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
a6d7d35
·
verified ·
1 Parent(s): 19336ac

Add asset bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/affordance_annot.json +586 -0
  3. dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.urdf +1 -0
.gitattributes CHANGED
@@ -6050,3 +6050,4 @@ dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mes
6050
  dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6051
  dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6052
  dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6050
  dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6051
  dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6052
  dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6053
+ dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/affordance_annot.json ADDED
@@ -0,0 +1,586 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "lower shell",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the lower shell from the sides to pick up the glasses case",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "hold the lower shell to stabilize the case while opening or closing the zipper",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "clamp the lower shell to reposition the case on a surface",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain eyeglasses",
23
+ "support the case structure",
24
+ "provide main grasp surface",
25
+ "protect contents from impact"
26
+ ],
27
+ "semantic_description": "Large off-white molded case half with a hard smooth exterior, slightly matte finish, embossed woodgrain-like pattern, and rounded rectangular form making up the lower outer body.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_9": {
31
+ "confidence": 0.9904590845108032,
32
+ "position": [
33
+ -0.00971912033855915,
34
+ -0.05746017536148429,
35
+ 0.10345592317025876
36
+ ],
37
+ "orientation": {
38
+ "w": 0.13762471353848413,
39
+ "xyz": [
40
+ -0.988437409138961,
41
+ -0.03479683371535555,
42
+ -0.05329265241563951
43
+ ]
44
+ }
45
+ },
46
+ "grasp_10": {
47
+ "confidence": 0.9897403717041016,
48
+ "position": [
49
+ 0.017246810719370842,
50
+ -0.051227697636932135,
51
+ 0.10314708170335507
52
+ ],
53
+ "orientation": {
54
+ "w": 0.07724267690265993,
55
+ "xyz": [
56
+ -0.9938156128795002,
57
+ -0.02403252971880851,
58
+ 0.07606927091256667
59
+ ]
60
+ }
61
+ },
62
+ "grasp_11": {
63
+ "confidence": 0.9889940619468689,
64
+ "position": [
65
+ -0.004173196852207184,
66
+ -0.0805597617290914,
67
+ 0.09632265535037732
68
+ ],
69
+ "orientation": {
70
+ "w": 0.2246483065982365,
71
+ "xyz": [
72
+ -0.9728475846788455,
73
+ -0.038825095562533884,
74
+ -0.03991650387548245
75
+ ]
76
+ }
77
+ },
78
+ "grasp_12": {
79
+ "confidence": 0.9889100790023804,
80
+ "position": [
81
+ -0.010375149548053741,
82
+ -0.09262217720970511,
83
+ 0.09001177516620373
84
+ ],
85
+ "orientation": {
86
+ "w": 0.2673910163887219,
87
+ "xyz": [
88
+ -0.9595232204179467,
89
+ -0.0527647231192212,
90
+ -0.07094447002783597
91
+ ]
92
+ }
93
+ },
94
+ "grasp_13": {
95
+ "confidence": 0.9886793494224548,
96
+ "position": [
97
+ 0.006226470693945885,
98
+ -0.034698238130658865,
99
+ 0.10732760247628903
100
+ ],
101
+ "orientation": {
102
+ "w": 0.03165307825137437,
103
+ "xyz": [
104
+ -0.9992032253612938,
105
+ -0.015255934570937796,
106
+ 0.018927586353447493
107
+ ]
108
+ }
109
+ },
110
+ "grasp_14": {
111
+ "confidence": 0.9886212944984436,
112
+ "position": [
113
+ -0.015473464503884315,
114
+ -0.08237783005461097,
115
+ 0.09613872286718106
116
+ ],
117
+ "orientation": {
118
+ "w": 0.23325890768621452,
119
+ "xyz": [
120
+ -0.9670548000833983,
121
+ -0.04174551998630843,
122
+ -0.09301939142869849
123
+ ]
124
+ }
125
+ },
126
+ "grasp_15": {
127
+ "confidence": 0.9883787631988525,
128
+ "position": [
129
+ -0.004172786604613066,
130
+ -0.04492623871192336,
131
+ 0.10996232149045682
132
+ ],
133
+ "orientation": {
134
+ "w": 0.02640114888766949,
135
+ "xyz": [
136
+ -0.9989670404748402,
137
+ -0.02070832385352535,
138
+ -0.030643053136519667
139
+ ]
140
+ }
141
+ },
142
+ "grasp_16": {
143
+ "confidence": 0.9881628155708313,
144
+ "position": [
145
+ -0.007516099140048027,
146
+ -0.09320578863844275,
147
+ 0.09080998566787457
148
+ ],
149
+ "orientation": {
150
+ "w": 0.26978452358180566,
151
+ "xyz": [
152
+ -0.961376673264206,
153
+ -0.0026442458774525446,
154
+ -0.05444456724895409
155
+ ]
156
+ }
157
+ },
158
+ "grasp_17": {
159
+ "confidence": 0.9881219863891602,
160
+ "position": [
161
+ -0.0049957470037043095,
162
+ -0.09082624455913901,
163
+ 0.09430559691827511
164
+ ],
165
+ "orientation": {
166
+ "w": 0.24374718450382182,
167
+ "xyz": [
168
+ -0.9677985777507937,
169
+ -0.04362156486355473,
170
+ -0.0452811442971084
171
+ ]
172
+ }
173
+ },
174
+ "grasp_18": {
175
+ "confidence": 0.9880009293556213,
176
+ "position": [
177
+ 0.000802667171228677,
178
+ -0.034573258366435766,
179
+ 0.1101195585433743
180
+ ],
181
+ "orientation": {
182
+ "w": 0.024524213155620353,
183
+ "xyz": [
184
+ -0.9994932139150025,
185
+ -0.017262185269225842,
186
+ -0.01067217253833744
187
+ ]
188
+ }
189
+ },
190
+ "grasp_19": {
191
+ "confidence": 0.9878358244895935,
192
+ "position": [
193
+ -0.007487941533327103,
194
+ -0.02956427400931716,
195
+ 0.103530428976228
196
+ ],
197
+ "orientation": {
198
+ "w": 0.010501743010030576,
199
+ "xyz": [
200
+ 0.9982336618738765,
201
+ 0.029396979682025287,
202
+ 0.050547871183632916
203
+ ]
204
+ }
205
+ },
206
+ "grasp_20": {
207
+ "confidence": 0.9877739548683167,
208
+ "position": [
209
+ -0.0048269424587488174,
210
+ -0.045299974735826254,
211
+ 0.10700435158651089
212
+ ],
213
+ "orientation": {
214
+ "w": 0.021388405588020465,
215
+ "xyz": [
216
+ -0.9991106915143,
217
+ -0.01597075312329689,
218
+ -0.0326388917228242
219
+ ]
220
+ }
221
+ },
222
+ "grasp_21": {
223
+ "confidence": 0.9874498844146729,
224
+ "position": [
225
+ 0.001444186083972454,
226
+ 0.09102950850501657,
227
+ 0.09094282951991772
228
+ ],
229
+ "orientation": {
230
+ "w": 0.25021687041523566,
231
+ "xyz": [
232
+ 0.9677671434422647,
233
+ -0.02112723086500562,
234
+ 0.019285070629408655
235
+ ]
236
+ }
237
+ },
238
+ "grasp_22": {
239
+ "confidence": 0.9872729182243347,
240
+ "position": [
241
+ -0.0035475646145641804,
242
+ -0.04275036742910743,
243
+ 0.11059687253873562
244
+ ],
245
+ "orientation": {
246
+ "w": 0.01629276191783689,
247
+ "xyz": [
248
+ -0.9991244578788906,
249
+ -0.02384592592438297,
250
+ -0.030269380471203526
251
+ ]
252
+ }
253
+ },
254
+ "grasp_23": {
255
+ "confidence": 0.9871253371238708,
256
+ "position": [
257
+ 0.024763964116573334,
258
+ 0.014364834409207106,
259
+ -0.10122860255796695
260
+ ],
261
+ "orientation": {
262
+ "w": 0.990647213816237,
263
+ "xyz": [
264
+ -0.06914947883792712,
265
+ -0.1167000576748789,
266
+ -0.014749368571220816
267
+ ]
268
+ }
269
+ },
270
+ "grasp_24": {
271
+ "confidence": 0.9871193170547485,
272
+ "position": [
273
+ -0.009699993766844273,
274
+ -0.032895227428525686,
275
+ 0.10522522744577145
276
+ ],
277
+ "orientation": {
278
+ "w": 0.031175523658677224,
279
+ "xyz": [
280
+ -0.9976492873543787,
281
+ -0.013332576892372786,
282
+ -0.059550218801583954
283
+ ]
284
+ }
285
+ },
286
+ "grasp_25": {
287
+ "confidence": 0.9868872761726379,
288
+ "position": [
289
+ -0.001282937708310783,
290
+ -0.13312669238075614,
291
+ 0.046290691614558455
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5188049882181925,
295
+ "xyz": [
296
+ -0.8509193204289269,
297
+ -0.06203382072337804,
298
+ -0.05412485018135361
299
+ ]
300
+ }
301
+ },
302
+ "grasp_26": {
303
+ "confidence": 0.9867779016494751,
304
+ "position": [
305
+ -0.004627481568604708,
306
+ -0.1253477199934423,
307
+ 0.05722588267963147
308
+ ],
309
+ "orientation": {
310
+ "w": 0.49202022373128623,
311
+ "xyz": [
312
+ -0.8647832384936309,
313
+ -0.07038981305159808,
314
+ -0.0714935247308754
315
+ ]
316
+ }
317
+ },
318
+ "grasp_27": {
319
+ "confidence": 0.9867312908172607,
320
+ "position": [
321
+ 0.024062884971499443,
322
+ 0.02041086321696639,
323
+ -0.10080480608303333
324
+ ],
325
+ "orientation": {
326
+ "w": 0.9934413623361366,
327
+ "xyz": [
328
+ -0.02877137610795728,
329
+ -0.10585247928892405,
330
+ -0.03227568968998109
331
+ ]
332
+ }
333
+ },
334
+ "grasp_28": {
335
+ "confidence": 0.9866207838058472,
336
+ "position": [
337
+ -0.007411557715386152,
338
+ 0.08095876732841134,
339
+ 0.09717578408162808
340
+ ],
341
+ "orientation": {
342
+ "w": 0.23234489597220392,
343
+ "xyz": [
344
+ 0.9707811624453596,
345
+ -0.02593672330731761,
346
+ 0.05410240605538335
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "upper shell",
354
+ "mask_color": "Pink",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the upper shell to lift or reposition the closed case",
359
+ "confidence": 0.78
360
+ },
361
+ {
362
+ "scenario": "hold the upper shell while the other hand or tool operates the zipper",
363
+ "confidence": 0.71
364
+ },
365
+ {
366
+ "scenario": "pinch the upper shell to steady the case during inspection",
367
+ "confidence": 0.69
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "cover the case opening",
372
+ "protect contents from above",
373
+ "complete the enclosure",
374
+ "provide a secondary grasp surface"
375
+ ],
376
+ "semantic_description": "Medium-sized off-white hard top half with a smooth slightly matte exterior, embossed organic grain pattern, and rounded elongated shape forming the upper cover of the case.",
377
+ "id": 8,
378
+ "grasp_group": {
379
+ "grasp_36": {
380
+ "confidence": 0.955967366695404,
381
+ "position": [
382
+ 0.05811269208788872,
383
+ 0.12351918080821633,
384
+ 0.022401502028515097
385
+ ],
386
+ "orientation": {
387
+ "w": 0.4146603942331957,
388
+ "xyz": [
389
+ 0.7093203255884682,
390
+ 0.2599483971544235,
391
+ -0.5072950462780869
392
+ ]
393
+ }
394
+ },
395
+ "grasp_38": {
396
+ "confidence": 0.9538163542747498,
397
+ "position": [
398
+ 0.07828094065189362,
399
+ 0.10468235472217202,
400
+ 0.03408972886245465
401
+ ],
402
+ "orientation": {
403
+ "w": 0.295636760521331,
404
+ "xyz": [
405
+ 0.7855301875098036,
406
+ 0.15712764464196916,
407
+ -0.5204345622924488
408
+ ]
409
+ }
410
+ },
411
+ "grasp_39": {
412
+ "confidence": 0.9379485845565796,
413
+ "position": [
414
+ 0.06055469065904617,
415
+ 0.11114991316571832,
416
+ 0.02991191637556767
417
+ ],
418
+ "orientation": {
419
+ "w": 0.41092139059021426,
420
+ "xyz": [
421
+ 0.7467661802144747,
422
+ 0.2224058462911347,
423
+ -0.4733070064755134
424
+ ]
425
+ }
426
+ },
427
+ "grasp_40": {
428
+ "confidence": 0.9236130118370056,
429
+ "position": [
430
+ 0.09085778146982193,
431
+ 0.07966960081830621,
432
+ 0.03180307117145276
433
+ ],
434
+ "orientation": {
435
+ "w": 0.590178083935565,
436
+ "xyz": [
437
+ 0.18156547843060922,
438
+ -0.7724133368646756,
439
+ 0.14866554179763972
440
+ ]
441
+ }
442
+ },
443
+ "grasp_41": {
444
+ "confidence": 0.920180082321167,
445
+ "position": [
446
+ 0.08991536498069763,
447
+ 0.0935165942646563,
448
+ 0.030846478090097662
449
+ ],
450
+ "orientation": {
451
+ "w": 0.23634401480348188,
452
+ "xyz": [
453
+ 0.7883513241767124,
454
+ 0.12017358677947876,
455
+ -0.555159441400352
456
+ ]
457
+ }
458
+ },
459
+ "grasp_42": {
460
+ "confidence": 0.9157665967941284,
461
+ "position": [
462
+ 0.09402837604284286,
463
+ 0.08664281526580453,
464
+ 0.0274441592846415
465
+ ],
466
+ "orientation": {
467
+ "w": 0.2820778232504817,
468
+ "xyz": [
469
+ 0.7831959208621879,
470
+ 0.04712256884790522,
471
+ -0.5521011815602953
472
+ ]
473
+ }
474
+ },
475
+ "grasp_43": {
476
+ "confidence": 0.8577661514282227,
477
+ "position": [
478
+ 0.09321901947259903,
479
+ 0.06975909927859902,
480
+ 0.03454816308658337
481
+ ],
482
+ "orientation": {
483
+ "w": 0.5747397637359398,
484
+ "xyz": [
485
+ 0.17396558679329724,
486
+ -0.7910676987229469,
487
+ 0.11671364371657926
488
+ ]
489
+ }
490
+ }
491
+ }
492
+ },
493
+ {
494
+ "part_name": "zipper track",
495
+ "mask_color": "Lime Green",
496
+ "graspable": false,
497
+ "grasp_scenarios": [],
498
+ "functional_labels": [
499
+ "close the case perimeter",
500
+ "guide the zipper slider",
501
+ "join upper and lower shells",
502
+ "define opening seam"
503
+ ],
504
+ "semantic_description": "Thin beige zipper tape and teeth band running around the case edge, with a narrow slightly textured fabric-and-metal appearance along the seam between the two shells.",
505
+ "id": 9,
506
+ "grasp_group": {}
507
+ },
508
+ {
509
+ "part_name": "zipper pull",
510
+ "mask_color": "Red",
511
+ "graspable": true,
512
+ "grasp_scenarios": [
513
+ {
514
+ "scenario": "pinch the zipper pull to open or close the glasses case",
515
+ "confidence": 0.95
516
+ },
517
+ {
518
+ "scenario": "grasp the zipper pull to slightly drag or orient the case",
519
+ "confidence": 0.43
520
+ }
521
+ ],
522
+ "functional_labels": [
523
+ "pull the zipper slider",
524
+ "open the case",
525
+ "close the case",
526
+ "indicate zipper position"
527
+ ],
528
+ "semantic_description": "Small beige tab attached to the zipper slider, likely leather or coated fabric, with a smooth matte finish and flat narrow shape protruding from one end of the case.",
529
+ "id": 0,
530
+ "grasp_group": {
531
+ "grasp_0": {
532
+ "confidence": 0.8583217263221741,
533
+ "position": [
534
+ 0.0018059618305414915,
535
+ 0.13667021552100778,
536
+ -0.011440873473475222
537
+ ],
538
+ "orientation": {
539
+ "w": 0.12557911982227163,
540
+ "xyz": [
541
+ 0.09373686387841577,
542
+ -0.6647545320766496,
543
+ 0.7304414398830738
544
+ ]
545
+ }
546
+ },
547
+ "grasp_2": {
548
+ "confidence": 0.4920958876609802,
549
+ "position": [
550
+ 0.006801394280046225,
551
+ 0.11073498288169503,
552
+ 0.06047394093911862
553
+ ],
554
+ "orientation": {
555
+ "w": 0.16361440890486145,
556
+ "xyz": [
557
+ 0.23329220016836452,
558
+ -0.8644195298657251,
559
+ 0.4142269316763865
560
+ ]
561
+ }
562
+ },
563
+ "grasp_5": {
564
+ "confidence": 0.9320306777954102,
565
+ "position": [
566
+ 0.05004226788878441,
567
+ 0.1234683827497065,
568
+ 0.027288492441584822
569
+ ],
570
+ "orientation": {
571
+ "w": 0.4645372002480467,
572
+ "xyz": [
573
+ 0.7473993006793641,
574
+ 0.20153611982174202,
575
+ -0.4300961140685881
576
+ ]
577
+ }
578
+ }
579
+ }
580
+ }
581
+ ],
582
+ "quality_check": {
583
+ "success": true,
584
+ "message": "YES"
585
+ }
586
+ }
dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b026f8fb8d47bd0145b124acfdaf363c61b072de67f07fc92f966ef8fea17b96
3
+ size 3783072
dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/glasses_case_014.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>