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
cecc4aa
·
verified ·
1 Parent(s): c65a798

Add asset bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/affordance/affordance_annot.json +399 -0
  3. dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6002,3 +6002,4 @@ dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/affordance/mes
6002
  dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6003
  dataset/bedroom_supplies/storage/3518c1e4a3f655289054421b49f2bcf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6004
  dataset/bedroom_supplies/storage/3668889b89ee53cba001ff970ac99ef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6002
  dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6003
  dataset/bedroom_supplies/storage/3518c1e4a3f655289054421b49f2bcf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6004
  dataset/bedroom_supplies/storage/3668889b89ee53cba001ff970ac99ef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6005
+ dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "holder body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body from the sides to pick up the holder",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to reposition or rotate the holder on a surface",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "stabilize the holder by clamping the body while inserting or removing contents",
18
+ "confidence": 0.76
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain slender items",
23
+ "provide main structure",
24
+ "support upright storage",
25
+ "offer main grasp surface"
26
+ ],
27
+ "semantic_description": "Large light pink plastic cylindrical cup body with a smooth slightly glossy surface, open top, three shallow circular grooves near the upper rim, and an embossed logo on one side.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9327492713928223,
32
+ "position": [
33
+ -0.06650968658505008,
34
+ 0.010532014770433307,
35
+ 0.19277110556140542
36
+ ],
37
+ "orientation": {
38
+ "w": 0.03310143055892498,
39
+ "xyz": [
40
+ -0.04697027794430479,
41
+ 0.9953453529689056,
42
+ -0.07736741308840332
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9300651550292969,
48
+ "position": [
49
+ -0.06134550290880725,
50
+ 0.01389401569031179,
51
+ 0.19645328680053353
52
+ ],
53
+ "orientation": {
54
+ "w": 0.04757308172512236,
55
+ "xyz": [
56
+ -0.07953328245371334,
57
+ 0.9899212861300317,
58
+ -0.10708457472473258
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9276927709579468,
64
+ "position": [
65
+ -0.041903365578036755,
66
+ 0.04231874621473253,
67
+ 0.19806323805823922
68
+ ],
69
+ "orientation": {
70
+ "w": 0.0040661739593830775,
71
+ "xyz": [
72
+ 0.4513582311218195,
73
+ 0.8914026403278857,
74
+ 0.040749800544150165
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9271267056465149,
80
+ "position": [
81
+ -0.055259775544982404,
82
+ 0.0013515451573766768,
83
+ 0.19441212574020028
84
+ ],
85
+ "orientation": {
86
+ "w": 0.000334306543892766,
87
+ "xyz": [
88
+ 0.017961779097309685,
89
+ 0.9997871876136876,
90
+ 0.010141115042638123
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9240894913673401,
96
+ "position": [
97
+ -0.052219297911506146,
98
+ 0.04127430892549455,
99
+ 0.19221512833610177
100
+ ],
101
+ "orientation": {
102
+ "w": 0.03554234612886081,
103
+ "xyz": [
104
+ 0.4180956465794704,
105
+ 0.9071056238242224,
106
+ 0.03304783153883619
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9238512516021729,
112
+ "position": [
113
+ -0.04911940934835002,
114
+ 0.013843298656865954,
115
+ 0.19337235251441598
116
+ ],
117
+ "orientation": {
118
+ "w": 0.003030220055910241,
119
+ "xyz": [
120
+ 0.06145428776793849,
121
+ 0.9980700814256601,
122
+ -0.008384559876569967
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9233179092407227,
128
+ "position": [
129
+ 0.017035890195984393,
130
+ 0.05823310813866556,
131
+ 0.199952004943043
132
+ ],
133
+ "orientation": {
134
+ "w": 0.00399417188834308,
135
+ "xyz": [
136
+ 0.8433913260617465,
137
+ 0.5371957394391011,
138
+ 0.009790569095457459
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9228805899620056,
144
+ "position": [
145
+ 0.02024630067171529,
146
+ 0.06333385012112558,
147
+ 0.19429398933425546
148
+ ],
149
+ "orientation": {
150
+ "w": 0.044076181742341576,
151
+ "xyz": [
152
+ -0.8015677446512005,
153
+ -0.5931417326796429,
154
+ 0.061068206880466165
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9226329922676086,
160
+ "position": [
161
+ -0.051163371826987714,
162
+ 0.01456064055673778,
163
+ 0.1958592222072184
164
+ ],
165
+ "orientation": {
166
+ "w": 0.0046176310036358656,
167
+ "xyz": [
168
+ 0.017377094011605254,
169
+ 0.9995443188323865,
170
+ -0.024246005393194648
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9222676157951355,
176
+ "position": [
177
+ 0.015590758819598705,
178
+ 0.061357334023341537,
179
+ 0.19711367646232247
180
+ ],
181
+ "orientation": {
182
+ "w": 0.01374578234235882,
183
+ "xyz": [
184
+ 0.8279450790881799,
185
+ 0.5595928933151293,
186
+ 0.03426066596939025
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9200953841209412,
192
+ "position": [
193
+ 0.006364938628394157,
194
+ 0.0598656942602247,
195
+ 0.20401997724547982
196
+ ],
197
+ "orientation": {
198
+ "w": 0.017993153926534264,
199
+ "xyz": [
200
+ 0.7945523379880827,
201
+ 0.6066336451643688,
202
+ 0.01893275373627422
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9194172024726868,
208
+ "position": [
209
+ -0.04219120758352801,
210
+ 0.023911982541903853,
211
+ 0.2019286290742457
212
+ ],
213
+ "orientation": {
214
+ "w": 0.017448333663746714,
215
+ "xyz": [
216
+ -0.9595093183559845,
217
+ 0.2801365147862665,
218
+ 0.02368452498566846
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9188899397850037,
224
+ "position": [
225
+ 0.04418788832845166,
226
+ -0.028505418682470918,
227
+ 0.1959900544025004
228
+ ],
229
+ "orientation": {
230
+ "w": 0.040804451092447805,
231
+ "xyz": [
232
+ 0.9455011388839017,
233
+ -0.3230402147616544,
234
+ -0.0027591279479523734
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9187834858894348,
240
+ "position": [
241
+ -0.012024198833387345,
242
+ 0.06720030284486711,
243
+ 0.19271430233493447
244
+ ],
245
+ "orientation": {
246
+ "w": 0.1863218653960614,
247
+ "xyz": [
248
+ 0.7962542624625364,
249
+ 0.5623565568940316,
250
+ 0.12254964261010427
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.91830974817276,
256
+ "position": [
257
+ 0.03702264261664823,
258
+ 0.039581194287166,
259
+ 0.19729775050655007
260
+ ],
261
+ "orientation": {
262
+ "w": 0.06862792110776048,
263
+ "xyz": [
264
+ -0.8238196119987373,
265
+ -0.5608213113653762,
266
+ 0.04572649176458659
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9174802303314209,
272
+ "position": [
273
+ -0.022548658947926015,
274
+ 0.0675888357218355,
275
+ 0.18923051515594125
276
+ ],
277
+ "orientation": {
278
+ "w": 0.18892412456033347,
279
+ "xyz": [
280
+ 0.7654159141207924,
281
+ 0.5971816592485492,
282
+ 0.14771668635226176
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.916333794593811,
288
+ "position": [
289
+ -0.01873596216319129,
290
+ 0.08195141679607332,
291
+ 0.18410386005416512
292
+ ],
293
+ "orientation": {
294
+ "w": 0.20953064717774342,
295
+ "xyz": [
296
+ 0.7164403244804044,
297
+ 0.6638493082653837,
298
+ 0.045981140343192915
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9143261909484863,
304
+ "position": [
305
+ 0.04764585924567655,
306
+ -0.033051572972908616,
307
+ 0.1981250778771937
308
+ ],
309
+ "orientation": {
310
+ "w": 0.03700301049867653,
311
+ "xyz": [
312
+ 0.9374201229631405,
313
+ -0.3459361587786881,
314
+ -0.014228996002936959
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.914223313331604,
320
+ "position": [
321
+ 0.05701351148309186,
322
+ -0.020449849078431726,
323
+ 0.19449196616187692
324
+ ],
325
+ "orientation": {
326
+ "w": 0.06450315422212427,
327
+ "xyz": [
328
+ 0.9542089899226613,
329
+ -0.29102995065151294,
330
+ -0.025022279471491465
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9141302108764648,
336
+ "position": [
337
+ -0.06495428102789447,
338
+ -0.006929721916094422,
339
+ 0.1969443396665156
340
+ ],
341
+ "orientation": {
342
+ "w": 0.032676076822516276,
343
+ "xyz": [
344
+ -0.08623004601936538,
345
+ 0.9951719393151954,
346
+ -0.033607504617576445
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "base ring",
354
+ "mask_color": "Cyan",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the wide bottom rim to lift the holder",
359
+ "confidence": 0.73
360
+ },
361
+ {
362
+ "scenario": "pinch the base edge to slide or reposition the holder on a table",
363
+ "confidence": 0.67
364
+ },
365
+ {
366
+ "scenario": "hold the base to stabilize the object during loading or unloading",
367
+ "confidence": 0.7
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "support on flat surfaces",
372
+ "improve stability",
373
+ "distribute weight at the bottom",
374
+ "provide anti-tip footprint"
375
+ ],
376
+ "semantic_description": "Wide dark gray to black circular base ring around the bottom, likely plastic or rubberized plastic, with a matte to slightly textured surface and a slightly flared footprint.",
377
+ "id": 6,
378
+ "grasp_group": {}
379
+ },
380
+ {
381
+ "part_name": "side insert panel",
382
+ "mask_color": "Red",
383
+ "graspable": false,
384
+ "grasp_scenarios": [],
385
+ "functional_labels": [
386
+ "provide decorative side detail",
387
+ "form a small labeled or accent panel area",
388
+ "add surface variation to the holder exterior"
389
+ ],
390
+ "semantic_description": "Small vertical rounded-rectangle side panel near the lower wall of the holder, light pink in the center with a black border, containing a small oval detail and sitting flush or slightly inset into the cup body.",
391
+ "id": 0,
392
+ "grasp_group": {}
393
+ }
394
+ ],
395
+ "quality_check": {
396
+ "success": false,
397
+ "message": "Red part identity and description are wrong; it is an elongated side cutout/slot, not a small rounded panel."
398
+ }
399
+ }
dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:28194db61176d760d1146996ff4092f28f8407513b54d10519625e0262f3e85b
3
+ size 3786436