ai-habitat/hssd-partnr-ci

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# 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).

## Contents:

The following summarizes the contents of this SceneDataset:

- `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.

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# PARTNR HSSD 微型场景数据集

本数据集提供微型HSSD场景数据集的资源、配置、语义信息与元数据，旨在为PARTNR基准测试提供可复现的自动化测试支持。

## 部署指南

克隆本仓库，并将其软链接至`sim`、`lab`或`partnr`目录下的`data/hssd-hab`路径，即可通过使用分支https://huggingface.co/datasets/hssd/hssd-hab/tree/partnr 中的`hssd-hab-partnr.scene_dataset_config.json`，作为完整HSSD数据集的替代方案直接使用。

注意：本场景数据集未包含任何可拾取的“杂乱”物体，此类物体需从其他数据源（如ovmm_objects：https://huggingface.co/datasets/ai-habitat/OVMM_objects）导入。

## 数据集内容

本数据集的内容概述如下：
- `hssd-hab-partnr.scene_dataset_config.json`：封装数据集全部内容的配置文件
- `scenes-partnr-filtered/*`：场景实例JSON文件
- `semantics/*`：语义词典与逐场景语义标注（包含区域标注）
- `stages/*`：场景配置文件与.glbs格式模型文件
- `objects/*`：场景家具的刚体物体、碰撞体与容器网格
- `urdf/*`：场景可动家具资源（包含.urdf、.ao_config、渲染与容器.glbs文件）
- `scene_filter_files/*`：容器过滤文件
- `metadata/*`：语义类别映射.csv文件

上游分支（https://huggingface.co/datasets/hssd/hssd-hab/tree/partnr）中对上述内容的任何修改，均需同步迁移至本仓库。