PARTNR HSSD Mini SceneDataset

Assets, configs, semantics, and metadata for a miniature HSSD SceneDataset to facilitate reproducible automated testing for the PARTNR benchmark.

Setup

Clone this repo and symblink as data/hssd-hab in repo (sim, lab, partnr) directory to use as a drop-in replacement for full HSSD dataset if using hssd-hab-partnr.scene_dataset_config.json from the branch https://huggingface.co./datasets/hssd/hssd-hab/tree/partnr.

Note that this SceneDataset does not include and pickable "clutter" objects. Those should be imported from another data source such as ovmm_objects(https://huggingface.co./datasets/ai-habitat/OVMM_objects).

hssd-hab-partnr.scene_dataset_config.json - the dataset config file encapsulating the contents
scenes-partnr-filtered/* - scene_instance.json files
semantics/* - semantic lexicon and per-scene semantic annotations (including regions)
stages/* - stage configs and .glbs
objects/* - rigid objects, colliders, and receptacle meshes for scene furniture
urdf/* - articulated scene furniture assets (.urdf, .ao_config, render and receptacle .glbs)
scene_filter_files/* - Receptacle filter files
metadata/* - semantic class map .csv files

Any changes to the above content on the upstream branch (https://huggingface.co./datasets/hssd/hssd-hab/tree/partnr) should be migrated to this repo.