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
4388857
·
verified ·
1 Parent(s): b8e8639

Add asset tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/affordance_annot.json +587 -0
  3. dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7851,3 +7851,4 @@ dataset/tools/repair_tools/4935612d12155182a85e12aa2cd33204/affordance/mesh_part
7851
  dataset/tools/repair_tools/49976a15679652a189d9a22ee0e7b16d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7852
  dataset/tools/repair_tools/4a9dea755d05547e94f5c40da2074e8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7853
  dataset/tools/repair_tools/4ae4a97aed615ea687e4245ba70d2021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7851
  dataset/tools/repair_tools/49976a15679652a189d9a22ee0e7b16d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7852
  dataset/tools/repair_tools/4a9dea755d05547e94f5c40da2074e8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7853
  dataset/tools/repair_tools/4ae4a97aed615ea687e4245ba70d2021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7854
+ dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/affordance_annot.json ADDED
@@ -0,0 +1,587 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "case body",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing to pick up and carry the tape measure",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the housing while extending or retracting the tape",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the housing on a work surface during measurement",
18
+ "confidence": 0.83
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main housing",
23
+ "protect internal tape mechanism",
24
+ "main grasp surface",
25
+ "support measurement handling"
26
+ ],
27
+ "semantic_description": "Large rounded bright red plastic housing with a mostly matte finish, molded textured grip panels around the perimeter, and white printed branding on one face, forming the main body of the tape measure.",
28
+ "id": 7,
29
+ "grasp_group": {
30
+ "grasp_60": {
31
+ "confidence": 0.9904796481132507,
32
+ "position": [
33
+ 0.09794072201475501,
34
+ 0.06744171539321542,
35
+ -0.002995541348354891
36
+ ],
37
+ "orientation": {
38
+ "w": 0.19855353033173143,
39
+ "xyz": [
40
+ 0.6763307294962091,
41
+ 0.20854893834505572,
42
+ -0.677982728575796
43
+ ]
44
+ }
45
+ },
46
+ "grasp_61": {
47
+ "confidence": 0.990086019039154,
48
+ "position": [
49
+ 0.09028894593939185,
50
+ 0.07609708467498422,
51
+ -0.002598516206489876
52
+ ],
53
+ "orientation": {
54
+ "w": 0.2646944906477575,
55
+ "xyz": [
56
+ 0.6529603978012006,
57
+ 0.2679462261336445,
58
+ -0.6571030097517132
59
+ ]
60
+ }
61
+ },
62
+ "grasp_62": {
63
+ "confidence": 0.9897459745407104,
64
+ "position": [
65
+ 0.10118591180071235,
66
+ 0.06130195269361138,
67
+ -0.007561937702121213
68
+ ],
69
+ "orientation": {
70
+ "w": 0.2001354886239838,
71
+ "xyz": [
72
+ 0.6689959101589855,
73
+ 0.20715217315531698,
74
+ -0.6851848185276873
75
+ ]
76
+ }
77
+ },
78
+ "grasp_63": {
79
+ "confidence": 0.9896032214164734,
80
+ "position": [
81
+ 0.10829805722460151,
82
+ 0.05440019303932786,
83
+ -0.0028041752811986953
84
+ ],
85
+ "orientation": {
86
+ "w": 0.1921612387992844,
87
+ "xyz": [
88
+ 0.6769462630527426,
89
+ 0.20262753081435791,
90
+ -0.6809991916281015
91
+ ]
92
+ }
93
+ },
94
+ "grasp_64": {
95
+ "confidence": 0.9891181588172913,
96
+ "position": [
97
+ 0.11105016013607383,
98
+ 0.046561258379369974,
99
+ -0.0033394422207493335
100
+ ],
101
+ "orientation": {
102
+ "w": 0.1748030801117014,
103
+ "xyz": [
104
+ 0.6829418512738957,
105
+ 0.1781982716736995,
106
+ -0.6864981332345722
107
+ ]
108
+ }
109
+ },
110
+ "grasp_65": {
111
+ "confidence": 0.9890381097793579,
112
+ "position": [
113
+ 0.09785518934950233,
114
+ 0.061044222209602594,
115
+ -0.008186127786757424
116
+ ],
117
+ "orientation": {
118
+ "w": 0.19486481380397844,
119
+ "xyz": [
120
+ 0.6709652070564452,
121
+ 0.20045123836625434,
122
+ -0.6867697549384929
123
+ ]
124
+ }
125
+ },
126
+ "grasp_66": {
127
+ "confidence": 0.9890199303627014,
128
+ "position": [
129
+ 0.10689122369512916,
130
+ 0.058760537300258875,
131
+ -0.004214109882013872
132
+ ],
133
+ "orientation": {
134
+ "w": 0.18699304596995428,
135
+ "xyz": [
136
+ 0.6766103639129003,
137
+ 0.20371644858768256,
138
+ -0.6824453273188654
139
+ ]
140
+ }
141
+ },
142
+ "grasp_67": {
143
+ "confidence": 0.9889003038406372,
144
+ "position": [
145
+ 0.015057859476655722,
146
+ 0.11723072687163949,
147
+ -0.0010115477198269218
148
+ ],
149
+ "orientation": {
150
+ "w": 0.48809113161446466,
151
+ "xyz": [
152
+ 0.5091977139652051,
153
+ 0.500519923705442,
154
+ -0.5019606969731981
155
+ ]
156
+ }
157
+ },
158
+ "grasp_68": {
159
+ "confidence": 0.9887930750846863,
160
+ "position": [
161
+ 0.12207504501566291,
162
+ 0.011081634555011988,
163
+ 0.0011548067850526422
164
+ ],
165
+ "orientation": {
166
+ "w": 0.03273111918911644,
167
+ "xyz": [
168
+ 0.7100128527784866,
169
+ 0.024762584163583234,
170
+ -0.7029916337706478
171
+ ]
172
+ }
173
+ },
174
+ "grasp_69": {
175
+ "confidence": 0.9886379837989807,
176
+ "position": [
177
+ 0.013574566226452589,
178
+ 0.11827665427699685,
179
+ 0.00040213114698417485
180
+ ],
181
+ "orientation": {
182
+ "w": 0.48622342232259236,
183
+ "xyz": [
184
+ 0.5079261507934407,
185
+ 0.505510167017069,
186
+ -0.5000572766868215
187
+ ]
188
+ }
189
+ },
190
+ "grasp_70": {
191
+ "confidence": 0.9885392785072327,
192
+ "position": [
193
+ 0.008341338019818068,
194
+ 0.11738443234935403,
195
+ 0.0001650890044402331
196
+ ],
197
+ "orientation": {
198
+ "w": 0.48736087702928604,
199
+ "xyz": [
200
+ 0.5075316675546399,
201
+ 0.5073155932907372,
202
+ -0.49751569902317466
203
+ ]
204
+ }
205
+ },
206
+ "grasp_71": {
207
+ "confidence": 0.9885331392288208,
208
+ "position": [
209
+ -0.010203076060861349,
210
+ -0.11601001909002662,
211
+ -0.004012676916318014
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5543249614489505,
215
+ "xyz": [
216
+ -0.4446912417455846,
217
+ 0.5510381809990296,
218
+ 0.4374133739503967
219
+ ]
220
+ }
221
+ },
222
+ "grasp_72": {
223
+ "confidence": 0.9884771108627319,
224
+ "position": [
225
+ 0.0055937611032277346,
226
+ 0.11751689622178674,
227
+ 0.0028627868450712413
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4944422882492469,
231
+ "xyz": [
232
+ 0.5020142745150817,
233
+ 0.5127832831638078,
234
+ -0.4904709943326827
235
+ ]
236
+ }
237
+ },
238
+ "grasp_73": {
239
+ "confidence": 0.9884297847747803,
240
+ "position": [
241
+ 0.015561556909233332,
242
+ 0.114647610578686,
243
+ 0.0011618549178820103
244
+ ],
245
+ "orientation": {
246
+ "w": 0.47969869457253417,
247
+ "xyz": [
248
+ 0.5128872443306983,
249
+ 0.5061449831484234,
250
+ -0.5006526670876236
251
+ ]
252
+ }
253
+ },
254
+ "grasp_75": {
255
+ "confidence": 0.9883363842964172,
256
+ "position": [
257
+ 0.013991985935717821,
258
+ 0.1171585232950747,
259
+ -0.0019108465930912644
260
+ ],
261
+ "orientation": {
262
+ "w": 0.48524987166141154,
263
+ "xyz": [
264
+ 0.5023972075002939,
265
+ 0.5093344640873263,
266
+ -0.5027007177649206
267
+ ]
268
+ }
269
+ },
270
+ "grasp_77": {
271
+ "confidence": 0.9882163405418396,
272
+ "position": [
273
+ 0.05708954995498061,
274
+ 0.10681899497285485,
275
+ -0.005979248584480956
276
+ ],
277
+ "orientation": {
278
+ "w": 0.36565071893420953,
279
+ "xyz": [
280
+ 0.5880137857170928,
281
+ 0.3870653280353724,
282
+ -0.6088676140035848
283
+ ]
284
+ }
285
+ },
286
+ "grasp_78": {
287
+ "confidence": 0.9881395101547241,
288
+ "position": [
289
+ 0.09762868424877524,
290
+ 0.062311036977916956,
291
+ -0.001257763389730826
292
+ ],
293
+ "orientation": {
294
+ "w": 0.2225480509974424,
295
+ "xyz": [
296
+ 0.6885536039258594,
297
+ 0.15880281433198618,
298
+ -0.6716754913484572
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "wrist strap",
306
+ "mask_color": "Green",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "hook or lightly grasp the strap to reposition the tape measure",
311
+ "confidence": 0.57
312
+ },
313
+ {
314
+ "scenario": "hold the strap to pull the tool from a pocket or bag",
315
+ "confidence": 0.52
316
+ },
317
+ {
318
+ "scenario": "temporarily suspend or steady the tool by pinching the strap",
319
+ "confidence": 0.43
320
+ }
321
+ ],
322
+ "functional_labels": [
323
+ "provide tether point",
324
+ "assist carrying",
325
+ "allow hanging storage",
326
+ "aid quick retrieval"
327
+ ],
328
+ "semantic_description": "Thin red flexible loop strap made of cord or soft synthetic material, attached near the side-rear of the housing.",
329
+ "id": 1,
330
+ "grasp_group": {}
331
+ },
332
+ {
333
+ "part_name": "blade lock slider",
334
+ "mask_color": "Blue",
335
+ "graspable": true,
336
+ "grasp_scenarios": [
337
+ {
338
+ "scenario": "press or pinch the slider to engage or release the tape lock",
339
+ "confidence": 0.79
340
+ },
341
+ {
342
+ "scenario": "nudge the slider with a gripper while stabilizing the housing",
343
+ "confidence": 0.71
344
+ }
345
+ ],
346
+ "functional_labels": [
347
+ "lock tape blade",
348
+ "release tape blade",
349
+ "provide thumb control"
350
+ ],
351
+ "semantic_description": "Small ridged red plastic slider recessed into the housing near the tape exit, with a matte surface and short rectangular form sized for fingertip actuation.",
352
+ "id": 2,
353
+ "grasp_group": {
354
+ "grasp_41": {
355
+ "confidence": 0.9846823215484619,
356
+ "position": [
357
+ 0.006057205609977245,
358
+ -0.11137749394401908,
359
+ -0.005240169615717605
360
+ ],
361
+ "orientation": {
362
+ "w": 0.49010549387693647,
363
+ "xyz": [
364
+ -0.49386461853700603,
365
+ 0.5005085769941761,
366
+ 0.5151558092307665
367
+ ]
368
+ }
369
+ },
370
+ "grasp_42": {
371
+ "confidence": 0.9839832782745361,
372
+ "position": [
373
+ 0.009054826572537422,
374
+ -0.10992755135521293,
375
+ -0.00010339450091123581
376
+ ],
377
+ "orientation": {
378
+ "w": 0.49613152420079537,
379
+ "xyz": [
380
+ -0.5345602154442347,
381
+ 0.47089987534746247,
382
+ 0.4963387896952573
383
+ ]
384
+ }
385
+ },
386
+ "grasp_43": {
387
+ "confidence": 0.9826253652572632,
388
+ "position": [
389
+ 0.006566008320078254,
390
+ -0.10998033126816154,
391
+ -0.00035979279255116126
392
+ ],
393
+ "orientation": {
394
+ "w": 0.509694291401719,
395
+ "xyz": [
396
+ -0.5026146029430609,
397
+ -0.49291930178996124,
398
+ -0.4945916013680233
399
+ ]
400
+ }
401
+ },
402
+ "grasp_45": {
403
+ "confidence": 0.9810250401496887,
404
+ "position": [
405
+ -0.003065849654376507,
406
+ -0.11290398379787803,
407
+ 0.0038896689366083592
408
+ ],
409
+ "orientation": {
410
+ "w": 0.4824770453303425,
411
+ "xyz": [
412
+ -0.5253142606892823,
413
+ -0.47300774523017086,
414
+ -0.5172277072992563
415
+ ]
416
+ }
417
+ },
418
+ "grasp_46": {
419
+ "confidence": 0.9793461561203003,
420
+ "position": [
421
+ -0.008870953228324652,
422
+ -0.11084617814049125,
423
+ 0.000609585753409192
424
+ ],
425
+ "orientation": {
426
+ "w": 0.5096710146260678,
427
+ "xyz": [
428
+ -0.508028808747056,
429
+ 0.4956235295865793,
430
+ 0.48631214590345445
431
+ ]
432
+ }
433
+ },
434
+ "grasp_47": {
435
+ "confidence": 0.9769557118415833,
436
+ "position": [
437
+ 0.009708475787192583,
438
+ -0.11040457477793097,
439
+ -0.013895507698180154
440
+ ],
441
+ "orientation": {
442
+ "w": 0.5016021112127069,
443
+ "xyz": [
444
+ -0.4911537817688032,
445
+ 0.48457262472918283,
446
+ 0.5218741764489098
447
+ ]
448
+ }
449
+ },
450
+ "grasp_48": {
451
+ "confidence": 0.972987949848175,
452
+ "position": [
453
+ 0.0027459776611067355,
454
+ -0.10721125593408942,
455
+ -0.031289677863242105
456
+ ],
457
+ "orientation": {
458
+ "w": 0.5470344830383453,
459
+ "xyz": [
460
+ -0.4380465823916579,
461
+ -0.4374373418954176,
462
+ -0.5634865020010948
463
+ ]
464
+ }
465
+ },
466
+ "grasp_49": {
467
+ "confidence": 0.9672282338142395,
468
+ "position": [
469
+ 0.0044458063784986734,
470
+ -0.10676353564485908,
471
+ -0.0065135609183926135
472
+ ],
473
+ "orientation": {
474
+ "w": 0.4924182579505248,
475
+ "xyz": [
476
+ -0.49746287557164215,
477
+ 0.5006603399933723,
478
+ 0.5093075403159508
479
+ ]
480
+ }
481
+ },
482
+ "grasp_51": {
483
+ "confidence": 0.9491645693778992,
484
+ "position": [
485
+ 0.016484688501805067,
486
+ -0.10729733249172568,
487
+ 0.004095284937648103
488
+ ],
489
+ "orientation": {
490
+ "w": 0.45272443878567126,
491
+ "xyz": [
492
+ -0.5614614064300231,
493
+ 0.43886068630492925,
494
+ 0.5359132109136574
495
+ ]
496
+ }
497
+ },
498
+ "grasp_52": {
499
+ "confidence": 0.9481335878372192,
500
+ "position": [
501
+ 0.010412818286567926,
502
+ -0.11012605717405677,
503
+ 0.012918786349473521
504
+ ],
505
+ "orientation": {
506
+ "w": 0.46727243258157536,
507
+ "xyz": [
508
+ -0.5190620625591282,
509
+ 0.5056816267450774,
510
+ 0.5064752129508534
511
+ ]
512
+ }
513
+ },
514
+ "grasp_59": {
515
+ "confidence": 0.35415539145469666,
516
+ "position": [
517
+ 0.02587721450254321,
518
+ 0.09864555904641747,
519
+ -0.04634229073417373
520
+ ],
521
+ "orientation": {
522
+ "w": 0.08016803466380526,
523
+ "xyz": [
524
+ -0.07999790250925302,
525
+ -0.5090341436576458,
526
+ 0.8532629503283207
527
+ ]
528
+ }
529
+ }
530
+ }
531
+ },
532
+ {
533
+ "part_name": "belt clip",
534
+ "mask_color": "Cyan",
535
+ "graspable": true,
536
+ "grasp_scenarios": [
537
+ {
538
+ "scenario": "grasp the metal clip to orient the tool before picking up the body",
539
+ "confidence": 0.49
540
+ },
541
+ {
542
+ "scenario": "hold the clip to pull the tape measure off a belt or pocket edge",
543
+ "confidence": 0.64
544
+ },
545
+ {
546
+ "scenario": "pinch the clip lightly to stabilize the object during placement",
547
+ "confidence": 0.4
548
+ }
549
+ ],
550
+ "functional_labels": [
551
+ "clip to belt or pocket",
552
+ "support carrying",
553
+ "aid storage on garment edge"
554
+ ],
555
+ "semantic_description": "Flat silver metal spring clip with a smooth reflective finish and a rectangular slot, mounted on the side of the red housing.",
556
+ "id": 6,
557
+ "grasp_group": {}
558
+ },
559
+ {
560
+ "part_name": "tape hook",
561
+ "mask_color": "Red",
562
+ "graspable": true,
563
+ "grasp_scenarios": [
564
+ {
565
+ "scenario": "grasp the end hook to pull the tape blade outward",
566
+ "confidence": 0.68
567
+ },
568
+ {
569
+ "scenario": "pinch the hook delicately to position the tape end on an edge",
570
+ "confidence": 0.6
571
+ }
572
+ ],
573
+ "functional_labels": [
574
+ "hook onto measurement edge",
575
+ "anchor tape end",
576
+ "pull tape blade out"
577
+ ],
578
+ "semantic_description": "Small silver metal end hook protruding from the tape exit, with a reflective hard surface and thin bent shape typical of a tape-blade tip.",
579
+ "id": 0,
580
+ "grasp_group": {}
581
+ }
582
+ ],
583
+ "quality_check": {
584
+ "success": false,
585
+ "message": "Several semantic descriptions mismatch visible colors/materials; lock slider and strap descriptions are incorrect."
586
+ }
587
+ }
dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e186104daf4a0f44162200fb56a286edbd9f9463a5c9b1a081d94a98e597c433
3
+ size 3780232