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
cfb973d
·
verified ·
1 Parent(s): a805679

Add asset bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/affordance/affordance_annot.json +565 -0
  3. dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.urdf +1 -0
.gitattributes CHANGED
@@ -5896,4 +5896,4 @@ dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/affo
5896
  dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5897
  dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5898
  dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5899
- dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5896
  dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5897
  dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5898
  dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5899
+ dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,565 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flashlight head",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the flashlight head to pick up or reposition the flashlight",
10
+ "confidence": 0.67
11
+ },
12
+ {
13
+ "scenario": "hold the head to stabilize the flashlight while manipulating the body or switch",
14
+ "confidence": 0.58
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "house the lens and light source",
19
+ "protect the front optics",
20
+ "provide front-end structure",
21
+ "help orient the beam direction"
22
+ ],
23
+ "semantic_description": "Large flared yellow-and-dark-gray front housing at the beam end, with a hard matte plastic appearance and the widest diameter around the lens.",
24
+ "id": 5,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.974895715713501,
28
+ "position": [
29
+ -0.045029256492853165,
30
+ -0.027188134466996416,
31
+ -0.09405991369567346
32
+ ],
33
+ "orientation": {
34
+ "w": 0.6983781006828284,
35
+ "xyz": [
36
+ -0.0790757531356108,
37
+ 0.10600658520854633,
38
+ 0.7034043343945956
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9736042022705078,
44
+ "position": [
45
+ -0.03211880102753639,
46
+ -0.03325495411991142,
47
+ 0.0956842086307006
48
+ ],
49
+ "orientation": {
50
+ "w": 0.1339625049253518,
51
+ "xyz": [
52
+ -0.7030649015747445,
53
+ -0.6907831687258151,
54
+ -0.10282220214011263
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9731404781341553,
60
+ "position": [
61
+ -0.03061772510409355,
62
+ -0.00028804312751162797,
63
+ -0.09713212335191201
64
+ ],
65
+ "orientation": {
66
+ "w": 0.714391062162415,
67
+ "xyz": [
68
+ 0.011663526563334851,
69
+ 0.016959952738421658,
70
+ -0.699443873698007
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9720888733863831,
76
+ "position": [
77
+ -0.046650152653455734,
78
+ -0.05043176104663871,
79
+ 0.08658182686485816
80
+ ],
81
+ "orientation": {
82
+ "w": 0.20309888595253037,
83
+ "xyz": [
84
+ -0.6560072224619693,
85
+ 0.7017091463882513,
86
+ 0.18976206279877095
87
+ ]
88
+ }
89
+ },
90
+ "grasp_6": {
91
+ "confidence": 0.9718785285949707,
92
+ "position": [
93
+ -0.04366819187998772,
94
+ 0.0011221734166610986,
95
+ -0.09891325914941262
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6982666552012254,
99
+ "xyz": [
100
+ -0.012507607801814641,
101
+ 0.03245308381669898,
102
+ -0.7149923323588551
103
+ ]
104
+ }
105
+ },
106
+ "grasp_8": {
107
+ "confidence": 0.9709603190422058,
108
+ "position": [
109
+ -0.05784158036112785,
110
+ -0.043342474004020914,
111
+ -0.0877925672539277
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6697572374056591,
115
+ "xyz": [
116
+ -0.2520909249234162,
117
+ -0.051486879132980334,
118
+ -0.6965805838459341
119
+ ]
120
+ }
121
+ },
122
+ "grasp_9": {
123
+ "confidence": 0.9709029197692871,
124
+ "position": [
125
+ -0.036750677973032,
126
+ 0.005842617625603452,
127
+ -0.09833985501609277
128
+ ],
129
+ "orientation": {
130
+ "w": 0.740715101401097,
131
+ "xyz": [
132
+ 0.03968333936240558,
133
+ 0.02872958874433096,
134
+ -0.670030582782601
135
+ ]
136
+ }
137
+ },
138
+ "grasp_10": {
139
+ "confidence": 0.9703238606452942,
140
+ "position": [
141
+ -0.007836909964680672,
142
+ -0.003096599451964721,
143
+ 0.09451122647442389
144
+ ],
145
+ "orientation": {
146
+ "w": 0.10492877507132335,
147
+ "xyz": [
148
+ 0.7496915818573656,
149
+ -0.6414439850379735,
150
+ -0.12450742272184485
151
+ ]
152
+ }
153
+ },
154
+ "grasp_11": {
155
+ "confidence": 0.9694579243659973,
156
+ "position": [
157
+ -0.042526163160800934,
158
+ -0.04811800931929611,
159
+ 0.08629465168633033
160
+ ],
161
+ "orientation": {
162
+ "w": 0.19039160903151864,
163
+ "xyz": [
164
+ -0.6814620288873341,
165
+ 0.6859695859269337,
166
+ 0.16972408661818902
167
+ ]
168
+ }
169
+ },
170
+ "grasp_13": {
171
+ "confidence": 0.9688963890075684,
172
+ "position": [
173
+ -0.04969703033566475,
174
+ -0.0008603305905126035,
175
+ -0.09835144811950158
176
+ ],
177
+ "orientation": {
178
+ "w": 0.7195752822269809,
179
+ "xyz": [
180
+ 0.04767562828033831,
181
+ 0.04118060394637191,
182
+ 0.691550869809769
183
+ ]
184
+ }
185
+ },
186
+ "grasp_16": {
187
+ "confidence": 0.9680137634277344,
188
+ "position": [
189
+ -0.04027136415243149,
190
+ -0.03349919160245918,
191
+ 0.09630559450306464
192
+ ],
193
+ "orientation": {
194
+ "w": 0.1355864632178133,
195
+ "xyz": [
196
+ -0.6697071787652036,
197
+ 0.7203895349992542,
198
+ 0.11894336284969732
199
+ ]
200
+ }
201
+ },
202
+ "grasp_18": {
203
+ "confidence": 0.9678212404251099,
204
+ "position": [
205
+ -0.015835784375667572,
206
+ -0.03855806132196449,
207
+ -0.08662799680314492
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6856453019802098,
211
+ "xyz": [
212
+ -0.09231153832258497,
213
+ -0.19242932902901433,
214
+ -0.6959454383027655
215
+ ]
216
+ }
217
+ }
218
+ }
219
+ },
220
+ {
221
+ "part_name": "flashlight body",
222
+ "mask_color": "Cyan",
223
+ "graspable": true,
224
+ "grasp_scenarios": [
225
+ {
226
+ "scenario": "grasp the body to lift and carry the flashlight",
227
+ "confidence": 0.97
228
+ },
229
+ {
230
+ "scenario": "hold the body as the main stable grip while aiming the beam",
231
+ "confidence": 0.95
232
+ },
233
+ {
234
+ "scenario": "grasp the body to stabilize the flashlight while pressing the side button",
235
+ "confidence": 0.91
236
+ }
237
+ ],
238
+ "functional_labels": [
239
+ "main grasp surface",
240
+ "contain batteries and internal electronics",
241
+ "support aiming and carrying",
242
+ "connect head and tail"
243
+ ],
244
+ "semantic_description": "Long cylindrical black body with yellow accents, likely hard plastic with rubberized grip sections, featuring a matte ribbed surface along the central handle region.",
245
+ "id": 6,
246
+ "grasp_group": {
247
+ "grasp_20": {
248
+ "confidence": 0.9833365082740784,
249
+ "position": [
250
+ -0.005001852288842201,
251
+ -0.024862430145731196,
252
+ 0.09099122947372962
253
+ ],
254
+ "orientation": {
255
+ "w": 0.18500534090400236,
256
+ "xyz": [
257
+ -0.7009332332776298,
258
+ 0.6887987333579947,
259
+ 0.004683081078070037
260
+ ]
261
+ }
262
+ },
263
+ "grasp_21": {
264
+ "confidence": 0.9830600619316101,
265
+ "position": [
266
+ 0.02535307453945279,
267
+ 0.09505982036353089,
268
+ 0.027024910508771427
269
+ ],
270
+ "orientation": {
271
+ "w": 0.4382833939635956,
272
+ "xyz": [
273
+ 0.5548260792598155,
274
+ 0.57010657541987,
275
+ -0.41839476695097494
276
+ ]
277
+ }
278
+ },
279
+ "grasp_22": {
280
+ "confidence": 0.98226398229599,
281
+ "position": [
282
+ 0.021054201293736696,
283
+ -0.09972485815524124,
284
+ 0.017948015316505916
285
+ ],
286
+ "orientation": {
287
+ "w": 0.4625949346974753,
288
+ "xyz": [
289
+ -0.5301117602153703,
290
+ -0.5456995913758301,
291
+ -0.45519161245112133
292
+ ]
293
+ }
294
+ },
295
+ "grasp_24": {
296
+ "confidence": 0.9820404052734375,
297
+ "position": [
298
+ 0.017610810115002096,
299
+ -0.10271405344246887,
300
+ 0.0023311404074775055
301
+ ],
302
+ "orientation": {
303
+ "w": 0.4800277663403878,
304
+ "xyz": [
305
+ -0.47697180541691564,
306
+ -0.5261467669556426,
307
+ -0.5150153589959344
308
+ ]
309
+ }
310
+ },
311
+ "grasp_25": {
312
+ "confidence": 0.9815642237663269,
313
+ "position": [
314
+ 0.005201175808906555,
315
+ -0.0348988315963652,
316
+ -0.08894945615611505
317
+ ],
318
+ "orientation": {
319
+ "w": 0.7243267630159353,
320
+ "xyz": [
321
+ -0.07461999437283316,
322
+ 0.17440633647031956,
323
+ 0.6628461560706645
324
+ ]
325
+ }
326
+ },
327
+ "grasp_27": {
328
+ "confidence": 0.9812399744987488,
329
+ "position": [
330
+ 0.011002527549862862,
331
+ -0.03795668770908378,
332
+ -0.08923768186650705
333
+ ],
334
+ "orientation": {
335
+ "w": 0.7003623368633288,
336
+ "xyz": [
337
+ -0.1397963266335755,
338
+ -0.1253421059036507,
339
+ -0.6886500857843075
340
+ ]
341
+ }
342
+ },
343
+ "grasp_28": {
344
+ "confidence": 0.9811002016067505,
345
+ "position": [
346
+ 0.030824820511043072,
347
+ 0.0650992848968599,
348
+ 0.0733923173538642
349
+ ],
350
+ "orientation": {
351
+ "w": 0.25932614820211625,
352
+ "xyz": [
353
+ 0.6701219353188176,
354
+ -0.6507189831624401,
355
+ 0.24546149517848423
356
+ ]
357
+ }
358
+ },
359
+ "grasp_30": {
360
+ "confidence": 0.9805787205696106,
361
+ "position": [
362
+ 0.0011140517890453339,
363
+ -0.09830386852263473,
364
+ -0.009515436642686836
365
+ ],
366
+ "orientation": {
367
+ "w": 0.5026327510969545,
368
+ "xyz": [
369
+ -0.45439652525580276,
370
+ -0.49355965339354146,
371
+ -0.5452366311081882
372
+ ]
373
+ }
374
+ },
375
+ "grasp_31": {
376
+ "confidence": 0.9804872870445251,
377
+ "position": [
378
+ 0.036350494250655174,
379
+ 0.0989045285678003,
380
+ 0.024806993737001903
381
+ ],
382
+ "orientation": {
383
+ "w": 0.44778432581588634,
384
+ "xyz": [
385
+ 0.5444616645353307,
386
+ 0.5655206519869445,
387
+ -0.4280620113736915
388
+ ]
389
+ }
390
+ },
391
+ "grasp_32": {
392
+ "confidence": 0.980377733707428,
393
+ "position": [
394
+ 0.01225672522559762,
395
+ -0.00022858634474687278,
396
+ -0.09679844909987878
397
+ ],
398
+ "orientation": {
399
+ "w": 0.7061170687427587,
400
+ "xyz": [
401
+ -0.003613035345314958,
402
+ 0.018152113941121595,
403
+ -0.7078531853182527
404
+ ]
405
+ }
406
+ },
407
+ "grasp_33": {
408
+ "confidence": 0.980358362197876,
409
+ "position": [
410
+ 0.029172143898904324,
411
+ 0.09978059763670899,
412
+ 0.01993480017699767
413
+ ],
414
+ "orientation": {
415
+ "w": 0.45180675170606777,
416
+ "xyz": [
417
+ 0.5232493428348102,
418
+ 0.5636382693322243,
419
+ -0.45209809298417336
420
+ ]
421
+ }
422
+ },
423
+ "grasp_36": {
424
+ "confidence": 0.9798072576522827,
425
+ "position": [
426
+ 0.02443929063156247,
427
+ 0.09994545663357712,
428
+ 0.01293192403682042
429
+ ],
430
+ "orientation": {
431
+ "w": 0.49651214617225625,
432
+ "xyz": [
433
+ 0.5434219151212178,
434
+ 0.5176650855028989,
435
+ -0.4361091263900407
436
+ ]
437
+ }
438
+ },
439
+ "grasp_37": {
440
+ "confidence": 0.9796574711799622,
441
+ "position": [
442
+ 0.012295496184378862,
443
+ -0.09801626121043228,
444
+ 0.022615437119384296
445
+ ],
446
+ "orientation": {
447
+ "w": 0.4376336868226009,
448
+ "xyz": [
449
+ -0.5484981498695165,
450
+ 0.5580269865397239,
451
+ 0.4429812840754895
452
+ ]
453
+ }
454
+ },
455
+ "grasp_39": {
456
+ "confidence": 0.9793071746826172,
457
+ "position": [
458
+ -0.014336567372083664,
459
+ -0.0009081830794457346,
460
+ 0.09315903550304938
461
+ ],
462
+ "orientation": {
463
+ "w": 0.15094379104175862,
464
+ "xyz": [
465
+ -0.718087693602659,
466
+ 0.6654732591414533,
467
+ -0.13678953764819796
468
+ ]
469
+ }
470
+ }
471
+ }
472
+ },
473
+ {
474
+ "part_name": "transition collar",
475
+ "mask_color": "Brown",
476
+ "graspable": true,
477
+ "grasp_scenarios": [
478
+ {
479
+ "scenario": "grasp the collar near the head to stabilize the flashlight during reorientation",
480
+ "confidence": 0.42
481
+ },
482
+ {
483
+ "scenario": "pinch the collar briefly during handoff or inspection",
484
+ "confidence": 0.3
485
+ }
486
+ ],
487
+ "functional_labels": [
488
+ "transition between body and head",
489
+ "provide structural reinforcement",
490
+ "add protective edging around the housing junction"
491
+ ],
492
+ "semantic_description": "Narrow yellow ring-shaped collar between the black body and the larger head housing, with a hard matte plastic appearance.",
493
+ "id": 11,
494
+ "grasp_group": {
495
+ "grasp_43": {
496
+ "confidence": 0.9764549136161804,
497
+ "position": [
498
+ 0.05008733831346035,
499
+ -0.008618970488896593,
500
+ -0.10417070919356775
501
+ ],
502
+ "orientation": {
503
+ "w": 0.7040881969631048,
504
+ "xyz": [
505
+ -0.012731886896980743,
506
+ 0.030170819059392895,
507
+ 0.7093570551073503
508
+ ]
509
+ }
510
+ },
511
+ "grasp_50": {
512
+ "confidence": 0.9730592966079712,
513
+ "position": [
514
+ 0.05889783054590225,
515
+ 0.06599995578289963,
516
+ 0.07842984115995932
517
+ ],
518
+ "orientation": {
519
+ "w": 0.2487527569796997,
520
+ "xyz": [
521
+ 0.6877054054096995,
522
+ 0.637248586334929,
523
+ -0.24309993928303159
524
+ ]
525
+ }
526
+ },
527
+ "grasp_58": {
528
+ "confidence": 0.9701715707778931,
529
+ "position": [
530
+ -0.029017485678195953,
531
+ -0.032627142121782526,
532
+ 0.09395603156008292
533
+ ],
534
+ "orientation": {
535
+ "w": 0.13029304023589622,
536
+ "xyz": [
537
+ -0.6995875142440835,
538
+ 0.6941070030123928,
539
+ 0.10870373475196651
540
+ ]
541
+ }
542
+ }
543
+ }
544
+ },
545
+ {
546
+ "part_name": "side switch",
547
+ "mask_color": "Maroon",
548
+ "graspable": false,
549
+ "grasp_scenarios": [],
550
+ "functional_labels": [
551
+ "power control",
552
+ "mode switching",
553
+ "user input",
554
+ "indicate switch location"
555
+ ],
556
+ "semantic_description": "Small raised dark rubberized side button on the body near the head, with a matte slightly grippy surface and a rounded rectangular to oval shape sized for pressing rather than grasping.",
557
+ "id": 12,
558
+ "grasp_group": {}
559
+ }
560
+ ],
561
+ "quality_check": {
562
+ "success": false,
563
+ "message": "Brown part misidentified; mask marks both front and tail collars/end cap, not only head-body transition collar."
564
+ }
565
+ }
dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9516e5a8b66c8e3df7484298c272b96bc1dfa8976b3f2b124a583a8e183a2b53
3
+ size 3789492
dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
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>YES</PartSegChecker>