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
db23c30
·
verified ·
1 Parent(s): a008e3f

Add asset bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/affordance_annot.json +386 -0
  3. dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/pill_organizer_038.urdf +1 -0
.gitattributes CHANGED
@@ -6080,4 +6080,4 @@ dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/mes
6080
  dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6081
  dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6082
  dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6083
- dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6080
  dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6081
  dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6082
  dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6083
+ dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,386 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "organizer body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer body from the sides to lift and relocate the organizer",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the organizer while a drawer is opened",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp the body along opposite side walls for placement on a shelf or table",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "support internal drawers",
23
+ "enclose stored items",
24
+ "provide main structural frame",
25
+ "stabilize the organizer on a surface",
26
+ "protect drawer contents"
27
+ ],
28
+ "semantic_description": "Large white plastic housing with a smooth matte to satin finish, rounded rectangular top, slightly tapered upright form, and side walls surrounding the front drawer area.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9654068946838379,
33
+ "position": [
34
+ 0.09975212987046689,
35
+ -0.0020351914572529495,
36
+ -0.02168948538019322
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5222820099901989,
40
+ "xyz": [
41
+ -0.49101781787449905,
42
+ -0.49292865721807755,
43
+ 0.49309668774343435
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.964028000831604,
49
+ "position": [
50
+ 0.10079039807897061,
51
+ 0.004277063359040767,
52
+ -0.019612755248090252
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5104017397077948,
56
+ "xyz": [
57
+ -0.47767682321923327,
58
+ -0.512115580442268,
59
+ 0.499051649562164
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9607265591621399,
65
+ "position": [
66
+ 0.10367860074620694,
67
+ 0.0034570922725833952,
68
+ -0.015542480716248974
69
+ ],
70
+ "orientation": {
71
+ "w": 0.49785663186909407,
72
+ "xyz": [
73
+ 0.5035352280557469,
74
+ -0.5112789488036743,
75
+ -0.4870163084754129
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9605573415756226,
81
+ "position": [
82
+ 0.10261862154584378,
83
+ 0.0022356105619110167,
84
+ 0.005121379537740722
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5195871223760508,
88
+ "xyz": [
89
+ 0.4969947167162385,
90
+ -0.47954675739898733,
91
+ -0.5030510722434036
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9588304162025452,
97
+ "position": [
98
+ 0.10268414195161313,
99
+ 0.00039142888999776915,
100
+ 0.005897164257476106
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5136562690803799,
104
+ "xyz": [
105
+ 0.49690442573098614,
106
+ -0.49123731046226904,
107
+ -0.49792482739182575
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9584855437278748,
113
+ "position": [
114
+ 0.09886312659364194,
115
+ -0.001946298114489764,
116
+ -0.017724334815284237
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5133888757429298,
120
+ "xyz": [
121
+ -0.49231710576595034,
122
+ -0.4935857370492852,
123
+ 0.5004286660605716
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9582481980323792,
129
+ "position": [
130
+ 0.10210585023742169,
131
+ 0.0007293996459338814,
132
+ -0.022702296817442402
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5295830635040698,
136
+ "xyz": [
137
+ -0.47345866876818055,
138
+ -0.48094677803982955,
139
+ 0.5138763124634308
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.957736074924469,
145
+ "position": [
146
+ 0.0980435925303027,
147
+ 0.0034630022128112614,
148
+ 0.004874458449194208
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5013178954606626,
152
+ "xyz": [
153
+ -0.488920264240238,
154
+ -0.49686501448535425,
155
+ 0.5126036483352581
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9570944905281067,
161
+ "position": [
162
+ 0.10069880064111203,
163
+ 0.003812758077401668,
164
+ 0.0017145023739431053
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5013561936361607,
168
+ "xyz": [
169
+ -0.4893926679303285,
170
+ -0.496393085518846,
171
+ 0.5125726176141059
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9570821523666382,
177
+ "position": [
178
+ 0.09948472853284329,
179
+ 0.0023717035655863583,
180
+ -0.025050757074495777
181
+ ],
182
+ "orientation": {
183
+ "w": 0.514502102957238,
184
+ "xyz": [
185
+ -0.47307976110047767,
186
+ -0.5075865618663958,
187
+ 0.5038243820046294
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9566139578819275,
193
+ "position": [
194
+ 0.0976744907675311,
195
+ 0.0036897219833917916,
196
+ 0.0054915537184569985
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5168375977275724,
200
+ "xyz": [
201
+ 0.4922685389256034,
202
+ -0.4845293169537469,
203
+ -0.5057488746122716
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9561880230903625,
209
+ "position": [
210
+ 0.10460719640832394,
211
+ 0.0015454729436896741,
212
+ 0.010887440672377124
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5106991172065658,
216
+ "xyz": [
217
+ -0.4749664993053146,
218
+ -0.5022483450615729,
219
+ 0.511214080503462
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9560713171958923,
225
+ "position": [
226
+ 0.09838016505818814,
227
+ 0.005704300769139081,
228
+ 0.0019683797436300665
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5008720700694019,
232
+ "xyz": [
233
+ -0.49457200401918694,
234
+ -0.4982457645327797,
235
+ 0.5062379483898685
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9559537768363953,
241
+ "position": [
242
+ 0.10036255593877286,
243
+ 0.0009316084906458855,
244
+ 0.017083747690776363
245
+ ],
246
+ "orientation": {
247
+ "w": 0.511328476670498,
248
+ "xyz": [
249
+ 0.49921839571146487,
250
+ -0.49380566634654977,
251
+ -0.4954595303484828
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9556098580360413,
257
+ "position": [
258
+ 0.0982271822867915,
259
+ 0.0020579075790010393,
260
+ -0.01674667707993649
261
+ ],
262
+ "orientation": {
263
+ "w": 0.5059230126163563,
264
+ "xyz": [
265
+ -0.4811275202317329,
266
+ -0.5030108891000942,
267
+ 0.5094489768638141
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9555649161338806,
273
+ "position": [
274
+ 0.10292648698668927,
275
+ -0.001463657186832279,
276
+ 0.005913524801144376
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5149112051534763,
280
+ "xyz": [
281
+ 0.4920218532912084,
282
+ -0.4921682677110548,
283
+ -0.5005510393052626
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9551079273223877,
289
+ "position": [
290
+ 0.09915146406274289,
291
+ 0.0023312634439207613,
292
+ -0.018881894269725308
293
+ ],
294
+ "orientation": {
295
+ "w": 0.518662487023738,
296
+ "xyz": [
297
+ 0.4867971430142864,
298
+ -0.49614319532537043,
299
+ -0.4978550952233091
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9545347690582275,
305
+ "position": [
306
+ 0.1026071923552081,
307
+ 0.0017055445932783186,
308
+ -0.008224769117077813
309
+ ],
310
+ "orientation": {
311
+ "w": 0.5064503313689946,
312
+ "xyz": [
313
+ 0.4961342358758922,
314
+ -0.5055405591276825,
315
+ -0.4917190508053855
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9545009732246399,
321
+ "position": [
322
+ 0.10136621620040387,
323
+ -0.0021036022226326168,
324
+ -0.03419909774675034
325
+ ],
326
+ "orientation": {
327
+ "w": 0.5648810077975063,
328
+ "xyz": [
329
+ -0.4482916474927004,
330
+ -0.46219062034269787,
331
+ 0.5160657674029412
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9544426798820496,
337
+ "position": [
338
+ 0.10126258607488126,
339
+ 0.0036420459509827197,
340
+ -0.02207291460945271
341
+ ],
342
+ "orientation": {
343
+ "w": 0.556294433388155,
344
+ "xyz": [
345
+ -0.4411870457326495,
346
+ -0.4530273556854717,
347
+ 0.53912587496769
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "front drawer area",
355
+ "mask_color": "Blue",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "pinch the recessed lip on a front drawer panel to pull a drawer open",
360
+ "confidence": 0.95
361
+ },
362
+ {
363
+ "scenario": "push on a drawer front to close and seat the drawer",
364
+ "confidence": 0.92
365
+ },
366
+ {
367
+ "scenario": "hold the front of a partially removed drawer during extraction",
368
+ "confidence": 0.83
369
+ }
370
+ ],
371
+ "functional_labels": [
372
+ "provide access to drawer compartments",
373
+ "serve as pull surfaces for opening drawers",
374
+ "serve as push surfaces for closing drawers",
375
+ "define the organizer front face"
376
+ ],
377
+ "semantic_description": "White to light-gray plastic front drawer panels on the front face of the organizer, with smooth slightly glossy rectangular surfaces and recessed pull lips arranged vertically.",
378
+ "id": 2,
379
+ "grasp_group": {}
380
+ }
381
+ ],
382
+ "quality_check": {
383
+ "success": false,
384
+ "message": "Blue part is mislabeled as one area; mask covers all drawer fronts, not a single front area or face."
385
+ }
386
+ }
dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab975a5298d2086ba2d378d4476bedc620862102a42ee6365181d968c9d10a23
3
+ size 3780272
dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/pill_organizer_038.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>