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
737527f
·
verified ·
1 Parent(s): 05f8d85

Add asset tools/repair_tools/012ab9f339fa5397b19998896114fd6b

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/affordance_annot.json +364 -0
  3. dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7795,4 +7795,4 @@ dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part
7795
  dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7796
  dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7797
  dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7798
- dataset/tools/repair_tools/09a6e0caaae755b19154b1ff75dde518/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7795
  dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7796
  dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7797
  dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7798
+ dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,364 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tape measure housing",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the housing from the sides to pick up and carry the measuring tape",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the housing steady while extending or retracting the tape",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "clamp the housing to reposition or orient the tool on a work surface",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "enclose internal tape reel",
23
+ "main grasp surface",
24
+ "protect internal mechanism",
25
+ "support tape extension and retraction",
26
+ "provide tool body for handling"
27
+ ],
28
+ "semantic_description": "Bulky rounded triangular gray-and-red plastic body with a mostly matte finish, hard slightly textured ribbed sides, and a large central red circular panel with white printed logo markings.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.8837374448776245,
33
+ "position": [
34
+ -0.0007292842492461205,
35
+ -0.13825140334665775,
36
+ 0.004055305471410975
37
+ ],
38
+ "orientation": {
39
+ "w": 0.48695057430806665,
40
+ "xyz": [
41
+ -0.5163453533461089,
42
+ 0.4908174388429225,
43
+ 0.5053363790452845
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.8825852274894714,
49
+ "position": [
50
+ 0.00042327726259827614,
51
+ -0.13473677076399326,
52
+ 0.003362270857905969
53
+ ],
54
+ "orientation": {
55
+ "w": 0.4711581499597311,
56
+ "xyz": [
57
+ -0.5298079338434349,
58
+ 0.4760785641924109,
59
+ 0.520252584500612
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.8819440007209778,
65
+ "position": [
66
+ 0.026450607925653458,
67
+ -0.1354294065386057,
68
+ 0.0023057533835526556
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5554302392577295,
72
+ "xyz": [
73
+ -0.4268826919940057,
74
+ -0.561958782950347,
75
+ -0.4398530923604126
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.881737232208252,
81
+ "position": [
82
+ 0.00930606760084629,
83
+ -0.13365172781050205,
84
+ 0.0069955271610524505
85
+ ],
86
+ "orientation": {
87
+ "w": 0.47562106102092405,
88
+ "xyz": [
89
+ -0.5270374928944419,
90
+ 0.49277964884643877,
91
+ 0.5031742293476997
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.8812488913536072,
97
+ "position": [
98
+ 0.023434454575181007,
99
+ -0.1368585918098688,
100
+ -0.000671974936267361
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5544980352634372,
104
+ "xyz": [
105
+ -0.42571630851142367,
106
+ -0.550749142032823,
107
+ -0.45604049831840965
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.880616307258606,
113
+ "position": [
114
+ 0.005102724768221378,
115
+ -0.13867554999887943,
116
+ 0.003337413159897551
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5056312502787563,
120
+ "xyz": [
121
+ -0.49312105705753334,
122
+ -0.5130602669014324,
123
+ -0.48778870872031627
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.8801192045211792,
129
+ "position": [
130
+ 0.017748085781931877,
131
+ -0.13305393792688847,
132
+ 0.0018023955344688147
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4648454527432299,
136
+ "xyz": [
137
+ -0.5332811442524016,
138
+ 0.4622765512979241,
139
+ 0.5346310095466668
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.8788259625434875,
145
+ "position": [
146
+ -0.0050903919618576765,
147
+ -0.1372187528759241,
148
+ 0.0010042709473054856
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5039679882481349,
152
+ "xyz": [
153
+ -0.4929478817974281,
154
+ -0.5056842156680927,
155
+ -0.49729480861628006
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.8767445683479309,
161
+ "position": [
162
+ -0.012365118600428104,
163
+ -0.13804186321794987,
164
+ -0.00013709141057915986
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5249089515375328,
168
+ "xyz": [
169
+ -0.4713012303632401,
170
+ 0.5137760204156987,
171
+ 0.48824168574556615
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.8766792416572571,
177
+ "position": [
178
+ 0.01852274499833584,
179
+ -0.13306191749870777,
180
+ 0.005558628676226363
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5305654446789824,
184
+ "xyz": [
185
+ -0.4511003396143241,
186
+ -0.5560126801852876,
187
+ -0.453716532634207
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.8764580488204956,
193
+ "position": [
194
+ -0.014426997862756252,
195
+ -0.13658260740339756,
196
+ 0.0047148541489150375
197
+ ],
198
+ "orientation": {
199
+ "w": 0.48091882464075264,
200
+ "xyz": [
201
+ -0.5057506121488669,
202
+ -0.5084570021663645,
203
+ -0.5043856454789306
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.8764013648033142,
209
+ "position": [
210
+ 0.0072718169540166855,
211
+ -0.13629482127726078,
212
+ -0.000771101244026795
213
+ ],
214
+ "orientation": {
215
+ "w": 0.47488640792380177,
216
+ "xyz": [
217
+ -0.5266768230378062,
218
+ 0.4632299521228732,
219
+ 0.5315189884663322
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.8757867813110352,
225
+ "position": [
226
+ 0.01483902893960476,
227
+ -0.1396720353513956,
228
+ 0.002130023523932323
229
+ ],
230
+ "orientation": {
231
+ "w": 0.45368938922741,
232
+ "xyz": [
233
+ -0.5374988877573087,
234
+ 0.45947819922393196,
235
+ 0.5423473685748357
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.8757784366607666,
241
+ "position": [
242
+ 0.028116939589381218,
243
+ -0.1324480790644884,
244
+ 0.0036794197221752256
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5576784467613337,
248
+ "xyz": [
249
+ -0.4213702730268457,
250
+ -0.5696391393440308,
251
+ -0.4323807280100945
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.8752182126045227,
257
+ "position": [
258
+ 0.014838751405477524,
259
+ -0.1332699153572321,
260
+ 0.006788866681745276
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4084368079114948,
264
+ "xyz": [
265
+ -0.5923192510114694,
266
+ 0.40849123237454,
267
+ 0.561669112465168
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.8751960396766663,
273
+ "position": [
274
+ -0.008699371945112944,
275
+ -0.13424130715429783,
276
+ -0.0038822492642793804
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4996225659005085,
280
+ "xyz": [
281
+ -0.4838862314176769,
282
+ -0.49696800180372425,
283
+ -0.5188971110640376
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.8745415806770325,
289
+ "position": [
290
+ 0.00872022844851017,
291
+ -0.13617987371981144,
292
+ 0.001845594117185101
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5039811310934594,
296
+ "xyz": [
297
+ -0.47672387613719014,
298
+ -0.5245971926097485,
299
+ -0.4934928073725701
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.8738024234771729,
305
+ "position": [
306
+ -0.013844279572367668,
307
+ -0.1368285808712244,
308
+ -0.003208815265679732
309
+ ],
310
+ "orientation": {
311
+ "w": 0.4988600450871458,
312
+ "xyz": [
313
+ -0.488113346822385,
314
+ -0.49445703050535816,
315
+ -0.5180697453560901
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ },
321
+ {
322
+ "part_name": "lock slider",
323
+ "mask_color": "Pink",
324
+ "graspable": true,
325
+ "grasp_scenarios": [
326
+ {
327
+ "scenario": "pinch or press the slider to engage or release the tape lock",
328
+ "confidence": 0.88
329
+ },
330
+ {
331
+ "scenario": "use a fingertip or small gripper to actuate the protruding slider during fine manipulation",
332
+ "confidence": 0.46
333
+ }
334
+ ],
335
+ "functional_labels": [
336
+ "lock tape extension",
337
+ "release tape movement",
338
+ "provide thumb-actuated control",
339
+ "adjust tape holding state"
340
+ ],
341
+ "semantic_description": "Small dark gray to black ridged plastic slider protruding from the top edge, matte and rectangular with vertical grooves for traction; seated within the housing near a red surrounding body area.",
342
+ "id": 8,
343
+ "grasp_group": {}
344
+ },
345
+ {
346
+ "part_name": "logo badge",
347
+ "mask_color": "Purple",
348
+ "graspable": false,
349
+ "grasp_scenarios": [],
350
+ "functional_labels": [
351
+ "display branding",
352
+ "identify product face",
353
+ "provide decorative panel"
354
+ ],
355
+ "semantic_description": "Flat red circular inset on the housing face with a smooth slightly glossy finish and bold white printed emblem, centered and medium-sized on each broad side.",
356
+ "id": 5,
357
+ "grasp_group": {}
358
+ }
359
+ ],
360
+ "quality_check": {
361
+ "success": true,
362
+ "message": "YES"
363
+ }
364
+ }
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1b5544257cec2246f2cb07952c865ad64e9fe8716cab57cc6313fbe89b2212be
3
+ size 3780336