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
3643ef3
·
verified ·
1 Parent(s): ed3b36e

Add asset bedroom_supplies/storage/f0460f36e00356eaa74734f876651285

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bedroom_supplies/storage/f0460f36e00356eaa74734f876651285/affordance/affordance_annot.json +255 -0
  3. dataset/bedroom_supplies/storage/f0460f36e00356eaa74734f876651285/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6075,4 +6075,4 @@ dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/mes
6075
  dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6076
  dataset/bedroom_supplies/storage/ed7575c47304597cb04abe5e141f25f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6077
  dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6078
- dataset/bedroom_supplies/storage/ef975ed3781e5d8a9482999c2d4fa69b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6075
  dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6076
  dataset/bedroom_supplies/storage/ed7575c47304597cb04abe5e141f25f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6077
  dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6078
+ dataset/bedroom_supplies/storage/f0460f36e00356eaa74734f876651285/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/f0460f36e00356eaa74734f876651285/affordance/affordance_annot.json ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "basket body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sidewall to pick up and move the basket",
10
+ "confidence": 0.83
11
+ },
12
+ {
13
+ "scenario": "hold opposite outer walls to stabilize the basket during loading or unloading",
14
+ "confidence": 0.79
15
+ },
16
+ {
17
+ "scenario": "grasp the lower body to reorient the empty basket",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain items",
23
+ "form the side walls",
24
+ "support the basket structure",
25
+ "provide a main grasp surface"
26
+ ],
27
+ "semantic_description": "Large off-white woven basket body with a matte hard textured surface, slightly tapered square shape, and rounded corners forming the sides and bottom of the container.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9849846363067627,
32
+ "position": [
33
+ -0.001771712239133194,
34
+ 0.0740306181833148,
35
+ 0.12251712230499834
36
+ ],
37
+ "orientation": {
38
+ "w": 0.09659470833390918,
39
+ "xyz": [
40
+ 0.7421766418465486,
41
+ 0.661854255055932,
42
+ 0.04233485187909131
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9754900932312012,
48
+ "position": [
49
+ 0.07323914518929087,
50
+ -0.000985710765235126,
51
+ 0.12511999008711427
52
+ ],
53
+ "orientation": {
54
+ "w": 0.033303613326988016,
55
+ "xyz": [
56
+ -0.018452149467770147,
57
+ -0.9991887900870051,
58
+ 0.013120567207728724
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9725351929664612,
64
+ "position": [
65
+ -0.07659404227160849,
66
+ -0.021741379983723164,
67
+ 0.12268271890934557
68
+ ],
69
+ "orientation": {
70
+ "w": 0.03699919964838764,
71
+ "xyz": [
72
+ 0.013135583350621916,
73
+ 0.9967899375254233,
74
+ 0.06977346288869928
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.97038334608078,
80
+ "position": [
81
+ 0.07796868434525095,
82
+ 0.018918671645224094,
83
+ 0.12174794671591371
84
+ ],
85
+ "orientation": {
86
+ "w": 0.08269376540204808,
87
+ "xyz": [
88
+ 0.012312464798077835,
89
+ -0.9960588984001217,
90
+ 0.029611067055461675
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9684801697731018,
96
+ "position": [
97
+ 0.0760866527853068,
98
+ -0.0234265411272645,
99
+ 0.12265229818876833
100
+ ],
101
+ "orientation": {
102
+ "w": 0.03333458729203471,
103
+ "xyz": [
104
+ 0.01803187097631021,
105
+ -0.9932366296799018,
106
+ -0.10974814067342128
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9662759900093079,
112
+ "position": [
113
+ 0.0696248983440455,
114
+ 0.017121762968599796,
115
+ 0.12490368483122438
116
+ ],
117
+ "orientation": {
118
+ "w": 0.010348330755033162,
119
+ "xyz": [
120
+ -0.9992606715672169,
121
+ -0.0337078838134931,
122
+ 0.015323213711069721
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9659856557846069,
128
+ "position": [
129
+ 0.07002555331564508,
130
+ 0.0017399655189365149,
131
+ 0.12452220020350069
132
+ ],
133
+ "orientation": {
134
+ "w": 0.0418674933808477,
135
+ "xyz": [
136
+ -0.9988221247592742,
137
+ -0.015014241295784644,
138
+ 0.019391973795500252
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9647716879844666,
144
+ "position": [
145
+ 0.027063534915214404,
146
+ -0.07843272108584642,
147
+ 0.12254570273216814
148
+ ],
149
+ "orientation": {
150
+ "w": 0.10404457238127969,
151
+ "xyz": [
152
+ -0.6658253812106635,
153
+ -0.7369077959592688,
154
+ 0.05308661741083402
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9642055034637451,
160
+ "position": [
161
+ 0.04533842331147753,
162
+ -0.07217561919242144,
163
+ 0.12431745824869722
164
+ ],
165
+ "orientation": {
166
+ "w": 0.06642984912439989,
167
+ "xyz": [
168
+ -0.8174693789891538,
169
+ 0.5720819865495451,
170
+ 0.0072863039960499205
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9639577269554138,
176
+ "position": [
177
+ 0.0828862389025744,
178
+ -0.03914370480924845,
179
+ 0.12300035206135362
180
+ ],
181
+ "orientation": {
182
+ "w": 0.12827568749581814,
183
+ "xyz": [
184
+ -0.1972673758808146,
185
+ -0.9671561596453492,
186
+ 0.0961243635642499
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.9420830607414246,
192
+ "position": [
193
+ 0.07971986880875193,
194
+ -0.02263412531465292,
195
+ 0.12101906386669725
196
+ ],
197
+ "orientation": {
198
+ "w": 0.09926355681562216,
199
+ "xyz": [
200
+ 0.9916076351485748,
201
+ -0.06318859901494753,
202
+ -0.053556000204374246
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "rim",
210
+ "mask_color": "Green",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "grasp the top rim to lift the basket from above",
215
+ "confidence": 0.9
216
+ },
217
+ {
218
+ "scenario": "pinch the rim to pull the basket from a shelf or surface",
219
+ "confidence": 0.86
220
+ },
221
+ {
222
+ "scenario": "hold the rim to stabilize the basket while placing items inside",
223
+ "confidence": 0.82
224
+ }
225
+ ],
226
+ "functional_labels": [
227
+ "provide a top gripping edge",
228
+ "reinforce the opening",
229
+ "define the basket opening",
230
+ "aid pulling and positioning"
231
+ ],
232
+ "semantic_description": "Thick rounded off-white top rim, likely woven or wrapped fiber, with a matte slightly coarse texture running around the basket opening as a raised border.",
233
+ "id": 1,
234
+ "grasp_group": {}
235
+ },
236
+ {
237
+ "part_name": "upper trim band",
238
+ "mask_color": "Blue",
239
+ "graspable": false,
240
+ "grasp_scenarios": [],
241
+ "functional_labels": [
242
+ "finish the edge transition below the rim",
243
+ "cover or reinforce the seam between rim and body",
244
+ "provide decorative trim"
245
+ ],
246
+ "semantic_description": "Thin narrow beige to off-white band running just below the top rim around the basket perimeter, with a smooth slightly raised appearance compared with the woven body.",
247
+ "id": 2,
248
+ "grasp_group": {}
249
+ }
250
+ ],
251
+ "quality_check": {
252
+ "success": true,
253
+ "message": "YES"
254
+ }
255
+ }
dataset/bedroom_supplies/storage/f0460f36e00356eaa74734f876651285/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c42ee8cc0755f1792ed99dd20e777e5e3b7f7441301d23f4f4f91d0c032769d6
3
+ size 3786440