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
0055efb
·
verified ·
1 Parent(s): dff827a

Add asset tools/repair_tools/e65c430834365f33a2362234947d6a78

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/e65c430834365f33a2362234947d6a78/affordance/affordance_annot.json +600 -0
  3. dataset/tools/repair_tools/e65c430834365f33a2362234947d6a78/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7931,3 +7931,4 @@ dataset/tools/repair_tools/e1e5097dde4c530aab799b53e9781c7f/affordance/mesh_part
7931
  dataset/tools/repair_tools/e2d93339410656bda6ce8c549c8e2b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7932
  dataset/tools/repair_tools/e324301ccf9156afaa54f6ca58e5a0bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7933
  dataset/tools/repair_tools/e5d64740c9bb54828d360ebf4d81dcfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7931
  dataset/tools/repair_tools/e2d93339410656bda6ce8c549c8e2b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7932
  dataset/tools/repair_tools/e324301ccf9156afaa54f6ca58e5a0bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7933
  dataset/tools/repair_tools/e5d64740c9bb54828d360ebf4d81dcfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7934
+ dataset/tools/repair_tools/e65c430834365f33a2362234947d6a78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/e65c430834365f33a2362234947d6a78/affordance/affordance_annot.json ADDED
@@ -0,0 +1,600 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "hammer handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and wield the mini hammer",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle to orient the hammer head for tapping",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the tool during placement",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support swinging motion",
24
+ "provide reach from the head",
25
+ "enable tool orientation"
26
+ ],
27
+ "semantic_description": "Long slightly curved blue handle with purple rubberized grip inlays, a matte hard surface, and a smooth lightly contoured shape forming the main rear portion of the mini hammer.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9639003872871399,
32
+ "position": [
33
+ -0.10829509416362271,
34
+ -0.01601550355553627,
35
+ -0.007057041744701564
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7305125629044751,
39
+ "xyz": [
40
+ 0.0021027341152296446,
41
+ 0.6827546337915799,
42
+ 0.01389546631465031
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9574753046035767,
48
+ "position": [
49
+ -0.10973979899426922,
50
+ -0.08084584772586823,
51
+ 0.01141779834870249
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6730023202156454,
55
+ "xyz": [
56
+ 0.0112247172803746,
57
+ 0.7389188561216019,
58
+ -0.03067257364938346
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9540839791297913,
64
+ "position": [
65
+ 0.10022385796764866,
66
+ -0.08365646004676819,
67
+ -0.016185559681616724
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7691466452803342,
71
+ "xyz": [
72
+ 0.012759933073551137,
73
+ -0.6388208299133665,
74
+ -0.012592435458006068
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9538150429725647,
80
+ "position": [
81
+ 0.10348746558884159,
82
+ -0.09169257432222366,
83
+ 0.0178216869244352
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6558279230783157,
87
+ "xyz": [
88
+ -0.006446792704708928,
89
+ -0.7548176564105881,
90
+ -0.009923696157858307
91
+ ]
92
+ }
93
+ },
94
+ "grasp_25": {
95
+ "confidence": 0.9508570432662964,
96
+ "position": [
97
+ 0.1068528332398273,
98
+ -0.09791367501020432,
99
+ 0.004691113834269345
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7027698873737127,
103
+ "xyz": [
104
+ 0.012843158309626929,
105
+ -0.7106724741372431,
106
+ -0.029902728788899692
107
+ ]
108
+ }
109
+ },
110
+ "grasp_26": {
111
+ "confidence": 0.9506999254226685,
112
+ "position": [
113
+ 0.09877036145189777,
114
+ -0.03825001418590546,
115
+ -0.002628333168104291
116
+ ],
117
+ "orientation": {
118
+ "w": 0.09269390293170074,
119
+ "xyz": [
120
+ -0.6952660106286367,
121
+ 0.04266644226261629,
122
+ 0.7114721284270236
123
+ ]
124
+ }
125
+ },
126
+ "grasp_27": {
127
+ "confidence": 0.9489893913269043,
128
+ "position": [
129
+ 0.09910075744846836,
130
+ -0.038715753704309464,
131
+ 0.0038928004214540124
132
+ ],
133
+ "orientation": {
134
+ "w": 0.1754425897716221,
135
+ "xyz": [
136
+ 0.6963215502613148,
137
+ 0.17373859700054994,
138
+ -0.6739221737323873
139
+ ]
140
+ }
141
+ },
142
+ "grasp_28": {
143
+ "confidence": 0.9479355812072754,
144
+ "position": [
145
+ -0.09229050943395123,
146
+ -0.06753857433795929,
147
+ 0.009249356226064265
148
+ ],
149
+ "orientation": {
150
+ "w": 0.1819669771215184,
151
+ "xyz": [
152
+ -0.7013026877729706,
153
+ -0.1709077924919885,
154
+ -0.6677223119120548
155
+ ]
156
+ }
157
+ },
158
+ "grasp_29": {
159
+ "confidence": 0.9456489682197571,
160
+ "position": [
161
+ 0.09419761976459995,
162
+ -0.057029157876968384,
163
+ 0.006768134539015591
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6632981833669584,
167
+ "xyz": [
168
+ -0.14834128566103671,
169
+ -0.7078292722734537,
170
+ -0.19237490538881735
171
+ ]
172
+ }
173
+ },
174
+ "grasp_30": {
175
+ "confidence": 0.9447909593582153,
176
+ "position": [
177
+ -0.10284345963736996,
178
+ -0.08282937109470367,
179
+ 0.02752028836403042
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6239279626702947,
183
+ "xyz": [
184
+ 0.006242898450087402,
185
+ 0.7813928357298968,
186
+ -0.010007991158474571
187
+ ]
188
+ }
189
+ },
190
+ "grasp_31": {
191
+ "confidence": 0.943681538105011,
192
+ "position": [
193
+ 0.0956962444470264,
194
+ -0.026707954704761505,
195
+ 0.010745836072601378
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6666640920756238,
199
+ "xyz": [
200
+ -0.08046615345692887,
201
+ -0.7299536385154768,
202
+ -0.12748283061983956
203
+ ]
204
+ }
205
+ },
206
+ "grasp_32": {
207
+ "confidence": 0.9436453580856323,
208
+ "position": [
209
+ -0.09683764347573742,
210
+ -0.029353301972150803,
211
+ -0.013719000271521509
212
+ ],
213
+ "orientation": {
214
+ "w": 0.1090065130470707,
215
+ "xyz": [
216
+ -0.641691413415968,
217
+ -0.09142005691752042,
218
+ -0.7536524950232256
219
+ ]
220
+ }
221
+ },
222
+ "grasp_33": {
223
+ "confidence": 0.9400642514228821,
224
+ "position": [
225
+ -0.09656869986793026,
226
+ -0.03667573258280754,
227
+ 0.01392817182932049
228
+ ],
229
+ "orientation": {
230
+ "w": 0.08493200058970737,
231
+ "xyz": [
232
+ -0.7405640427790274,
233
+ -0.06554855798154269,
234
+ -0.6633662942636995
235
+ ]
236
+ }
237
+ },
238
+ "grasp_34": {
239
+ "confidence": 0.9396288394927979,
240
+ "position": [
241
+ 0.08377906313398853,
242
+ -0.046107303351163864,
243
+ 0.04835107608232647
244
+ ],
245
+ "orientation": {
246
+ "w": 0.12784073113250682,
247
+ "xyz": [
248
+ -0.8567495629938962,
249
+ 0.088490046279745,
250
+ 0.4917381879442385
251
+ ]
252
+ }
253
+ },
254
+ "grasp_35": {
255
+ "confidence": 0.9373003840446472,
256
+ "position": [
257
+ 0.08128391584614292,
258
+ -0.08229298144578934,
259
+ 0.059544869349338114
260
+ ],
261
+ "orientation": {
262
+ "w": 0.0294958056035474,
263
+ "xyz": [
264
+ 0.8844655922899293,
265
+ -0.028847385336228715,
266
+ -0.4647778414105874
267
+ ]
268
+ }
269
+ },
270
+ "grasp_36": {
271
+ "confidence": 0.93620765209198,
272
+ "position": [
273
+ -0.09639481076737866,
274
+ 0.00577702559530735,
275
+ 0.0363687468925491
276
+ ],
277
+ "orientation": {
278
+ "w": 0.07706904003291694,
279
+ "xyz": [
280
+ 0.8176456166846384,
281
+ -0.04873478709194512,
282
+ 0.5684548611032407
283
+ ]
284
+ }
285
+ },
286
+ "grasp_37": {
287
+ "confidence": 0.9361695647239685,
288
+ "position": [
289
+ -0.10700722405454144,
290
+ -0.07204955071210861,
291
+ -0.006498049362562597
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7287792785606311,
295
+ "xyz": [
296
+ 0.04635088473817639,
297
+ 0.6806687328880401,
298
+ -0.05850157855326656
299
+ ]
300
+ }
301
+ },
302
+ "grasp_39": {
303
+ "confidence": 0.9349629282951355,
304
+ "position": [
305
+ 0.08210152020910755,
306
+ -0.02527991309762001,
307
+ 0.0540897665778175
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5073826834981678,
311
+ "xyz": [
312
+ -0.023569223556143642,
313
+ -0.8612213491370287,
314
+ -0.017466882313519526
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "hammer head",
322
+ "mask_color": "Red",
323
+ "graspable": true,
324
+ "grasp_scenarios": [
325
+ {
326
+ "scenario": "grasp the head to pick up the hammer when the handle is obstructed",
327
+ "confidence": 0.52
328
+ },
329
+ {
330
+ "scenario": "hold the head to reposition or place the hammer precisely",
331
+ "confidence": 0.47
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "deliver impact",
336
+ "add striking mass",
337
+ "connect striking faces to handle",
338
+ "balance the tool"
339
+ ],
340
+ "semantic_description": "Compact red double-faced hammer head with a hard matte finish and smooth contours, mounted at the front of the handle and carrying small white printed markings.",
341
+ "id": 0,
342
+ "grasp_group": {
343
+ "grasp_1": {
344
+ "confidence": 0.8181483745574951,
345
+ "position": [
346
+ -0.12951637426158413,
347
+ 0.14583346992731094,
348
+ 0.09281820862088352
349
+ ],
350
+ "orientation": {
351
+ "w": 0.2854996509584393,
352
+ "xyz": [
353
+ 0.696813557316636,
354
+ 0.6489420234184776,
355
+ 0.10869712914275532
356
+ ]
357
+ }
358
+ },
359
+ "grasp_2": {
360
+ "confidence": 0.816818118095398,
361
+ "position": [
362
+ -0.18347458163043484,
363
+ 0.10784681886434555,
364
+ 0.005864793551154435
365
+ ],
366
+ "orientation": {
367
+ "w": 0.44726922586135975,
368
+ "xyz": [
369
+ -0.5442117593186642,
370
+ 0.46263058626933484,
371
+ -0.5382905732638792
372
+ ]
373
+ }
374
+ },
375
+ "grasp_7": {
376
+ "confidence": 0.8048864603042603,
377
+ "position": [
378
+ 0.18198329588631168,
379
+ 0.08701467514038086,
380
+ 0.010794386849738657
381
+ ],
382
+ "orientation": {
383
+ "w": 0.09720836845043943,
384
+ "xyz": [
385
+ -0.7137854936842015,
386
+ 0.10341472525813589,
387
+ 0.685832484436971
388
+ ]
389
+ }
390
+ },
391
+ "grasp_8": {
392
+ "confidence": 0.8040757775306702,
393
+ "position": [
394
+ -0.18189726391574368,
395
+ 0.11738479137420654,
396
+ 0.002752325148321688
397
+ ],
398
+ "orientation": {
399
+ "w": 0.5906377343260966,
400
+ "xyz": [
401
+ 0.44469676168350425,
402
+ 0.5312680007658559,
403
+ 0.41369816086198763
404
+ ]
405
+ }
406
+ },
407
+ "grasp_10": {
408
+ "confidence": 0.8016245365142822,
409
+ "position": [
410
+ -0.1822287849499844,
411
+ 0.10748635977506638,
412
+ 0.0037311959313228726
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5182312029157764,
416
+ "xyz": [
417
+ 0.49188607187401445,
418
+ 0.5097249823884207,
419
+ 0.47923371641605417
420
+ ]
421
+ }
422
+ },
423
+ "grasp_11": {
424
+ "confidence": 0.7997962832450867,
425
+ "position": [
426
+ -0.18148527661105618,
427
+ 0.12630408257246017,
428
+ 0.014632628881372511
429
+ ],
430
+ "orientation": {
431
+ "w": 0.6081668428193158,
432
+ "xyz": [
433
+ 0.45287006505064065,
434
+ 0.5497895519629588,
435
+ 0.3503901311803516
436
+ ]
437
+ }
438
+ },
439
+ "grasp_12": {
440
+ "confidence": 0.796252965927124,
441
+ "position": [
442
+ 0.17739312729099765,
443
+ 0.07698868960142136,
444
+ 0.00791221542749554
445
+ ],
446
+ "orientation": {
447
+ "w": 0.12568295199693508,
448
+ "xyz": [
449
+ -0.6862529994872999,
450
+ 0.17784699088538014,
451
+ 0.6939964438705977
452
+ ]
453
+ }
454
+ },
455
+ "grasp_13": {
456
+ "confidence": 0.7960127592086792,
457
+ "position": [
458
+ -0.12243404606124386,
459
+ 0.12749259918928146,
460
+ 0.1022971278289333
461
+ ],
462
+ "orientation": {
463
+ "w": 0.18688903585026856,
464
+ "xyz": [
465
+ 0.7018424350457824,
466
+ 0.671906121701437,
467
+ 0.14502361279494186
468
+ ]
469
+ }
470
+ },
471
+ "grasp_14": {
472
+ "confidence": 0.7936739325523376,
473
+ "position": [
474
+ -0.13036144891520962,
475
+ 0.11944569647312164,
476
+ 0.09909547178540379
477
+ ],
478
+ "orientation": {
479
+ "w": 0.19444281465446359,
480
+ "xyz": [
481
+ 0.6982940817698822,
482
+ 0.6669806517259826,
483
+ 0.17237800734893796
484
+ ]
485
+ }
486
+ },
487
+ "grasp_15": {
488
+ "confidence": 0.7932766675949097,
489
+ "position": [
490
+ 0.1862496622488834,
491
+ 0.0999116599559784,
492
+ 0.013224661001004279
493
+ ],
494
+ "orientation": {
495
+ "w": 0.013943412242365583,
496
+ "xyz": [
497
+ -0.7176043173926955,
498
+ 0.06323670853035768,
499
+ 0.6934340225346961
500
+ ]
501
+ }
502
+ },
503
+ "grasp_17": {
504
+ "confidence": 0.7930471301078796,
505
+ "position": [
506
+ -0.17749529698630795,
507
+ 0.10370228439569473,
508
+ -0.03607478679623455
509
+ ],
510
+ "orientation": {
511
+ "w": 0.5930190464968083,
512
+ "xyz": [
513
+ 0.3841251209990299,
514
+ 0.4195130789311057,
515
+ 0.5698991827641451
516
+ ]
517
+ }
518
+ },
519
+ "grasp_18": {
520
+ "confidence": 0.788141667842865,
521
+ "position": [
522
+ -0.11984076717635617,
523
+ 0.12244787067174911,
524
+ 0.10399673192296177
525
+ ],
526
+ "orientation": {
527
+ "w": 0.16302977155134696,
528
+ "xyz": [
529
+ 0.719565124018949,
530
+ 0.6601359675198509,
531
+ 0.1409532910936826
532
+ ]
533
+ }
534
+ },
535
+ "grasp_19": {
536
+ "confidence": 0.7841224670410156,
537
+ "position": [
538
+ -0.17563557246467099,
539
+ 0.11192727833986282,
540
+ -0.03646331967320293
541
+ ],
542
+ "orientation": {
543
+ "w": 0.607774876948468,
544
+ "xyz": [
545
+ 0.40427079641816355,
546
+ 0.3903068965572932,
547
+ 0.5611019057297101
548
+ ]
549
+ }
550
+ }
551
+ }
552
+ },
553
+ {
554
+ "part_name": "flat striking face",
555
+ "mask_color": "Blue",
556
+ "graspable": false,
557
+ "grasp_scenarios": [],
558
+ "functional_labels": [
559
+ "strike surfaces",
560
+ "transfer impact force",
561
+ "provide a flat contact area"
562
+ ],
563
+ "semantic_description": "Small round white striking cap at one end of the head, with a hard smooth flat surface and a slightly reflective finish sized for tapping contact.",
564
+ "id": 2,
565
+ "grasp_group": {}
566
+ },
567
+ {
568
+ "part_name": "opposite striking face",
569
+ "mask_color": "Yellow",
570
+ "graspable": false,
571
+ "grasp_scenarios": [],
572
+ "functional_labels": [
573
+ "strike surfaces",
574
+ "transfer impact force",
575
+ "provide a second flat contact area"
576
+ ],
577
+ "semantic_description": "Small round white striking cap at the other end of the head, with a hard smooth flat surface and a slightly reflective finish opposite the first face.",
578
+ "id": 3,
579
+ "grasp_group": {}
580
+ },
581
+ {
582
+ "part_name": "head collar",
583
+ "mask_color": "Cyan",
584
+ "graspable": false,
585
+ "grasp_scenarios": [],
586
+ "functional_labels": [
587
+ "connect head to handle",
588
+ "reinforce the joint",
589
+ "indicate transition between parts"
590
+ ],
591
+ "semantic_description": "Thin light-colored collar at the junction of handle and head, appearing as a small smooth connector band around the neck area.",
592
+ "id": 6,
593
+ "grasp_group": {}
594
+ }
595
+ ],
596
+ "quality_check": {
597
+ "success": false,
598
+ "message": "Handle and head descriptions use wrong visible colors; striking-face identities are too generic and one face color mapping is inconsistent."
599
+ }
600
+ }
dataset/tools/repair_tools/e65c430834365f33a2362234947d6a78/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3ccbe9ebc3bd589ab75c2f73f08995f8930c9ed1285541f704f591512cb9cc72
3
+ size 3783128