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
df833a5
·
verified ·
1 Parent(s): 67b9218

Add asset bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/affordance/affordance_annot.json +230 -0
  3. dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5951,3 +5951,4 @@ dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mes
5951
  dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5952
  dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5953
  dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5951
  dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5952
  dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5953
  dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5954
+ dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/affordance/affordance_annot.json ADDED
@@ -0,0 +1,230 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "base tray",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the round base from opposite sides to lift and relocate the holder",
10
+ "confidence": 0.81
11
+ },
12
+ {
13
+ "scenario": "hold the base to stabilize the holder while inserting or removing a remote",
14
+ "confidence": 0.76
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support the holder upright",
19
+ "provide a stable footprint",
20
+ "distribute load on the table",
21
+ "main lifting point for relocation"
22
+ ],
23
+ "semantic_description": "Wide round red plastic base with a matte to satin finish, smooth hard surface, and a slightly raised outer rim, forming the bottom part that rests on the tabletop.",
24
+ "id": 8,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "holder body",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the side walls to pick up the empty holder",
34
+ "confidence": 0.79
35
+ },
36
+ {
37
+ "scenario": "hold the body to reposition or rotate the holder on a desk",
38
+ "confidence": 0.72
39
+ },
40
+ {
41
+ "scenario": "stabilize the holder by clamping the side walls while removing contents",
42
+ "confidence": 0.64
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "contain remote controls",
47
+ "form the main enclosure",
48
+ "guide items into the slot",
49
+ "provide side support"
50
+ ],
51
+ "semantic_description": "Tapered rectangular red plastic container body with a matte smooth surface, hard texture, perforated side panels, and a printed gold-and-white BAE logo on the front, occupying most of the object's height above the base.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_4": {
55
+ "confidence": 0.8411527872085571,
56
+ "position": [
57
+ -0.02311768033541739,
58
+ 0.021170841762796044,
59
+ 0.17576834373176098
60
+ ],
61
+ "orientation": {
62
+ "w": 0.01648168185362261,
63
+ "xyz": [
64
+ 0.0023398823424029794,
65
+ 0.9998613456483598,
66
+ 0.0004105997454125874
67
+ ]
68
+ }
69
+ },
70
+ "grasp_5": {
71
+ "confidence": 0.810361385345459,
72
+ "position": [
73
+ -0.018063903087750077,
74
+ 0.025991354370489717,
75
+ 0.17691908590495586
76
+ ],
77
+ "orientation": {
78
+ "w": 0.0413958314582351,
79
+ "xyz": [
80
+ -0.011260745732534208,
81
+ -0.997926207131118,
82
+ 0.04798818463256875
83
+ ]
84
+ }
85
+ },
86
+ "grasp_6": {
87
+ "confidence": 0.8051132559776306,
88
+ "position": [
89
+ -0.012452398659661412,
90
+ -0.014473921386525035,
91
+ 0.17571303062140942
92
+ ],
93
+ "orientation": {
94
+ "w": 0.05528224836102189,
95
+ "xyz": [
96
+ -0.9982347837350968,
97
+ -0.019549303665495538,
98
+ 0.0094347381356873
99
+ ]
100
+ }
101
+ },
102
+ "grasp_7": {
103
+ "confidence": 0.8027638792991638,
104
+ "position": [
105
+ -0.019485561409965158,
106
+ 0.03367089875973761,
107
+ 0.16791757754981518
108
+ ],
109
+ "orientation": {
110
+ "w": 0.0261340950646243,
111
+ "xyz": [
112
+ -0.0025692571430308035,
113
+ 0.9940498209862004,
114
+ -0.10571358186245192
115
+ ]
116
+ }
117
+ },
118
+ "grasp_11": {
119
+ "confidence": 0.7932204008102417,
120
+ "position": [
121
+ -0.02359806769527495,
122
+ 0.038619075203314424,
123
+ 0.17287242226302624
124
+ ],
125
+ "orientation": {
126
+ "w": 0.013057889137253312,
127
+ "xyz": [
128
+ -0.002765440235414373,
129
+ 0.9995960520284883,
130
+ -0.025091365858474716
131
+ ]
132
+ }
133
+ },
134
+ "grasp_12": {
135
+ "confidence": 0.7857840061187744,
136
+ "position": [
137
+ -0.014466161141172051,
138
+ 0.020884655648842454,
139
+ 0.17882939986884594
140
+ ],
141
+ "orientation": {
142
+ "w": 0.021179479401930608,
143
+ "xyz": [
144
+ -0.9995906952439205,
145
+ -0.01739033709339571,
146
+ 0.008212661554992019
147
+ ]
148
+ }
149
+ },
150
+ "grasp_14": {
151
+ "confidence": 0.7791838049888611,
152
+ "position": [
153
+ -0.004707709653303027,
154
+ -0.015223713358864188,
155
+ 0.17887101881206036
156
+ ],
157
+ "orientation": {
158
+ "w": 0.013769030134031095,
159
+ "xyz": [
160
+ -0.0011176342827056115,
161
+ 0.9998992602473232,
162
+ 0.0032609905909891973
163
+ ]
164
+ }
165
+ },
166
+ "grasp_18": {
167
+ "confidence": 0.7112292051315308,
168
+ "position": [
169
+ -0.016101705143228173,
170
+ 0.059172325069084764,
171
+ 0.16623475961387157
172
+ ],
173
+ "orientation": {
174
+ "w": 0.018877057984303273,
175
+ "xyz": [
176
+ 0.0007493236819472068,
177
+ 0.9685025595083393,
178
+ -0.24828589855582467
179
+ ]
180
+ }
181
+ }
182
+ }
183
+ },
184
+ {
185
+ "part_name": "top rim",
186
+ "mask_color": "Blue",
187
+ "graspable": true,
188
+ "grasp_scenarios": [
189
+ {
190
+ "scenario": "pinch the top rim to lift the holder when it is lightly loaded",
191
+ "confidence": 0.56
192
+ },
193
+ {
194
+ "scenario": "grasp the rim to tilt or orient the holder during placement",
195
+ "confidence": 0.5
196
+ }
197
+ ],
198
+ "functional_labels": [
199
+ "reinforce the opening",
200
+ "protect the top edge",
201
+ "guide insertion into the holder",
202
+ "provide a local gripping lip"
203
+ ],
204
+ "semantic_description": "Rounded rectangular red plastic rim around the top opening with a matte smooth finish and thickened edge, located at the uppermost perimeter of the holder.",
205
+ "id": 2,
206
+ "grasp_group": {
207
+ "grasp_38": {
208
+ "confidence": 0.15852977335453033,
209
+ "position": [
210
+ 0.0024873779620975256,
211
+ 0.15919849672354758,
212
+ 0.14073310606181622
213
+ ],
214
+ "orientation": {
215
+ "w": 0.0360539014244291,
216
+ "xyz": [
217
+ -0.013879792127648036,
218
+ 0.8675111064044689,
219
+ -0.4959152627490559
220
+ ]
221
+ }
222
+ }
223
+ }
224
+ }
225
+ ],
226
+ "quality_check": {
227
+ "success": true,
228
+ "message": "YES"
229
+ }
230
+ }
dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f94b1b587324d7878e4d2fea262aa3a9d8ab91e79df8614c4ef478d95b17d426
3
+ size 3780004