.5112346950614297,
69
+ 0.5023752652946895,
70
+ 0.5309567885992462
71
+ ]
72
+ }
73
+ },
74
+ "grasp_25": {
75
+ "confidence": 0.9417822360992432,
76
+ "position": [
77
+ 0.04102335555944592,
78
+ -0.07459387497510761,
79
+ 0.0775403119623661
80
+ ],
81
+ "orientation": {
82
+ "w": 0.12147826715969282,
83
+ "xyz": [
84
+ 0.24380658626145016,
85
+ -0.8495060781277904,
86
+ -0.45181943553521137
87
+ ]
88
+ }
89
+ },
90
+ "grasp_26": {
91
+ "confidence": 0.9415327906608582,
92
+ "position": [
93
+ 0.011027915054000914,
94
+ -0.07975565956439823,
95
+ 0.09119958057999611
96
+ ],
97
+ "orientation": {
98
+ "w": 0.04406069672235391,
99
+ "xyz": [
100
+ 0.08389903405034045,
101
+ -0.9162656909212467,
102
+ -0.38920019364123093
103
+ ]
104
+ }
105
+ },
106
+ "grasp_27": {
107
+ "confidence": 0.9414708614349365,
108
+ "position": [
109
+ -0.09372832940425724,
110
+ -0.03691355453338474,
111
+ 0.000945025123655796
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5855329308830953,
115
+ "xyz": [
116
+ -0.5747024706933075,
117
+ 0.40759529146060447,
118
+ -0.4009168684523077
119
+ ]
120
+ }
121
+ },
122
+ "grasp_28": {
123
+ "confidence": 0.9411504864692688,
124
+ "position": [
125
+ -0.0972488479455933,
126
+ -0.031984373345039785,
127
+ 0.016321275383234024
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5601681324694089,
131
+ "xyz": [
132
+ -0.5762998190097848,
133
+ 0.4486727577117662,
134
+ -0.39087458149941473
135
+ ]
136
+ }
137
+ },
138
+ "grasp_31": {
139
+ "confidence": 0.9375159740447998,
140
+ "position": [
141
+ 0.08618822379503399,
142
+ -0.03709547908511013,
143
+ 0.06606369093060493
144
+ ],
145
+ "orientation": {
146
+ "w": 0.40986486712216996,
147
+ "xyz": [
148
+ -0.7381625320190074,
149
+ -0.4461239872614534,
150
+ 0.29681687117169847
151
+ ]
152
+ }
153
+ },
154
+ "grasp_32": {
155
+ "confidence": 0.9369568228721619,
156
+ "position": [
157
+ -0.04137255565728992,
158
+ -0.09268294589128345,
159
+ 0.028375748544931412
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6308765688180784,
163
+ "xyz": [
164
+ -0.7431697986143251,
165
+ 0.20844363989416625,
166
+ -0.07902312529597329
167
+ ]
168
+ }
169
+ },
170
+ "grasp_33": {
171
+ "confidence": 0.9363939166069031,
172
+ "position": [
173
+ -0.0959777714451775,
174
+ -0.01702185475733131,
175
+ 0.0019860491156578064
176
+ ],
177
+ "orientation": {
178
+ "w": 0.4342539523913258,
179
+ "xyz": [
180
+ 0.4803533265102519,
181
+ 0.5283263249313352,
182
+ 0.5491406749892024
183
+ ]
184
+ }
185
+ },
186
+ "grasp_34": {
187
+ "confidence": 0.936250627040863,
188
+ "position": [
189
+ 0.07388803793583065,
190
+ -0.07570071832742542,
191
+ 0.0265643373131752
192
+ ],
193
+ "orientation": {
194
+ "w": 0.2931105065476159,
195
+ "xyz": [
196
+ 0.2298994195124851,
197
+ -0.7096013896918172,
198
+ -0.5980788874443443
199
+ ]
200
+ }
201
+ },
202
+ "grasp_35": {
203
+ "confidence": 0.9356648921966553,
204
+ "position": [
205
+ -0.10380379424896091,
206
+ -0.0024303275858983397,
207
+ 0.005364716053009033
208
+ ],
209
+ "orientation": {
210
+ "w": 0.4885189227061919,
211
+ "xyz": [
212
+ -0.5208976938404586,
213
+ 0.49737851915106246,
214
+ -0.49257432271360746
215
+ ]
216
+ }
217
+ },
218
+ "grasp_36": {
219
+ "confidence": 0.9335286021232605,
220
+ "position": [
221
+ -0.09617425815667957,
222
+ -0.03473563434090465,
223
+ 0.016527138650417328
224
+ ],
225
+ "orientation": {
226
+ "w": 0.39010693380730865,
227
+ "xyz": [
228
+ 0.4405908963382044,
229
+ 0.5775670852786827,
230
+ 0.5657848568687965
231
+ ]
232
+ }
233
+ },
234
+ "grasp_37": {
235
+ "confidence": 0.9333740472793579,
236
+ "position": [
237
+ -0.08935071842279285,
238
+ -0.03632719011511654,
239
+ -0.000195356085896492
240
+ ],
241
+ "orientation": {
242
+ "w": 0.5693290632648746,
243
+ "xyz": [
244
+ -0.5934106605321374,
245
+ 0.33946034546456694,
246
+ -0.45661239530462755
247
+ ]
248
+ }
249
+ },
250
+ "grasp_38": {
251
+ "confidence": 0.9333007335662842,
252
+ "position": [
253
+ 0.051055461750365794,
254
+ -0.092143933637999,
255
+ 0.01953492872416973
256
+ ],
257
+ "orientation": {
258
+ "w": 0.5986844287156666,
259
+ "xyz": [
260
+ -0.7553846103136028,
261
+ -0.2228730236180566,
262
+ 0.14594060661141536
263
+ ]
264
+ }
265
+ },
266
+ "grasp_39": {
267
+ "confidence": 0.9329050183296204,
268
+ "position": [
269
+ -0.10259338037576526,
270
+ -0.016479135840199888,
271
+ 0.025277532637119293
272
+ ],
273
+ "orientation": {
274
+ "w": 0.4522072943194799,
275
+ "xyz": [
276
+ 0.47090323487261554,
277
+ 0.5465391844331191,
278
+ 0.5244555521966972
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ },
284
+ {
285
+ "part_name": "vine frame",
286
+ "mask_color": "Green",
287
+ "graspable": true,
288
+ "grasp_scenarios": [
289
+ {
290
+ "scenario": "grasp a thicker lower vine section to lift or reposition the candle holder",
291
+ "confidence": 0.64
292
+ },
293
+ {
294
+ "scenario": "pinch a side vine section to nudge or reorient the holder",
295
+ "confidence": 0.4
296
+ }
297
+ ],
298
+ "functional_labels": [
299
+ "support the cup",
300
+ "form the decorative stand",
301
+ "contact the supporting surface",
302
+ "connect the ornamental parts"
303
+ ],
304
+ "semantic_description": "An irregular network of thin curling dark metal vines with a glossy reflective finish and hard smooth surface, wrapping around the cup and extending outward as the main support frame.",
305
+ "id": 1,
306
+ "grasp_group": {
307
+ "grasp_0": {
308
+ "confidence": 0.8075798153877258,
309
+ "position": [
310
+ -0.0023676263517700136,
311
+ 0.004818129469640553,
312
+ 0.13874049112200737
313
+ ],
314
+ "orientation": {
315
+ "w": 0.015650543179449927,
316
+ "xyz": [
317
+ -0.2456180675919162,
318
+ -0.9690758945368764,
319
+ 0.01785317893692306
320
+ ]
321
+ }
322
+ }
323
+ }
324
+ },
325
+ {
326
+ "part_name": "wax candle",
327
+ "mask_color": "Jade",
328
+ "graspable": false,
329
+ "grasp_scenarios": [],
330
+ "functional_labels": [
331
+ "provide burnable wax",
332
+ "hold the wick",
333
+ "emit light when lit",
334
+ "serve as the consumable candle element"
335
+ ],
336
+ "semantic_description": "A light cyan to blue wax candle filling the cup, with a smooth slightly matte surface, soft wax texture, a shallow melted top, and a small central wick.",
337
+ "id": 19,
338
+ "grasp_group": {}
339
+ },
340
+ {
341
+ "part_name": "flower ornament",
342
+ "mask_color": "Yellow",
343
+ "graspable": false,
344
+ "grasp_scenarios": [],
345
+ "functional_labels": [
346
+ "decorate the holder",
347
+ "accent the vine frame",
348
+ "provide visual detail"
349
+ ],
350
+ "semantic_description": "Small flower-shaped ornaments attached around the lower vine frame, appearing translucent pale pink, pale purple, and pale blue with glossy reflective petal surfaces and delicate decorative detailing.",
351
+ "id": 3,
352
+ "grasp_group": {}
353
+ }
354
+ ],
355
+ "quality_check": {
356
+ "success": false,
357
+ "message": "Flower ornament color/identity description is inaccurate; other parts mostly reasonable."
358
+ }
359
+ }
dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:af9bdc36fe9cbfdd859e7ee822142d3d40721f7be5f49facd645c169720c8713
3
+ size 3788912
dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/candle_holder_033.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>0</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
- <mesh filename="None" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>5</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
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":"Main bowl/base structure is over-segmented into arbitrary colors; decorative vines are inconsistently split.","merge_groups":[{"colors":["Green","Blue"],"target_part":"main holder body and frame","reason":"same continuous support structure across views"},{"colors":["Jade","Violet"],"target_part":"decorative vine details","reason":"small repeated accents without distinct function"}]}</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>