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
5237791
·
verified ·
1 Parent(s): 1f6381c

Add asset tools/repair_tools/2d02d1f3118b5c049b80a15f9d24d065

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/2d02d1f3118b5c049b80a15f9d24d065/affordance/affordance_annot.json +270 -0
  3. dataset/tools/repair_tools/2d02d1f3118b5c049b80a15f9d24d065/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7825,3 +7825,4 @@ dataset/tools/repair_tools/2857cb33e6245d2b84f7b2b5d6709739/affordance/mesh_part
7825
  dataset/tools/repair_tools/29ee5df92d2154b4b2f94ac00e531c07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7826
  dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7827
  dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7825
  dataset/tools/repair_tools/29ee5df92d2154b4b2f94ac00e531c07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7826
  dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7827
  dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7828
+ dataset/tools/repair_tools/2d02d1f3118b5c049b80a15f9d24d065/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/2d02d1f3118b5c049b80a15f9d24d065/affordance/affordance_annot.json ADDED
@@ -0,0 +1,270 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "hammer head",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the metal head to pick up the mini hammer from a surface when the handle is obstructed",
10
+ "confidence": 0.44
11
+ },
12
+ {
13
+ "scenario": "hold the head to reposition or orient the hammer for tool use",
14
+ "confidence": 0.38
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "strike with flat face",
19
+ "pull nails with claw",
20
+ "add mass for impact",
21
+ "connect handle to tool head"
22
+ ],
23
+ "semantic_description": "Compact silver metal hammer head with a matte slightly worn finish, hard smooth surfaces, a flat striking face and curved claw, located at the front end with small embossed markings and light rust specks.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.971404492855072,
28
+ "position": [
29
+ -0.18010474415495992,
30
+ 0.05781969241797924,
31
+ 0.01185787920258008
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4902126178303672,
35
+ "xyz": [
36
+ 0.5203123730317954,
37
+ 0.48227225219098024,
38
+ 0.506339904171655
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9666778445243835,
44
+ "position": [
45
+ -0.17851090105250478,
46
+ 0.05673498846590519,
47
+ 0.015161880146479234
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5085906168916337,
51
+ "xyz": [
52
+ -0.5015985727940008,
53
+ 0.5207254588946925,
54
+ -0.46752481499886317
55
+ ]
56
+ }
57
+ },
58
+ "grasp_3": {
59
+ "confidence": 0.9657494425773621,
60
+ "position": [
61
+ -0.1778292772360146,
62
+ 0.06035601533949375,
63
+ -0.0016833719855640084
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5395189524833351,
67
+ "xyz": [
68
+ -0.44331151981569855,
69
+ 0.49353412439859135,
70
+ -0.51847686965196
71
+ ]
72
+ }
73
+ },
74
+ "grasp_4": {
75
+ "confidence": 0.9650806188583374,
76
+ "position": [
77
+ -0.17134996922686696,
78
+ 0.057327913120388985,
79
+ -0.03273237231769599
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5929008775835318,
83
+ "xyz": [
84
+ 0.4028285422011151,
85
+ 0.37364258834342057,
86
+ 0.5887180404275298
87
+ ]
88
+ }
89
+ },
90
+ "grasp_5": {
91
+ "confidence": 0.9639227390289307,
92
+ "position": [
93
+ -0.16305960388854146,
94
+ 0.05394008569419384,
95
+ 0.06012202691636048
96
+ ],
97
+ "orientation": {
98
+ "w": 0.3752513744097018,
99
+ "xyz": [
100
+ -0.6111873705642664,
101
+ 0.5982944384112157,
102
+ -0.3573236194720076
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9636649489402771,
108
+ "position": [
109
+ -0.16485671373084188,
110
+ 0.05318550579249859,
111
+ -0.044107423309469596
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6061904774994196,
115
+ "xyz": [
116
+ 0.3431183104274378,
117
+ 0.3624495816887796,
118
+ 0.6192198565712141
119
+ ]
120
+ }
121
+ },
122
+ "grasp_9": {
123
+ "confidence": 0.9633594155311584,
124
+ "position": [
125
+ -0.12869444163516164,
126
+ 0.05639989487826824,
127
+ 0.09856428098282777
128
+ ],
129
+ "orientation": {
130
+ "w": 0.19008205101666095,
131
+ "xyz": [
132
+ 0.6723723802405839,
133
+ 0.6942952598992879,
134
+ 0.1724479291040968
135
+ ]
136
+ }
137
+ }
138
+ }
139
+ },
140
+ {
141
+ "part_name": "hammer handle",
142
+ "mask_color": "Lime Green",
143
+ "graspable": true,
144
+ "grasp_scenarios": [
145
+ {
146
+ "scenario": "grasp the handle to lift and carry the mini hammer",
147
+ "confidence": 0.97
148
+ },
149
+ {
150
+ "scenario": "hold the handle to swing and use the hammer head for striking",
151
+ "confidence": 0.98
152
+ },
153
+ {
154
+ "scenario": "grasp near the middle of the handle to stabilize and reorient the tool",
155
+ "confidence": 0.93
156
+ }
157
+ ],
158
+ "functional_labels": [
159
+ "primary grip surface",
160
+ "enable swinging control",
161
+ "provide reach from the head",
162
+ "improve handling comfort"
163
+ ],
164
+ "semantic_description": "Short red-and-black handle with a likely plastic core and rubberized grip, matte finish, hard but slightly compliant ribbed texture, tapered cylindrical shape, and a rounded end cap at the rear.",
165
+ "id": 9,
166
+ "grasp_group": {
167
+ "grasp_20": {
168
+ "confidence": 0.9620712399482727,
169
+ "position": [
170
+ 0.11377447424456477,
171
+ -0.1860711332410574,
172
+ -0.014869654696667567
173
+ ],
174
+ "orientation": {
175
+ "w": 0.1886102687847774,
176
+ "xyz": [
177
+ -0.6568849774315918,
178
+ 0.17400548272118022,
179
+ 0.7089784093444598
180
+ ]
181
+ }
182
+ },
183
+ "grasp_27": {
184
+ "confidence": 0.9580310583114624,
185
+ "position": [
186
+ 0.11773705808445811,
187
+ -0.18180248700082302,
188
+ -0.013140772614860907
189
+ ],
190
+ "orientation": {
191
+ "w": 0.695072754733422,
192
+ "xyz": [
193
+ -0.1269784051253404,
194
+ -0.6768252517940799,
195
+ -0.20653795969021643
196
+ ]
197
+ }
198
+ },
199
+ "grasp_29": {
200
+ "confidence": 0.9574983716011047,
201
+ "position": [
202
+ 0.07278626738116145,
203
+ -0.234693830832839,
204
+ -0.010840923670912161
205
+ ],
206
+ "orientation": {
207
+ "w": 0.6119666701331414,
208
+ "xyz": [
209
+ -0.32086780441595136,
210
+ -0.6159029798592662,
211
+ -0.37842326320658143
212
+ ]
213
+ }
214
+ },
215
+ "grasp_34": {
216
+ "confidence": 0.9568379521369934,
217
+ "position": [
218
+ 0.11093498347327113,
219
+ -0.20094803534448147,
220
+ -0.0010469752305652946
221
+ ],
222
+ "orientation": {
223
+ "w": 0.643713243665284,
224
+ "xyz": [
225
+ -0.13444170514422302,
226
+ -0.7202670261902898,
227
+ -0.22084858802090954
228
+ ]
229
+ }
230
+ },
231
+ "grasp_36": {
232
+ "confidence": 0.9550567269325256,
233
+ "position": [
234
+ 0.07091769156977534,
235
+ -0.23518097959458828,
236
+ -0.010319625172996894
237
+ ],
238
+ "orientation": {
239
+ "w": 0.3817674667776093,
240
+ "xyz": [
241
+ -0.6253443529874506,
242
+ 0.30195272302260123,
243
+ 0.6099365496149172
244
+ ]
245
+ }
246
+ },
247
+ "grasp_39": {
248
+ "confidence": 0.9541676640510559,
249
+ "position": [
250
+ 0.11502639530226588,
251
+ -0.17516948841512203,
252
+ -0.023499370698118582
253
+ ],
254
+ "orientation": {
255
+ "w": 0.7419262502112554,
256
+ "xyz": [
257
+ -0.12438773745958887,
258
+ -0.6375993142462851,
259
+ -0.16595253685863523
260
+ ]
261
+ }
262
+ }
263
+ }
264
+ }
265
+ ],
266
+ "quality_check": {
267
+ "success": true,
268
+ "message": "YES"
269
+ }
270
+ }
dataset/tools/repair_tools/2d02d1f3118b5c049b80a15f9d24d065/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76ffc3bc9d6a73b9275f6ec45d68942780e906f244b2329ad2a035682a1a932d
3
+ size 3780616