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
ea8673f
·
verified ·
1 Parent(s): ecb7977

Add asset desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/affordance/affordance_annot.json +456 -0
  3. dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.urdf +1 -0
.gitattributes CHANGED
@@ -6154,3 +6154,4 @@ dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/affordance
6154
  dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6155
  dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6156
  dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6154
  dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6155
  dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6156
  dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6157
+ dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,456 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "vase body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body from the sides to pick up the vase",
10
+ "confidence": 0.8
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the vase during placement",
14
+ "confidence": 0.77
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain flowers or decorative contents",
19
+ "provide the main structural shell",
20
+ "support side grasping",
21
+ "define the opening and interior cavity"
22
+ ],
23
+ "semantic_description": "Large gray metal vase body with a smooth mostly matte finish, weathered copper-toned worn spots, a scalloped flared rim, tapered cylindrical shape, and a hollow interior.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9583206176757812,
28
+ "position": [
29
+ 0.09311746606545057,
30
+ 0.04500413660571212,
31
+ -0.008407918852753937
32
+ ],
33
+ "orientation": {
34
+ "w": 0.3801246448658608,
35
+ "xyz": [
36
+ -0.3630720272523182,
37
+ -0.5991230736088544,
38
+ 0.6039333573019248
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9571914076805115,
44
+ "position": [
45
+ -0.04079880019708071,
46
+ -0.09152377794816857,
47
+ 0.0061114843701943755
48
+ ],
49
+ "orientation": {
50
+ "w": 0.6935638580642736,
51
+ "xyz": [
52
+ -0.6865197064809931,
53
+ 0.14313614699536625,
54
+ -0.16483904520341217
55
+ ]
56
+ }
57
+ },
58
+ "grasp_6": {
59
+ "confidence": 0.9500419497489929,
60
+ "position": [
61
+ 0.05904716798977461,
62
+ -0.08682591121032601,
63
+ -0.029713670373894274
64
+ ],
65
+ "orientation": {
66
+ "w": 0.22074231655797968,
67
+ "xyz": [
68
+ 0.1950500556306734,
69
+ -0.6813408161145866,
70
+ -0.6700768596029838
71
+ ]
72
+ }
73
+ },
74
+ "grasp_11": {
75
+ "confidence": 0.9472030997276306,
76
+ "position": [
77
+ 0.08466938683704939,
78
+ -0.03769737135007745,
79
+ -0.07986517867539078
80
+ ],
81
+ "orientation": {
82
+ "w": 0.696794783647132,
83
+ "xyz": [
84
+ -0.4419218421635577,
85
+ -0.26160683147810904,
86
+ 0.5007434279397964
87
+ ]
88
+ }
89
+ },
90
+ "grasp_12": {
91
+ "confidence": 0.9470282793045044,
92
+ "position": [
93
+ -0.08776520391984377,
94
+ -0.017007472248224076,
95
+ 0.08118623623158783
96
+ ],
97
+ "orientation": {
98
+ "w": 0.37862465593378003,
99
+ "xyz": [
100
+ -0.6845664857534499,
101
+ 0.5392412080355166,
102
+ -0.3118188834220834
103
+ ]
104
+ }
105
+ },
106
+ "grasp_14": {
107
+ "confidence": 0.9463733434677124,
108
+ "position": [
109
+ 0.00038837398460600525,
110
+ 0.0024513955941074528,
111
+ 0.1253203017404303
112
+ ],
113
+ "orientation": {
114
+ "w": 0.014617084819917246,
115
+ "xyz": [
116
+ -0.5809249874505109,
117
+ -0.8138178569400826,
118
+ 0.0036049289094996235
119
+ ]
120
+ }
121
+ },
122
+ "grasp_15": {
123
+ "confidence": 0.9457111358642578,
124
+ "position": [
125
+ 0.007075744550093077,
126
+ -0.002188000849855598,
127
+ 0.12747383245732635
128
+ ],
129
+ "orientation": {
130
+ "w": 0.037849638846269025,
131
+ "xyz": [
132
+ -0.6192076978348698,
133
+ -0.7842951800598503,
134
+ 0.00550475395761001
135
+ ]
136
+ }
137
+ },
138
+ "grasp_16": {
139
+ "confidence": 0.9450647234916687,
140
+ "position": [
141
+ -0.05228026038093958,
142
+ -0.013407714919594582,
143
+ 0.11526871600653976
144
+ ],
145
+ "orientation": {
146
+ "w": 0.2113181416420824,
147
+ "xyz": [
148
+ -0.7661207360362514,
149
+ 0.5850728394037064,
150
+ -0.16153461988160345
151
+ ]
152
+ }
153
+ }
154
+ }
155
+ },
156
+ {
157
+ "part_name": "decorative metal vine frame",
158
+ "mask_color": "Gray",
159
+ "graspable": true,
160
+ "grasp_scenarios": [
161
+ {
162
+ "scenario": "grasp a sturdy side loop of the metal frame to lift or reposition the vase",
163
+ "confidence": 0.45
164
+ },
165
+ {
166
+ "scenario": "hold the frame to stabilize the vase while another gripper manipulates the body",
167
+ "confidence": 0.42
168
+ }
169
+ ],
170
+ "functional_labels": [
171
+ "provide ornamental detailing",
172
+ "add a raised outer metal framework",
173
+ "offer limited side anchoring points",
174
+ "visually frame the vase body"
175
+ ],
176
+ "semantic_description": "Medium-size raised vine-and-leaf metal framework in weathered bronze-gray tones with a hard cast texture, curling around the vase exterior as thin scrolls, leaves, feet, and side loops.",
177
+ "id": 15,
178
+ "grasp_group": {
179
+ "grasp_20": {
180
+ "confidence": 0.9114245176315308,
181
+ "position": [
182
+ 0.0930200422735652,
183
+ 0.036645579828473274,
184
+ -0.024172939942218363
185
+ ],
186
+ "orientation": {
187
+ "w": 0.40298683796865536,
188
+ "xyz": [
189
+ -0.38493801932819477,
190
+ -0.5912519918564915,
191
+ 0.5829626161474185
192
+ ]
193
+ }
194
+ },
195
+ "grasp_21": {
196
+ "confidence": 0.901531994342804,
197
+ "position": [
198
+ -0.08701180120988283,
199
+ -0.044583548115042504,
200
+ -0.04105090594384819
201
+ ],
202
+ "orientation": {
203
+ "w": 0.4119268192913568,
204
+ "xyz": [
205
+ 0.3476127373552128,
206
+ 0.5427991511229974,
207
+ 0.6440890947043543
208
+ ]
209
+ }
210
+ },
211
+ "grasp_22": {
212
+ "confidence": 0.8901798725128174,
213
+ "position": [
214
+ 0.08779956201033201,
215
+ -0.04049810420110589,
216
+ -0.015655531198717654
217
+ ],
218
+ "orientation": {
219
+ "w": 0.38910365962847876,
220
+ "xyz": [
221
+ 0.3668451369330676,
222
+ -0.5969431930457529,
223
+ -0.5980650565353446
224
+ ]
225
+ }
226
+ },
227
+ "grasp_25": {
228
+ "confidence": 0.39713767170906067,
229
+ "position": [
230
+ -0.07230282029195223,
231
+ 0.04993027795717353,
232
+ -0.05876783898565918
233
+ ],
234
+ "orientation": {
235
+ "w": 0.7647582923857148,
236
+ "xyz": [
237
+ 0.45066097792585713,
238
+ 0.2403169306942583,
239
+ 0.39280683551064377
240
+ ]
241
+ }
242
+ },
243
+ "grasp_26": {
244
+ "confidence": 0.22040465474128723,
245
+ "position": [
246
+ -0.05425450777693186,
247
+ 0.06624783177539939,
248
+ -0.06222480779979378
249
+ ],
250
+ "orientation": {
251
+ "w": 0.8215002699000331,
252
+ "xyz": [
253
+ 0.46347237489852117,
254
+ 0.17921054773878797,
255
+ 0.27966809585517644
256
+ ]
257
+ }
258
+ },
259
+ "grasp_27": {
260
+ "confidence": 0.9711545705795288,
261
+ "position": [
262
+ 0.0992402935953578,
263
+ -0.027941821397689637,
264
+ -0.017538728774525225
265
+ ],
266
+ "orientation": {
267
+ "w": 0.5547894712887075,
268
+ "xyz": [
269
+ -0.5752886014172309,
270
+ -0.42599375208125856,
271
+ 0.424005885353416
272
+ ]
273
+ }
274
+ },
275
+ "grasp_28": {
276
+ "confidence": 0.9619752764701843,
277
+ "position": [
278
+ 0.03880896592454519,
279
+ -0.09377737741306191,
280
+ -0.013954802067019045
281
+ ],
282
+ "orientation": {
283
+ "w": 0.14342227773955202,
284
+ "xyz": [
285
+ 0.13032295516449086,
286
+ -0.6974615690195715,
287
+ -0.6899227038922191
288
+ ]
289
+ }
290
+ },
291
+ "grasp_29": {
292
+ "confidence": 0.957790732383728,
293
+ "position": [
294
+ 0.09457343617395964,
295
+ -0.0324668663306511,
296
+ -0.018492136732675135
297
+ ],
298
+ "orientation": {
299
+ "w": 0.4257920146027724,
300
+ "xyz": [
301
+ 0.4078575327570423,
302
+ -0.5846597296347541,
303
+ -0.5572489513828327
304
+ ]
305
+ }
306
+ },
307
+ "grasp_30": {
308
+ "confidence": 0.9542924165725708,
309
+ "position": [
310
+ 0.08610069552378263,
311
+ -0.050908871249703225,
312
+ -0.010452938848175108
313
+ ],
314
+ "orientation": {
315
+ "w": 0.6093729326966405,
316
+ "xyz": [
317
+ -0.6225525248399891,
318
+ -0.34918551831451994,
319
+ 0.34519915485335484
320
+ ]
321
+ }
322
+ },
323
+ "grasp_31": {
324
+ "confidence": 0.9488797783851624,
325
+ "position": [
326
+ 0.06031396040634718,
327
+ -0.08098609398439294,
328
+ -0.01554530079010874
329
+ ],
330
+ "orientation": {
331
+ "w": 0.24735102580321433,
332
+ "xyz": [
333
+ 0.1990729248049066,
334
+ -0.6680639954726239,
335
+ -0.6729620632672184
336
+ ]
337
+ }
338
+ },
339
+ "grasp_33": {
340
+ "confidence": 0.9446884989738464,
341
+ "position": [
342
+ -0.09835332086367998,
343
+ 0.02647703301772708,
344
+ -0.022658313275314867
345
+ ],
346
+ "orientation": {
347
+ "w": 0.42416435863031693,
348
+ "xyz": [
349
+ -0.4274208892552758,
350
+ 0.5644074730749484,
351
+ -0.5646593527367743
352
+ ]
353
+ }
354
+ },
355
+ "grasp_34": {
356
+ "confidence": 0.9442023634910583,
357
+ "position": [
358
+ 0.06546443501429167,
359
+ -0.07538046340778237,
360
+ -0.013412034721113741
361
+ ],
362
+ "orientation": {
363
+ "w": 0.26118938587241736,
364
+ "xyz": [
365
+ 0.23553108813780593,
366
+ -0.667239651585679,
367
+ -0.6565793619814992
368
+ ]
369
+ }
370
+ },
371
+ "grasp_35": {
372
+ "confidence": 0.9409419894218445,
373
+ "position": [
374
+ -0.07637728950066958,
375
+ 0.06342319746181602,
376
+ -0.013850166113115847
377
+ ],
378
+ "orientation": {
379
+ "w": 0.6376621507088455,
380
+ "xyz": [
381
+ 0.639039814043857,
382
+ 0.30904091107519305,
383
+ 0.29918023481168843
384
+ ]
385
+ }
386
+ },
387
+ "grasp_36": {
388
+ "confidence": 0.9383791089057922,
389
+ "position": [
390
+ -0.06514533063455019,
391
+ 0.07509507585928077,
392
+ -0.01679172331932932
393
+ ],
394
+ "orientation": {
395
+ "w": 0.2274407661545105,
396
+ "xyz": [
397
+ -0.26302216262664774,
398
+ 0.653779886966736,
399
+ -0.6720579582565872
400
+ ]
401
+ }
402
+ },
403
+ "grasp_37": {
404
+ "confidence": 0.9376022219657898,
405
+ "position": [
406
+ -0.09495924612565432,
407
+ -0.052446227775362786,
408
+ -0.008893846650607884
409
+ ],
410
+ "orientation": {
411
+ "w": 0.35056592879043996,
412
+ "xyz": [
413
+ 0.3793858837502234,
414
+ 0.6162810308709014,
415
+ 0.5944472825836266
416
+ ]
417
+ }
418
+ },
419
+ "grasp_39": {
420
+ "confidence": 0.9333979487419128,
421
+ "position": [
422
+ 0.08825699040608015,
423
+ -0.03960456724598771,
424
+ -0.043956114561297
425
+ ],
426
+ "orientation": {
427
+ "w": 0.6660068288680818,
428
+ "xyz": [
429
+ -0.5090830354910673,
430
+ -0.3301828138299848,
431
+ 0.4338763375981639
432
+ ]
433
+ }
434
+ }
435
+ }
436
+ },
437
+ {
438
+ "part_name": "small decorative vine element",
439
+ "mask_color": "Crimson",
440
+ "graspable": false,
441
+ "grasp_scenarios": [],
442
+ "functional_labels": [
443
+ "ornamental metal detail",
444
+ "part of the raised outer vine framework",
445
+ "visual accent on the vase exterior"
446
+ ],
447
+ "semantic_description": "Small weathered bronze-copper decorative metal element on the lower side of the vase, appearing as a short curved vine or leaf-like segment attached to the raised outer framework.",
448
+ "id": 16,
449
+ "grasp_group": {}
450
+ }
451
+ ],
452
+ "quality_check": {
453
+ "success": false,
454
+ "message": "Gray part merges handles, legs, and frame; crimson part is not one lower-side element only."
455
+ }
456
+ }
dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cf061536f159abffc2feee102a876e370d86d4c357e04f4ecfe5033fcd531cf3
3
+ size 3812048
dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>NO: {"summary":"Decorative frame is split by small nonfunctional fragments; crimson is not a distinct vase part.","merge_groups":[{"colors":["Gray","Crimson"],"target_part":"ornamental outer frame","reason":"crimson appears as tiny frame fragments"}]}</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>NO: {"summary":"Decorative frame is split by small nonfunctional fragments; crimson is not a distinct vase part.","merge_groups":[{"colors":["Gray","Crimson"],"target_part":"ornamental outer frame","reason":"crimson appears as tiny frame fragments"}]}</PartSegChecker>