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
9cc49d4
·
verified ·
1 Parent(s): 02327f4

Add asset bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/affordance/affordance_annot.json +426 -0
  3. dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8041,3 +8041,4 @@ dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/afforda
8041
  dataset/bathroom_supplies/personal_care/a041edc3afcd592fbef3f78858435f39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8042
  dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8043
  dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8041
  dataset/bathroom_supplies/personal_care/a041edc3afcd592fbef3f78858435f39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8042
  dataset/bathroom_supplies/personal_care/a073ee93db7758a29475fc6f5ddda7c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8043
  dataset/bedroom_supplies/storage/6b427c73a5db5389ab276fa6c7cb2e74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8044
+ dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,426 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "upper compartment rack",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the upper rack from the sides to lift and reposition the remote holder",
10
+ "confidence": 0.78
11
+ },
12
+ {
13
+ "scenario": "hold the upper rack to stabilize the holder while placing a remote into a slot",
14
+ "confidence": 0.56
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "hold multiple remote controls upright",
19
+ "separate items into individual slots",
20
+ "provide side structure",
21
+ "guide insertion and retrieval"
22
+ ],
23
+ "semantic_description": "Large brown wooden upper rack with a smooth semi-gloss finish and visible wood grain, hard smooth texture, and a tall slotted wedge-like shape forming three top openings above the base.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.8184707164764404,
28
+ "position": [
29
+ 0.1402717571472749,
30
+ -0.013424431905150414,
31
+ 0.07832744158804417
32
+ ],
33
+ "orientation": {
34
+ "w": 0.6779629612817547,
35
+ "xyz": [
36
+ -0.018909113880209737,
37
+ -0.7344477661911154,
38
+ -0.02439564057819137
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.7895529270172119,
44
+ "position": [
45
+ 0.12489647080656141,
46
+ 0.039074111729860306,
47
+ 0.07765449769794941
48
+ ],
49
+ "orientation": {
50
+ "w": 0.6627440727637387,
51
+ "xyz": [
52
+ 0.1930305092628522,
53
+ -0.6939803895098033,
54
+ 0.20469669143901242
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.7618111371994019,
60
+ "position": [
61
+ 0.13962112774606794,
62
+ -0.01982145942747593,
63
+ 0.07137884385883808
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6871964908272993,
67
+ "xyz": [
68
+ -0.008974175463501577,
69
+ -0.7263352229381755,
70
+ 0.01084394249092816
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.759438157081604,
76
+ "position": [
77
+ 0.14183822681661695,
78
+ -0.024933798238635063,
79
+ 0.07491894997656345
80
+ ],
81
+ "orientation": {
82
+ "w": 0.6896597317367116,
83
+ "xyz": [
84
+ 0.011602965526761875,
85
+ -0.7238567523187948,
86
+ -0.016316486580114833
87
+ ]
88
+ }
89
+ },
90
+ "grasp_5": {
91
+ "confidence": 0.7404423356056213,
92
+ "position": [
93
+ 0.14041072537656873,
94
+ 0.01796448603272438,
95
+ 0.06905144266784191
96
+ ],
97
+ "orientation": {
98
+ "w": 0.7016767216234258,
99
+ "xyz": [
100
+ 0.004895901548518101,
101
+ -0.712340343932662,
102
+ 0.014037196505189111
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.7080157995223999,
108
+ "position": [
109
+ 0.14096260478254408,
110
+ -0.03837952762842178,
111
+ 0.07739200629293919
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6982858885402738,
115
+ "xyz": [
116
+ 0.007324337070733336,
117
+ -0.7155166919126758,
118
+ -0.01946883525884761
119
+ ]
120
+ }
121
+ },
122
+ "grasp_10": {
123
+ "confidence": 0.7004821300506592,
124
+ "position": [
125
+ 0.13895579089876264,
126
+ -0.038790393620729446,
127
+ 0.08375680632889271
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6881327209740283,
131
+ "xyz": [
132
+ -0.029327873448339266,
133
+ -0.7244082172653384,
134
+ -0.029085544903476798
135
+ ]
136
+ }
137
+ },
138
+ "grasp_12": {
139
+ "confidence": 0.6931700706481934,
140
+ "position": [
141
+ 0.1393710117554292,
142
+ 0.02241973578929901,
143
+ 0.08946392871439457
144
+ ],
145
+ "orientation": {
146
+ "w": 0.6421403000187637,
147
+ "xyz": [
148
+ 0.0022615380513925903,
149
+ -0.7665449644570982,
150
+ -0.00771608728050765
151
+ ]
152
+ }
153
+ },
154
+ "grasp_13": {
155
+ "confidence": 0.6834536790847778,
156
+ "position": [
157
+ 0.1372367482399568,
158
+ 0.026918327435851097,
159
+ 0.08851286210119724
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6463564310387884,
163
+ "xyz": [
164
+ 0.005545913836766378,
165
+ -0.7630153387926765,
166
+ 0.0004468351063052059
167
+ ]
168
+ }
169
+ },
170
+ "grasp_15": {
171
+ "confidence": 0.6812918782234192,
172
+ "position": [
173
+ 0.1410628001904115,
174
+ 0.03319042548537254,
175
+ 0.08291464485228062
176
+ ],
177
+ "orientation": {
178
+ "w": 0.028171345344317276,
179
+ "xyz": [
180
+ 0.7432960577726418,
181
+ -0.004578721431508392,
182
+ -0.668353485149283
183
+ ]
184
+ }
185
+ },
186
+ "grasp_17": {
187
+ "confidence": 0.6757152676582336,
188
+ "position": [
189
+ 0.13112895598169416,
190
+ 0.024837622418999672,
191
+ 0.08518345840275288
192
+ ],
193
+ "orientation": {
194
+ "w": 0.6430323003933867,
195
+ "xyz": [
196
+ 0.0002448759308829156,
197
+ -0.7656465614535632,
198
+ -0.017168098930942406
199
+ ]
200
+ }
201
+ },
202
+ "grasp_19": {
203
+ "confidence": 0.6718273758888245,
204
+ "position": [
205
+ 0.1362616311525926,
206
+ 0.02547314763069153,
207
+ 0.08141370303928852
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6625812426670946,
211
+ "xyz": [
212
+ -0.005408396661644956,
213
+ -0.7487961247139245,
214
+ -0.016161983934184793
215
+ ]
216
+ }
217
+ }
218
+ }
219
+ },
220
+ {
221
+ "part_name": "base platform",
222
+ "mask_color": "Green",
223
+ "graspable": true,
224
+ "grasp_scenarios": [
225
+ {
226
+ "scenario": "grasp the base from opposite sides to pick up the entire remote holder",
227
+ "confidence": 0.84
228
+ },
229
+ {
230
+ "scenario": "hold the base to steady the holder during loading or unloading of remotes",
231
+ "confidence": 0.74
232
+ }
233
+ ],
234
+ "functional_labels": [
235
+ "support the whole holder",
236
+ "stabilize on a tabletop",
237
+ "distribute weight",
238
+ "provide bottom contact surface"
239
+ ],
240
+ "semantic_description": "Broad brown wooden base with a smooth semi-gloss finish, visible wood grain, hard smooth texture, and a thick rectangular tray-like form at the bottom with slightly flared edges.",
241
+ "id": 1,
242
+ "grasp_group": {
243
+ "grasp_20": {
244
+ "confidence": 0.9735177755355835,
245
+ "position": [
246
+ 0.16156959941145033,
247
+ -0.03635921701788902,
248
+ -0.04344367794692516
249
+ ],
250
+ "orientation": {
251
+ "w": 0.02729025403243373,
252
+ "xyz": [
253
+ -0.7020262327547961,
254
+ 0.008059847969538403,
255
+ 0.7115823560275097
256
+ ]
257
+ }
258
+ },
259
+ "grasp_21": {
260
+ "confidence": 0.9699680805206299,
261
+ "position": [
262
+ 0.15795584430452436,
263
+ -0.04361073672771454,
264
+ -0.04341377504169941
265
+ ],
266
+ "orientation": {
267
+ "w": 0.09518218429823727,
268
+ "xyz": [
269
+ -0.697815968340815,
270
+ 0.06594807569293226,
271
+ 0.7068550611215757
272
+ ]
273
+ }
274
+ },
275
+ "grasp_22": {
276
+ "confidence": 0.9691585302352905,
277
+ "position": [
278
+ 0.15784466674085706,
279
+ -0.043979283422231674,
280
+ -0.038818588480353355
281
+ ],
282
+ "orientation": {
283
+ "w": 0.060659763011544875,
284
+ "xyz": [
285
+ -0.7066506228597629,
286
+ 0.04914757549438309,
287
+ 0.703242352383811
288
+ ]
289
+ }
290
+ },
291
+ "grasp_23": {
292
+ "confidence": 0.9685426354408264,
293
+ "position": [
294
+ 0.16418867220636457,
295
+ -0.04328786954283714,
296
+ -0.040009716525673866
297
+ ],
298
+ "orientation": {
299
+ "w": 0.03287660021614919,
300
+ "xyz": [
301
+ -0.7085216912160712,
302
+ 0.007092295314113262,
303
+ 0.704887112651184
304
+ ]
305
+ }
306
+ },
307
+ "grasp_24": {
308
+ "confidence": 0.9674995541572571,
309
+ "position": [
310
+ 0.16438252141233534,
311
+ -0.02265709824860096,
312
+ -0.04034511558711529
313
+ ],
314
+ "orientation": {
315
+ "w": 0.04353858578259963,
316
+ "xyz": [
317
+ -0.7037085617305127,
318
+ 0.001693991484666757,
319
+ 0.7091514521511426
320
+ ]
321
+ }
322
+ },
323
+ "grasp_26": {
324
+ "confidence": 0.9669888615608215,
325
+ "position": [
326
+ 0.16532303800340742,
327
+ -0.032735493034124374,
328
+ -0.0403557438403368
329
+ ],
330
+ "orientation": {
331
+ "w": 0.004179541360013532,
332
+ "xyz": [
333
+ 0.704526818879699,
334
+ 0.017690313994701667,
335
+ -0.7094445332117518
336
+ ]
337
+ }
338
+ },
339
+ "grasp_27": {
340
+ "confidence": 0.966684103012085,
341
+ "position": [
342
+ 0.16448453476186842,
343
+ -0.041603971272706985,
344
+ -0.044313935562968254
345
+ ],
346
+ "orientation": {
347
+ "w": 0.0034646475812018435,
348
+ "xyz": [
349
+ 0.694499207119444,
350
+ 0.03148842983834099,
351
+ -0.7187957472842458
352
+ ]
353
+ }
354
+ },
355
+ "grasp_30": {
356
+ "confidence": 0.9655473828315735,
357
+ "position": [
358
+ 0.1476846825098619,
359
+ 0.002326390240341425,
360
+ -0.045269886031746864
361
+ ],
362
+ "orientation": {
363
+ "w": 0.17591742486658515,
364
+ "xyz": [
365
+ 0.6663568320906772,
366
+ 0.19438011562960456,
367
+ -0.6980243567399408
368
+ ]
369
+ }
370
+ },
371
+ "grasp_35": {
372
+ "confidence": 0.9652971625328064,
373
+ "position": [
374
+ 0.1571305583929643,
375
+ -0.05130635201931,
376
+ -0.04146218113601208
377
+ ],
378
+ "orientation": {
379
+ "w": 0.056008182275923045,
380
+ "xyz": [
381
+ -0.6947378416810119,
382
+ 0.03181819687465581,
383
+ 0.716372819977281
384
+ ]
385
+ }
386
+ },
387
+ "grasp_36": {
388
+ "confidence": 0.9645981788635254,
389
+ "position": [
390
+ 0.15081400086637586,
391
+ 0.0018323133699595928,
392
+ -0.04127886705100536
393
+ ],
394
+ "orientation": {
395
+ "w": 0.17074444816684922,
396
+ "xyz": [
397
+ 0.6716072888876324,
398
+ 0.20396374636208436,
399
+ -0.6915119471875707
400
+ ]
401
+ }
402
+ },
403
+ "grasp_38": {
404
+ "confidence": 0.9644534587860107,
405
+ "position": [
406
+ 0.15824634244199842,
407
+ -0.013663715682923794,
408
+ -0.03841368667781353
409
+ ],
410
+ "orientation": {
411
+ "w": 0.07466866174024704,
412
+ "xyz": [
413
+ 0.697651881316216,
414
+ 0.0815444999934054,
415
+ -0.7078537546490029
416
+ ]
417
+ }
418
+ }
419
+ }
420
+ }
421
+ ],
422
+ "quality_check": {
423
+ "success": true,
424
+ "message": "YES"
425
+ }
426
+ }
dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:77ac3d06735980fd388fc40673a402818f32cd6d0daab7b7c9836996b6af42ef
3
+ size 3778896