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
757c63b
·
verified ·
1 Parent(s): 39c63cb

Add asset tools/repair_tools/57dfc5b389fe528d8cc528de636702e2

Browse files
Files changed (3) hide show
  1. .gitattributes +2 -1
  2. dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/affordance_annot.json +287 -0
  3. dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7861,4 +7861,5 @@ dataset/tools/repair_tools/4fd6f29018a759618c3beafa5b5395ec/affordance/mesh_part
7861
  dataset/tools/repair_tools/52b991ee17f058ab9a68217c5ed9645c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7862
  dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7863
  dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7864
- dataset/tools/repair_tools/572c06b59f255eceb1e8fbcca9379a0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7861
  dataset/tools/repair_tools/52b991ee17f058ab9a68217c5ed9645c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7862
  dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7863
  dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7864
+ dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7865
+ dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle grip",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle grip to pick up and reposition the hex key",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle grip to apply torque during turning",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "grasp the handle grip to stabilize the tool while aligning the tip with a fastener",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main handhold",
23
+ "increase turning leverage",
24
+ "improve grip comfort",
25
+ "stabilize tool orientation"
26
+ ],
27
+ "semantic_description": "Cylindrical black rubber or plastic grip with a matte finish and hard slightly compliant diamond-textured surface, mounted on one end of the tool and sized as the largest grasping area.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.988867461681366,
32
+ "position": [
33
+ 0.09446432034019381,
34
+ 0.05144962202757597,
35
+ -0.006346874044538708
36
+ ],
37
+ "orientation": {
38
+ "w": 0.009959011570406991,
39
+ "xyz": [
40
+ -0.6742610018359161,
41
+ 0.0008341518545854631,
42
+ 0.7384255031365384
43
+ ]
44
+ }
45
+ },
46
+ "grasp_28": {
47
+ "confidence": 0.9852443933486938,
48
+ "position": [
49
+ 0.09338578919414431,
50
+ 0.059028360061347485,
51
+ 0.0037741124506283086
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6983776923778076,
55
+ "xyz": [
56
+ -0.006432667263012658,
57
+ -0.715355281515755,
58
+ 0.022227028331444618
59
+ ]
60
+ }
61
+ },
62
+ "grasp_30": {
63
+ "confidence": 0.9852004051208496,
64
+ "position": [
65
+ 0.09386398980859667,
66
+ 0.05422933306545019,
67
+ -0.006979473040701123
68
+ ],
69
+ "orientation": {
70
+ "w": 0.043387690396189976,
71
+ "xyz": [
72
+ 0.6728118976118933,
73
+ 0.01197813609564935,
74
+ -0.7384430804128658
75
+ ]
76
+ }
77
+ },
78
+ "grasp_32": {
79
+ "confidence": 0.9851002097129822,
80
+ "position": [
81
+ 0.09439476171974093,
82
+ 0.05565586965531111,
83
+ 0.003064610889850883
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7015715819320646,
87
+ "xyz": [
88
+ -0.04011651050580108,
89
+ -0.709909460114659,
90
+ 0.0470801385925419
91
+ ]
92
+ }
93
+ },
94
+ "grasp_33": {
95
+ "confidence": 0.9850462079048157,
96
+ "position": [
97
+ 0.09306377510074526,
98
+ 0.06078863050788641,
99
+ 0.00769017952188733
100
+ ],
101
+ "orientation": {
102
+ "w": 0.032403355818052586,
103
+ "xyz": [
104
+ 0.725192359930655,
105
+ 0.010456126491085627,
106
+ -0.687703957418262
107
+ ]
108
+ }
109
+ },
110
+ "grasp_34": {
111
+ "confidence": 0.9849573373794556,
112
+ "position": [
113
+ 0.03247545624617487,
114
+ -0.005781455896794796,
115
+ -0.07933919701099512
116
+ ],
117
+ "orientation": {
118
+ "w": 0.09593855875267315,
119
+ "xyz": [
120
+ -0.238188830689317,
121
+ 0.23596025886126126,
122
+ 0.937221761440398
123
+ ]
124
+ }
125
+ },
126
+ "grasp_35": {
127
+ "confidence": 0.9849358201026917,
128
+ "position": [
129
+ 0.09124269674066454,
130
+ 0.06402357947081327,
131
+ -0.015061676607729169
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7698863063202493,
135
+ "xyz": [
136
+ 0.028808233375519673,
137
+ -0.6372902921434421,
138
+ 0.017499844858481172
139
+ ]
140
+ }
141
+ },
142
+ "grasp_37": {
143
+ "confidence": 0.98441481590271,
144
+ "position": [
145
+ 0.09315722773317248,
146
+ 0.05016144271939993,
147
+ 0.014320698461233405
148
+ ],
149
+ "orientation": {
150
+ "w": 0.027305982415251187,
151
+ "xyz": [
152
+ 0.7523343748673115,
153
+ 0.0007446277549971736,
154
+ -0.6582148716390843
155
+ ]
156
+ }
157
+ },
158
+ "grasp_39": {
159
+ "confidence": 0.9841504096984863,
160
+ "position": [
161
+ 0.016858199262060225,
162
+ 0.02903302852064371,
163
+ 0.09382268217086676
164
+ ],
165
+ "orientation": {
166
+ "w": 0.12566640209821234,
167
+ "xyz": [
168
+ -0.03623604771856598,
169
+ -0.9908707237749712,
170
+ -0.032712581602378214
171
+ ]
172
+ }
173
+ }
174
+ }
175
+ },
176
+ {
177
+ "part_name": "hex key shaft",
178
+ "mask_color": "Red",
179
+ "graspable": true,
180
+ "grasp_scenarios": [
181
+ {
182
+ "scenario": "grasp the metal shaft to pick up the tool when the handle is inaccessible",
183
+ "confidence": 0.72
184
+ },
185
+ {
186
+ "scenario": "hold the shaft to make fine orientation adjustments near a fastener",
187
+ "confidence": 0.63
188
+ },
189
+ {
190
+ "scenario": "clamp the shaft for fixture-based stabilization during manipulation",
191
+ "confidence": 0.58
192
+ }
193
+ ],
194
+ "functional_labels": [
195
+ "transmit torque",
196
+ "reach into recessed fasteners",
197
+ "provide tool structure",
198
+ "position the working end"
199
+ ],
200
+ "semantic_description": "L-shaped silver metal rod with a smooth slightly reflective finish and hard surface, forming the long central body between the grip and tip with printed size markings visible on some views.",
201
+ "id": 0,
202
+ "grasp_group": {
203
+ "grasp_1": {
204
+ "confidence": 0.8056532740592957,
205
+ "position": [
206
+ 0.006838136003352702,
207
+ -0.1752781281247735,
208
+ 0.022903410612343578
209
+ ],
210
+ "orientation": {
211
+ "w": 0.4932532063658541,
212
+ "xyz": [
213
+ -0.5754308285047616,
214
+ -0.5036091953533567,
215
+ -0.41467868810884423
216
+ ]
217
+ }
218
+ },
219
+ "grasp_4": {
220
+ "confidence": 0.780728816986084,
221
+ "position": [
222
+ 0.00014916318468749523,
223
+ -0.16993679199367762,
224
+ 0.0073205930057156365
225
+ ],
226
+ "orientation": {
227
+ "w": 0.536983419776784,
228
+ "xyz": [
229
+ -0.5756209720357955,
230
+ -0.4369557143302518,
231
+ -0.43517698371069174
232
+ ]
233
+ }
234
+ },
235
+ "grasp_10": {
236
+ "confidence": 0.5441346764564514,
237
+ "position": [
238
+ 0.02541965211275965,
239
+ -0.1702998736873269,
240
+ 0.005220530914812116
241
+ ],
242
+ "orientation": {
243
+ "w": 0.6778033338003444,
244
+ "xyz": [
245
+ -0.6272415413130292,
246
+ -0.3162322977397487,
247
+ -0.21713549550138767
248
+ ]
249
+ }
250
+ }
251
+ }
252
+ },
253
+ {
254
+ "part_name": "hex tip",
255
+ "mask_color": "Green",
256
+ "graspable": false,
257
+ "grasp_scenarios": [],
258
+ "functional_labels": [
259
+ "engage hex socket",
260
+ "drive or loosen fasteners",
261
+ "provide precise tool interface",
262
+ "indicate working end"
263
+ ],
264
+ "semantic_description": "Small silver metal end segment with a smooth reflective hard surface at the bent extremity of the rod, forming the narrow working tip used for insertion into a hex socket.",
265
+ "id": 1,
266
+ "grasp_group": {}
267
+ },
268
+ {
269
+ "part_name": "collar",
270
+ "mask_color": "Orange",
271
+ "graspable": false,
272
+ "grasp_scenarios": [],
273
+ "functional_labels": [
274
+ "connect grip to shaft",
275
+ "retain the handle grip",
276
+ "provide transition between materials"
277
+ ],
278
+ "semantic_description": "Small black collar-like ring with a matte hard surface at the junction of the grip and metal shaft, acting as a short transition piece between the two larger parts.",
279
+ "id": 4,
280
+ "grasp_group": {}
281
+ }
282
+ ],
283
+ "quality_check": {
284
+ "success": true,
285
+ "message": "YES"
286
+ }
287
+ }
dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:798e4cb6b48b4625623b7c7d783042bc4a7c0f21f703881a9a3c7e2712d0a2a5
3
+ size 3781624