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
a4976f8
·
verified ·
1 Parent(s): b94f16d

Add asset bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/affordance/affordance_annot.json +342 -0
  3. dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.urdf +1 -0
.gitattributes CHANGED
@@ -8113,4 +8113,4 @@ dataset/bedroom_supplies/storage/ba72887e933b5141a2c99450c484dbde/affordance/mes
8113
  dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8114
  dataset/bedroom_supplies/storage/bb157a75b28251cdb63a4b4876ffc755/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8115
  dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8116
- dataset/bedroom_supplies/storage/bdfe48ab5e735a22827d761f1c9e5a3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
8113
  dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8114
  dataset/bedroom_supplies/storage/bb157a75b28251cdb63a4b4876ffc755/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8115
  dataset/bedroom_supplies/storage/bc2f843dab6d504588d6863f22702cbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8116
+ dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,342 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "lid",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the lid edge to open the glasses case",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold the lid to stabilize the case while positioning it",
14
+ "confidence": 0.4
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the case",
19
+ "protect stored glasses",
20
+ "open and close access",
21
+ "provide top enclosure"
22
+ ],
23
+ "semantic_description": "Large dark gray hard-shell upper half of the case with a matte smooth finish and rounded rectangular shape; the visible inner face is dark and includes a small gold logo mark.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_6": {
27
+ "confidence": 0.9414588212966919,
28
+ "position": [
29
+ -0.03658249438740313,
30
+ 0.060751096229068935,
31
+ 0.12733608926646411
32
+ ],
33
+ "orientation": {
34
+ "w": 0.09274956645510075,
35
+ "xyz": [
36
+ 0.05782460276866818,
37
+ 0.9922931860319169,
38
+ -0.058378644996822625
39
+ ]
40
+ }
41
+ },
42
+ "grasp_11": {
43
+ "confidence": 0.937901496887207,
44
+ "position": [
45
+ -0.03334175259806216,
46
+ 0.06579884595703334,
47
+ 0.1264816045295447
48
+ ],
49
+ "orientation": {
50
+ "w": 0.06327508230403772,
51
+ "xyz": [
52
+ 0.04731551659797173,
53
+ 0.9924350364359436,
54
+ -0.09396916676692853
55
+ ]
56
+ }
57
+ },
58
+ "grasp_12": {
59
+ "confidence": 0.9373427033424377,
60
+ "position": [
61
+ -0.056639893213286996,
62
+ 0.02393593534361571,
63
+ 0.11069402541033924
64
+ ],
65
+ "orientation": {
66
+ "w": 0.17209645982611046,
67
+ "xyz": [
68
+ 0.9641159718342064,
69
+ -0.009986236010052496,
70
+ 0.20189966929109968
71
+ ]
72
+ }
73
+ },
74
+ "grasp_14": {
75
+ "confidence": 0.9370649456977844,
76
+ "position": [
77
+ -0.03654026077128947,
78
+ -0.051793589373119175,
79
+ 0.12768155033700168
80
+ ],
81
+ "orientation": {
82
+ "w": 0.08801009954979597,
83
+ "xyz": [
84
+ 0.0025632678346200056,
85
+ 0.9959500431022946,
86
+ 0.0181979031698853
87
+ ]
88
+ }
89
+ },
90
+ "grasp_15": {
91
+ "confidence": 0.9367886781692505,
92
+ "position": [
93
+ -0.02858448983170092,
94
+ 0.10850502259563655,
95
+ 0.11054651136510074
96
+ ],
97
+ "orientation": {
98
+ "w": 0.049866682533887007,
99
+ "xyz": [
100
+ 0.034682447993686735,
101
+ 0.9613225212036728,
102
+ -0.2686437268965037
103
+ ]
104
+ }
105
+ },
106
+ "grasp_17": {
107
+ "confidence": 0.9355472922325134,
108
+ "position": [
109
+ -0.04594562039710581,
110
+ -0.04374957748223096,
111
+ 0.12631661142222583
112
+ ],
113
+ "orientation": {
114
+ "w": 0.13325496315012902,
115
+ "xyz": [
116
+ -0.02853744041498933,
117
+ 0.9906175376119174,
118
+ -0.010277327771356062
119
+ ]
120
+ }
121
+ },
122
+ "grasp_18": {
123
+ "confidence": 0.9353465437889099,
124
+ "position": [
125
+ -0.024792580166831613,
126
+ 0.049990286002866924,
127
+ 0.12846567924134433
128
+ ],
129
+ "orientation": {
130
+ "w": 0.0329696561684001,
131
+ "xyz": [
132
+ 0.013578841852159742,
133
+ 0.9976525517579292,
134
+ -0.0584636878496678
135
+ ]
136
+ }
137
+ }
138
+ }
139
+ },
140
+ {
141
+ "part_name": "base",
142
+ "mask_color": "Green",
143
+ "graspable": true,
144
+ "grasp_scenarios": [
145
+ {
146
+ "scenario": "grasp the base to pick up the glasses case",
147
+ "confidence": 0.93
148
+ },
149
+ {
150
+ "scenario": "hold the base while opening or closing the lid",
151
+ "confidence": 0.89
152
+ }
153
+ ],
154
+ "functional_labels": [
155
+ "support the case",
156
+ "contain stored glasses",
157
+ "provide main grasp surface",
158
+ "stabilize the object on a table"
159
+ ],
160
+ "semantic_description": "Large dark gray hard-shell lower body with a matte smooth exterior and rounded rectangular form, positioned as the bottom half of the case.",
161
+ "id": 1,
162
+ "grasp_group": {
163
+ "grasp_21": {
164
+ "confidence": 0.862334132194519,
165
+ "position": [
166
+ -0.005833465373143554,
167
+ 0.1392559529049322,
168
+ -0.0070920821744948626
169
+ ],
170
+ "orientation": {
171
+ "w": 0.6776089982271614,
172
+ "xyz": [
173
+ 0.6430211046513286,
174
+ -0.23649379031938123,
175
+ 0.26728372871340417
176
+ ]
177
+ }
178
+ },
179
+ "grasp_23": {
180
+ "confidence": 0.8510603308677673,
181
+ "position": [
182
+ -0.00297013227827847,
183
+ -0.1406561165349558,
184
+ -0.0008943018037825823
185
+ ],
186
+ "orientation": {
187
+ "w": 0.2848050580284835,
188
+ "xyz": [
189
+ -0.2820364165208368,
190
+ 0.6550612435736467,
191
+ 0.6404969210271233
192
+ ]
193
+ }
194
+ },
195
+ "grasp_24": {
196
+ "confidence": 0.8463813066482544,
197
+ "position": [
198
+ -0.003645286080427468,
199
+ 0.13975208706688136,
200
+ -0.0037932342384010553
201
+ ],
202
+ "orientation": {
203
+ "w": 0.6356742482501143,
204
+ "xyz": [
205
+ 0.6124915336043639,
206
+ -0.32672781288575636,
207
+ 0.3376704127718568
208
+ ]
209
+ }
210
+ },
211
+ "grasp_26": {
212
+ "confidence": 0.8380618095397949,
213
+ "position": [
214
+ -0.009344759164378047,
215
+ 0.13532946712803096,
216
+ 0.006405664840713143
217
+ ],
218
+ "orientation": {
219
+ "w": 0.2339971344999035,
220
+ "xyz": [
221
+ 0.1507952209463105,
222
+ 0.7205742487623009,
223
+ -0.6350424351224354
224
+ ]
225
+ }
226
+ },
227
+ "grasp_27": {
228
+ "confidence": 0.835729718208313,
229
+ "position": [
230
+ -0.017209302866831422,
231
+ 0.13709181256126612,
232
+ 0.010123223764821887
233
+ ],
234
+ "orientation": {
235
+ "w": 0.2781046572618865,
236
+ "xyz": [
237
+ 0.20426297241105842,
238
+ 0.7173033283791721,
239
+ -0.6053184061361505
240
+ ]
241
+ }
242
+ },
243
+ "grasp_28": {
244
+ "confidence": 0.811833381652832,
245
+ "position": [
246
+ 0.03509694873355329,
247
+ 0.14508099562954158,
248
+ -0.008689970010891557
249
+ ],
250
+ "orientation": {
251
+ "w": 0.6625442491768566,
252
+ "xyz": [
253
+ 0.4490617240428871,
254
+ -0.5195960617525999,
255
+ 0.2989960175211268
256
+ ]
257
+ }
258
+ },
259
+ "grasp_31": {
260
+ "confidence": 0.7603903412818909,
261
+ "position": [
262
+ -0.03544840053655207,
263
+ -0.1342006503837183,
264
+ 0.01476864400319755
265
+ ],
266
+ "orientation": {
267
+ "w": 0.5103188883362183,
268
+ "xyz": [
269
+ -0.7336862657293275,
270
+ -0.24106298790936043,
271
+ -0.37837512014884417
272
+ ]
273
+ }
274
+ },
275
+ "grasp_34": {
276
+ "confidence": 0.7281855344772339,
277
+ "position": [
278
+ -0.007208412745967507,
279
+ 0.13486049778293818,
280
+ -0.0033597147557884455
281
+ ],
282
+ "orientation": {
283
+ "w": 0.3174024057319984,
284
+ "xyz": [
285
+ 0.3046797122446329,
286
+ 0.6380072086256016,
287
+ -0.631959482501715
288
+ ]
289
+ }
290
+ }
291
+ }
292
+ },
293
+ {
294
+ "part_name": "base interior lining",
295
+ "mask_color": "Yellow",
296
+ "graspable": false,
297
+ "grasp_scenarios": [],
298
+ "functional_labels": [
299
+ "cushion the glasses",
300
+ "protect lenses from scratches",
301
+ "line the storage cavity",
302
+ "provide a soft contact surface"
303
+ ],
304
+ "semantic_description": "Dark navy to black fabric-like lining with a soft slightly fuzzy texture and low-sheen finish, covering the recessed inner cavity of the base.",
305
+ "id": 3,
306
+ "grasp_group": {}
307
+ },
308
+ {
309
+ "part_name": "logo badge",
310
+ "mask_color": "Blue",
311
+ "graspable": false,
312
+ "grasp_scenarios": [],
313
+ "functional_labels": [
314
+ "brand marking",
315
+ "visual identification",
316
+ "decorate the lid interior"
317
+ ],
318
+ "semantic_description": "Small gold emblem and text centered on the inner lid, appearing as a flat printed or stamped brand mark on the smooth dark interior surface.",
319
+ "id": 2,
320
+ "grasp_group": {}
321
+ },
322
+ {
323
+ "part_name": "hinge",
324
+ "mask_color": "Purple",
325
+ "graspable": false,
326
+ "grasp_scenarios": [],
327
+ "functional_labels": [
328
+ "connect lid and base",
329
+ "enable rotation",
330
+ "guide opening motion",
331
+ "maintain alignment"
332
+ ],
333
+ "semantic_description": "Small light-gold metal hinge pieces at the rear junction between lid and base, with a hard smooth reflective finish and compact rectangular shape.",
334
+ "id": 5,
335
+ "grasp_group": {}
336
+ }
337
+ ],
338
+ "quality_check": {
339
+ "success": true,
340
+ "message": "YES"
341
+ }
342
+ }
dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22ee40b84578efa42371d32c57feb6a3459429bd452efedb749ce81a409acf9b
3
+ size 3779808
dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.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>