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
043ae05
·
verified ·
1 Parent(s): fccacec

Add asset bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/affordance_annot.json +387 -0
  3. dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.urdf +1 -0
.gitattributes CHANGED
@@ -6045,3 +6045,4 @@ dataset/bedroom_supplies/storage/633b06d7740754c4b95980a0fdca9e96/affordance/mes
6045
  dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6046
  dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6047
  dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6045
  dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6046
  dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6047
  dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6048
+ dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "basket body",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the side walls or rim area to pick up the empty basket",
10
+ "confidence": 0.72
11
+ },
12
+ {
13
+ "scenario": "hold the basket body to stabilize it while placing or retrieving contents",
14
+ "confidence": 0.78
15
+ },
16
+ {
17
+ "scenario": "pinch the lower sidewall to reposition the basket on a surface",
18
+ "confidence": 0.61
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain items",
23
+ "support stored contents",
24
+ "form the basket structure",
25
+ "provide side support",
26
+ "allow airflow through perforations"
27
+ ],
28
+ "semantic_description": "Large mint-green plastic basket shell with a matte to slightly satin finish, hard smooth surface, rounded rectangular tapered shape, perforated side walls, and a broad rim forming the main container body.",
29
+ "id": 2,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9756633639335632,
33
+ "position": [
34
+ 0.009098980342969298,
35
+ 0.06621295341756195,
36
+ 0.1252403417165624
37
+ ],
38
+ "orientation": {
39
+ "w": 0.09252629460263034,
40
+ "xyz": [
41
+ 0.7575622286440836,
42
+ 0.6459178453798299,
43
+ 0.01812433609251365
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9743286371231079,
49
+ "position": [
50
+ -0.017646422842517495,
51
+ 0.08511248358990997,
52
+ 0.12198430388525594
53
+ ],
54
+ "orientation": {
55
+ "w": 0.2347073084203737,
56
+ "xyz": [
57
+ 0.7246706567032432,
58
+ -0.6478733309885449,
59
+ -0.005006563807717488
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.9736018180847168,
65
+ "position": [
66
+ 0.014290676219388843,
67
+ 0.062123434036038816,
68
+ 0.1293897637660848
69
+ ],
70
+ "orientation": {
71
+ "w": 0.027253309177118802,
72
+ "xyz": [
73
+ 0.7367475150221482,
74
+ 0.6753682479720883,
75
+ 0.01838711175518626
76
+ ]
77
+ }
78
+ },
79
+ "grasp_24": {
80
+ "confidence": 0.973050594329834,
81
+ "position": [
82
+ 0.048584956442937255,
83
+ 0.051731356768868864,
84
+ 0.12889729528978933
85
+ ],
86
+ "orientation": {
87
+ "w": 0.05439559384645494,
88
+ "xyz": [
89
+ 0.6610566690420874,
90
+ -0.7467376956714599,
91
+ -0.04927487745647431
92
+ ]
93
+ }
94
+ },
95
+ "grasp_25": {
96
+ "confidence": 0.97184818983078,
97
+ "position": [
98
+ 0.01487790490500629,
99
+ 0.060466812341474,
100
+ 0.12950837700918783
101
+ ],
102
+ "orientation": {
103
+ "w": 0.022345785921309296,
104
+ "xyz": [
105
+ 0.7393653952894743,
106
+ 0.6724880554192901,
107
+ 0.024480470142146608
108
+ ]
109
+ }
110
+ },
111
+ "grasp_27": {
112
+ "confidence": 0.9695855379104614,
113
+ "position": [
114
+ 0.0289897748734802,
115
+ 0.055243392824195325,
116
+ 0.1304271230037557
117
+ ],
118
+ "orientation": {
119
+ "w": 0.030238742273344627,
120
+ "xyz": [
121
+ 0.6738445924607469,
122
+ -0.7377516786085921,
123
+ -0.02723131262610744
124
+ ]
125
+ }
126
+ },
127
+ "grasp_29": {
128
+ "confidence": 0.965678870677948,
129
+ "position": [
130
+ 0.02066104463301599,
131
+ 0.05548567825462669,
132
+ 0.13083165972784627
133
+ ],
134
+ "orientation": {
135
+ "w": 0.008793673899367397,
136
+ "xyz": [
137
+ -0.7040543761459853,
138
+ 0.7100850426085216,
139
+ 0.003055976553109901
140
+ ]
141
+ }
142
+ },
143
+ "grasp_30": {
144
+ "confidence": 0.9646071791648865,
145
+ "position": [
146
+ 0.04009238607250154,
147
+ 0.0521124986698851,
148
+ 0.12818472176149953
149
+ ],
150
+ "orientation": {
151
+ "w": 0.09055537314057689,
152
+ "xyz": [
153
+ -0.7236155477911929,
154
+ -0.681478567069069,
155
+ 0.061377732246403326
156
+ ]
157
+ }
158
+ },
159
+ "grasp_34": {
160
+ "confidence": 0.9630623459815979,
161
+ "position": [
162
+ 0.024054052075371146,
163
+ 0.05669967585708946,
164
+ 0.13224206953600515
165
+ ],
166
+ "orientation": {
167
+ "w": 0.0023009320072742844,
168
+ "xyz": [
169
+ 0.7161844989358903,
170
+ 0.6974552904981819,
171
+ 0.02511149043649806
172
+ ]
173
+ }
174
+ },
175
+ "grasp_35": {
176
+ "confidence": 0.9629239439964294,
177
+ "position": [
178
+ 0.019171727588400245,
179
+ 0.05446687096264213,
180
+ 0.13222950785711873
181
+ ],
182
+ "orientation": {
183
+ "w": 0.015841251904852034,
184
+ "xyz": [
185
+ -0.6981322875611202,
186
+ 0.7157086964882484,
187
+ 0.011019327286954235
188
+ ]
189
+ }
190
+ },
191
+ "grasp_37": {
192
+ "confidence": 0.9614859223365784,
193
+ "position": [
194
+ 0.032301284139975905,
195
+ 0.05001806223299354,
196
+ 0.12879911153868306
197
+ ],
198
+ "orientation": {
199
+ "w": 0.009722157318938414,
200
+ "xyz": [
201
+ -0.6830878795870643,
202
+ 0.7301729745957959,
203
+ 0.011993981334032058
204
+ ]
205
+ }
206
+ }
207
+ }
208
+ },
209
+ {
210
+ "part_name": "basket handle grip",
211
+ "mask_color": "Green",
212
+ "graspable": true,
213
+ "grasp_scenarios": [
214
+ {
215
+ "scenario": "grasp one handle grip to pull or slide the basket",
216
+ "confidence": 0.9
217
+ },
218
+ {
219
+ "scenario": "grasp both side handle grips to lift and carry the basket",
220
+ "confidence": 0.94
221
+ },
222
+ {
223
+ "scenario": "hold a handle grip to orient the basket during placement",
224
+ "confidence": 0.86
225
+ }
226
+ ],
227
+ "functional_labels": [
228
+ "provide a handhold",
229
+ "enable lifting",
230
+ "assist pulling",
231
+ "aid orientation during carrying"
232
+ ],
233
+ "semantic_description": "Small white plastic insert set into the upper side openings, with a matte smooth hard surface and shallow rectangular curved shape positioned at the basket rim as the dedicated grip area.",
234
+ "id": 1,
235
+ "grasp_group": {
236
+ "grasp_2": {
237
+ "confidence": 0.931235134601593,
238
+ "position": [
239
+ -0.0725333767477423,
240
+ -0.04532153403852135,
241
+ 0.12088847994164098
242
+ ],
243
+ "orientation": {
244
+ "w": 0.2284851449168791,
245
+ "xyz": [
246
+ -0.9728091872644384,
247
+ -0.025756470113205088,
248
+ -0.027810573052766224
249
+ ]
250
+ }
251
+ },
252
+ "grasp_3": {
253
+ "confidence": 0.9277701377868652,
254
+ "position": [
255
+ -0.07733902358449996,
256
+ 0.0034880993189290166,
257
+ 0.13112890809134115
258
+ ],
259
+ "orientation": {
260
+ "w": 0.03057570938591117,
261
+ "xyz": [
262
+ 0.9988057006054887,
263
+ 0.008700913522472528,
264
+ 0.037102459991242814
265
+ ]
266
+ }
267
+ },
268
+ "grasp_4": {
269
+ "confidence": 0.9259000420570374,
270
+ "position": [
271
+ 0.07656303024850786,
272
+ -0.0031962349312379956,
273
+ 0.13082826226309408
274
+ ],
275
+ "orientation": {
276
+ "w": 0.03460534150520994,
277
+ "xyz": [
278
+ 0.0030202950988153588,
279
+ -0.999275425090883,
280
+ -0.015555480264486995
281
+ ]
282
+ }
283
+ },
284
+ "grasp_14": {
285
+ "confidence": 0.948103666305542,
286
+ "position": [
287
+ -0.07405009143985808,
288
+ -0.030761363566853106,
289
+ 0.1255399146612035
290
+ ],
291
+ "orientation": {
292
+ "w": 0.023427564246369843,
293
+ "xyz": [
294
+ 0.002042769146807421,
295
+ 0.9919345918626692,
296
+ 0.12455015774352025
297
+ ]
298
+ }
299
+ },
300
+ "grasp_15": {
301
+ "confidence": 0.9381476640701294,
302
+ "position": [
303
+ -0.07773607247509062,
304
+ -0.02393946109805256,
305
+ 0.12815651386335958
306
+ ],
307
+ "orientation": {
308
+ "w": 0.028657163736343437,
309
+ "xyz": [
310
+ -0.010915986974889168,
311
+ 0.9988231347198605,
312
+ 0.0375759729527328
313
+ ]
314
+ }
315
+ },
316
+ "grasp_16": {
317
+ "confidence": 0.9220608472824097,
318
+ "position": [
319
+ 0.07524635619483888,
320
+ 0.006358267622999847,
321
+ 0.13101413934782613
322
+ ],
323
+ "orientation": {
324
+ "w": 0.017648452208765625,
325
+ "xyz": [
326
+ 0.014630418321340549,
327
+ -0.9995819154599316,
328
+ -0.01762036548518175
329
+ ]
330
+ }
331
+ },
332
+ "grasp_17": {
333
+ "confidence": 0.9029334187507629,
334
+ "position": [
335
+ 0.07601923472248018,
336
+ 0.04108506941702217,
337
+ 0.12151413499668706
338
+ ],
339
+ "orientation": {
340
+ "w": 0.1867523610509009,
341
+ "xyz": [
342
+ 0.9816148124988214,
343
+ 0.028926530761988783,
344
+ -0.02681737017108847
345
+ ]
346
+ }
347
+ },
348
+ "grasp_18": {
349
+ "confidence": 0.8943428993225098,
350
+ "position": [
351
+ 0.07011760747991502,
352
+ 0.04781758168246597,
353
+ 0.12377948402718175
354
+ ],
355
+ "orientation": {
356
+ "w": 0.2237456268162084,
357
+ "xyz": [
358
+ 0.9733706560113056,
359
+ 0.04554893485554462,
360
+ -0.020316373452656803
361
+ ]
362
+ }
363
+ },
364
+ "grasp_19": {
365
+ "confidence": 0.8878770470619202,
366
+ "position": [
367
+ 0.07366600609384477,
368
+ 0.02641732373740524,
369
+ 0.13102926402643789
370
+ ],
371
+ "orientation": {
372
+ "w": 0.028748440428946125,
373
+ "xyz": [
374
+ -0.0050632208583398465,
375
+ -0.9966029516254705,
376
+ 0.07700940058748755
377
+ ]
378
+ }
379
+ }
380
+ }
381
+ }
382
+ ],
383
+ "quality_check": {
384
+ "success": true,
385
+ "message": "YES"
386
+ }
387
+ }
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:54cf84ca37c82524db405480e40a6af6e237bce53cfe17eb5f30b3d544155c07
3
+ size 3811336
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.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>