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
1
xinjjj commited on
Commit
27bc88f
·
verified ·
1 Parent(s): 3998222

Add asset bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/affordance_annot.json +362 -0
  3. dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/remote_holder_032.urdf +1 -0
.gitattributes CHANGED
@@ -6070,3 +6070,4 @@ dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/affordance/mes
6070
  dataset/bedroom_supplies/storage/e802e301aa7a5d8ab6295618c3e68bc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6071
  dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6072
  dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6070
  dataset/bedroom_supplies/storage/e802e301aa7a5d8ab6295618c3e68bc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6071
  dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6072
  dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6073
+ dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/affordance_annot.json ADDED
@@ -0,0 +1,362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "holder shell",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer shell from the sides to pick up and reposition the remote holder",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold the shell to stabilize the holder while placing or removing a remote",
14
+ "confidence": 0.74
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain remote controls",
19
+ "provide the main structure",
20
+ "form the opening and cavity",
21
+ "protect stored items"
22
+ ],
23
+ "semantic_description": "Large white plastic shell with a matte smooth hard surface, rounded box-like shape and open front cavity, forming most of the holder body above the base with a small printed logo on one side.",
24
+ "id": 7,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.8803215026855469,
28
+ "position": [
29
+ -0.000630860187811777,
30
+ -0.12748686649138108,
31
+ 0.02068628597771749
32
+ ],
33
+ "orientation": {
34
+ "w": 0.7082188010470604,
35
+ "xyz": [
36
+ -0.70552277898964,
37
+ 0.006573116235958021,
38
+ -0.02491048600788089
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.8706316351890564,
44
+ "position": [
45
+ -0.00228118768427521,
46
+ -0.1325975624495186,
47
+ 0.0295507651171647
48
+ ],
49
+ "orientation": {
50
+ "w": 0.6990776976728567,
51
+ "xyz": [
52
+ -0.7144841180163888,
53
+ 0.005730251009464782,
54
+ -0.027748548468879867
55
+ ]
56
+ }
57
+ },
58
+ "grasp_22": {
59
+ "confidence": 0.8692670464515686,
60
+ "position": [
61
+ 0.004111386486329138,
62
+ -0.13143315591150895,
63
+ 0.035954969411250204
64
+ ],
65
+ "orientation": {
66
+ "w": 0.7069074163498332,
67
+ "xyz": [
68
+ -0.7072014966575326,
69
+ 0.001976643911516085,
70
+ -0.012001696288279809
71
+ ]
72
+ }
73
+ },
74
+ "grasp_23": {
75
+ "confidence": 0.8690309524536133,
76
+ "position": [
77
+ 0.003167198388837278,
78
+ -0.12104037828976288,
79
+ -0.012974439712706953
80
+ ],
81
+ "orientation": {
82
+ "w": 0.8576933876648933,
83
+ "xyz": [
84
+ -0.514087391227004,
85
+ 0.007624478774703514,
86
+ -0.004251383392137683
87
+ ]
88
+ }
89
+ },
90
+ "grasp_24": {
91
+ "confidence": 0.8655425310134888,
92
+ "position": [
93
+ 0.005654292763210833,
94
+ -0.1303070155554451,
95
+ 0.03740397695219144
96
+ ],
97
+ "orientation": {
98
+ "w": 0.65983564760543,
99
+ "xyz": [
100
+ -0.7513319371948041,
101
+ -0.0077015684629495595,
102
+ -0.007610791249008354
103
+ ]
104
+ }
105
+ },
106
+ "grasp_25": {
107
+ "confidence": 0.8612731099128723,
108
+ "position": [
109
+ 0.003089947742410004,
110
+ -0.13295668043429032,
111
+ 0.03466662246501073
112
+ ],
113
+ "orientation": {
114
+ "w": 0.7059487832908354,
115
+ "xyz": [
116
+ -0.7081709125628806,
117
+ 0.0017749925142863665,
118
+ -0.01127490007140804
119
+ ]
120
+ }
121
+ },
122
+ "grasp_26": {
123
+ "confidence": 0.8611143231391907,
124
+ "position": [
125
+ 0.009578021359629929,
126
+ -0.13026468135649338,
127
+ 0.022285979648586363
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7207009026968345,
131
+ "xyz": [
132
+ -0.6913676826384494,
133
+ 0.03913546694131598,
134
+ 0.03270094008424147
135
+ ]
136
+ }
137
+ },
138
+ "grasp_27": {
139
+ "confidence": 0.8529813289642334,
140
+ "position": [
141
+ 0.11472633865196258,
142
+ -0.08461942948633805,
143
+ -0.028662561962846667
144
+ ],
145
+ "orientation": {
146
+ "w": 0.44202291970984187,
147
+ "xyz": [
148
+ 0.33459860437299493,
149
+ -0.48197861161455846,
150
+ -0.678495490293733
151
+ ]
152
+ }
153
+ },
154
+ "grasp_28": {
155
+ "confidence": 0.8525465726852417,
156
+ "position": [
157
+ 0.005946511519141495,
158
+ -0.1279641953879036,
159
+ 0.047064869140740484
160
+ ],
161
+ "orientation": {
162
+ "w": 0.610363571402686,
163
+ "xyz": [
164
+ -0.7920193821244409,
165
+ -0.009830496411242562,
166
+ -0.008060420838000062
167
+ ]
168
+ }
169
+ },
170
+ "grasp_29": {
171
+ "confidence": 0.851175844669342,
172
+ "position": [
173
+ 0.007246719324029982,
174
+ -0.12476071395212784,
175
+ 0.013020321202930063
176
+ ],
177
+ "orientation": {
178
+ "w": 0.037025526777290825,
179
+ "xyz": [
180
+ 0.019882056038216564,
181
+ -0.6596276878333633,
182
+ -0.7504166360483808
183
+ ]
184
+ }
185
+ },
186
+ "grasp_30": {
187
+ "confidence": 0.8505064249038696,
188
+ "position": [
189
+ 0.009026553598232567,
190
+ -0.13541422464186326,
191
+ 0.026856923883315176
192
+ ],
193
+ "orientation": {
194
+ "w": 0.02652413094198704,
195
+ "xyz": [
196
+ 0.010509244307173404,
197
+ -0.7068618821710091,
198
+ -0.7067759940713344
199
+ ]
200
+ }
201
+ },
202
+ "grasp_31": {
203
+ "confidence": 0.8501861095428467,
204
+ "position": [
205
+ -0.0004854919679928571,
206
+ -0.13356811978155747,
207
+ 0.020202275773044676
208
+ ],
209
+ "orientation": {
210
+ "w": 0.7092024457077846,
211
+ "xyz": [
212
+ -0.7046262019032791,
213
+ -0.002017760733843077,
214
+ -0.02301597782143967
215
+ ]
216
+ }
217
+ },
218
+ "grasp_32": {
219
+ "confidence": 0.8477843403816223,
220
+ "position": [
221
+ 0.004881349508650601,
222
+ -0.13010809995466843,
223
+ 0.030300155689474195
224
+ ],
225
+ "orientation": {
226
+ "w": 0.01798063637556418,
227
+ "xyz": [
228
+ 0.011177094436548985,
229
+ 0.7398511140628787,
230
+ 0.6724374307661662
231
+ ]
232
+ }
233
+ },
234
+ "grasp_33": {
235
+ "confidence": 0.8456928730010986,
236
+ "position": [
237
+ 0.0006808395264670253,
238
+ -0.13429039396578446,
239
+ 0.025451317836996168
240
+ ],
241
+ "orientation": {
242
+ "w": 0.7024157485640093,
243
+ "xyz": [
244
+ -0.7113104081472282,
245
+ 0.00426096628558259,
246
+ -0.02512893943242882
247
+ ]
248
+ }
249
+ },
250
+ "grasp_34": {
251
+ "confidence": 0.8454015851020813,
252
+ "position": [
253
+ 0.008988590096123517,
254
+ -0.13267084636026993,
255
+ 0.03555981669342145
256
+ ],
257
+ "orientation": {
258
+ "w": 0.6911678827535314,
259
+ "xyz": [
260
+ -0.7226098058623281,
261
+ -0.007041398630147189,
262
+ -0.00851146444158287
263
+ ]
264
+ }
265
+ },
266
+ "grasp_36": {
267
+ "confidence": 0.8444040417671204,
268
+ "position": [
269
+ 0.007313182693906128,
270
+ -0.13366214610869065,
271
+ 0.027915917744394392
272
+ ],
273
+ "orientation": {
274
+ "w": 0.7108541593762727,
275
+ "xyz": [
276
+ -0.7031539707352024,
277
+ -0.008130337290028766,
278
+ -0.013955470336810003
279
+ ]
280
+ }
281
+ },
282
+ "grasp_37": {
283
+ "confidence": 0.8438557386398315,
284
+ "position": [
285
+ 0.00505616853479296,
286
+ -0.1309689698391594,
287
+ 0.039904619043227285
288
+ ],
289
+ "orientation": {
290
+ "w": 0.03987704450937194,
291
+ "xyz": [
292
+ -0.004244000455485828,
293
+ -0.7010555869473071,
294
+ -0.7119781413718391
295
+ ]
296
+ }
297
+ },
298
+ "grasp_38": {
299
+ "confidence": 0.8435832858085632,
300
+ "position": [
301
+ 0.0021570342360064387,
302
+ -0.13511413015658036,
303
+ 0.03194790187990293
304
+ ],
305
+ "orientation": {
306
+ "w": 0.6996797187451392,
307
+ "xyz": [
308
+ -0.7142763539523077,
309
+ 0.005443362300143639,
310
+ -0.01509805180113849
311
+ ]
312
+ }
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "part_name": "base",
318
+ "mask_color": "Red",
319
+ "graspable": true,
320
+ "grasp_scenarios": [
321
+ {
322
+ "scenario": "grasp the base plate from opposite edges to lift the holder from a table",
323
+ "confidence": 0.82
324
+ },
325
+ {
326
+ "scenario": "pinch the front and back edges of the base to slide or reposition the holder",
327
+ "confidence": 0.68
328
+ }
329
+ ],
330
+ "functional_labels": [
331
+ "support the holder",
332
+ "stabilize on a flat surface",
333
+ "distribute weight",
334
+ "provide a resting platform"
335
+ ],
336
+ "semantic_description": "Flat white plastic base with a matte smooth hard finish, broad rounded-rectangular shape, and slightly larger footprint than the shell, located underneath as the bottom support platform.",
337
+ "id": 0,
338
+ "grasp_group": {
339
+ "grasp_9": {
340
+ "confidence": 0.9199969172477722,
341
+ "position": [
342
+ 0.12492395576555282,
343
+ -0.02472436852985993,
344
+ -0.08714994188630953
345
+ ],
346
+ "orientation": {
347
+ "w": 0.18523615864135226,
348
+ "xyz": [
349
+ -0.5739734994514346,
350
+ 0.15677691678228056,
351
+ 0.7820888605673346
352
+ ]
353
+ }
354
+ }
355
+ }
356
+ }
357
+ ],
358
+ "quality_check": {
359
+ "success": true,
360
+ "message": "YES"
361
+ }
362
+ }
dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9bbcc45880da511430684fdad53f1234a2d68bdde6f66e60738524814ae91f57
3
+ size 3780612
dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/remote_holder_032.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>