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
85eb036
·
verified ·
1 Parent(s): d6c4693

Add asset tools/repair_tools/41043ec0dac45a9a86fee1635478a9e8

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/41043ec0dac45a9a86fee1635478a9e8/affordance/affordance_annot.json +257 -0
  3. dataset/tools/repair_tools/41043ec0dac45a9a86fee1635478a9e8/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7837,3 +7837,4 @@ dataset/tools/repair_tools/3a88c7b869965b11b297f9794d9e5c77/affordance/mesh_part
7837
  dataset/tools/repair_tools/3ae416d273455550b3caf4ea78565d5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7838
  dataset/tools/repair_tools/3e2bebd4e99a5b759bc24749fc19b545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7839
  dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7837
  dataset/tools/repair_tools/3ae416d273455550b3caf4ea78565d5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7838
  dataset/tools/repair_tools/3e2bebd4e99a5b759bc24749fc19b545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7839
  dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7840
+ dataset/tools/repair_tools/41043ec0dac45a9a86fee1635478a9e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/41043ec0dac45a9a86fee1635478a9e8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,257 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and hold the screwdriver for manipulation",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "grasp the handle to orient the tool before engaging the tip",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "hold the handle to stabilize the screwdriver while another tool interacts with the shaft",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide primary grip",
23
+ "enable torque application",
24
+ "support tool handling",
25
+ "improve control during turning"
26
+ ],
27
+ "semantic_description": "Large dark gray to black plastic handle with a matte slightly soft-looking smooth surface, bulbous tapered shape, and rounded end at the rear of the screwdriver.",
28
+ "id": 0,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "shaft and tip",
33
+ "mask_color": "Green",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "grasp the shaft near the tip for precision repositioning or fine orientation",
38
+ "confidence": 0.46
39
+ },
40
+ {
41
+ "scenario": "grasp the metal shaft to pull the screwdriver from a tight space",
42
+ "confidence": 0.38
43
+ },
44
+ {
45
+ "scenario": "pinch the tip end lightly to stabilize the tool during handoff",
46
+ "confidence": 0.24
47
+ }
48
+ ],
49
+ "functional_labels": [
50
+ "drive slotted screws",
51
+ "transmit torque to fastener",
52
+ "reach into recessed screws",
53
+ "provide tool alignment"
54
+ ],
55
+ "semantic_description": "Long slender silver-gray metal shaft ending in a flat slotted tip, with a reflective smooth hard surface and narrow cylindrical form extending from the front of the handle.",
56
+ "id": 1,
57
+ "grasp_group": {
58
+ "grasp_24": {
59
+ "confidence": 0.6969895958900452,
60
+ "position": [
61
+ 0.01953059434890747,
62
+ -0.03358430485241115,
63
+ -0.10405483841896057
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6483202413779393,
67
+ "xyz": [
68
+ -0.1917477044714857,
69
+ -0.0734997504953766,
70
+ -0.7331517367685115
71
+ ]
72
+ }
73
+ },
74
+ "grasp_25": {
75
+ "confidence": 0.6960325241088867,
76
+ "position": [
77
+ 0.02367231249809265,
78
+ -0.01774982991628349,
79
+ -0.10963407158851624
80
+ ],
81
+ "orientation": {
82
+ "w": 0.6582427364515131,
83
+ "xyz": [
84
+ -0.10546815283470376,
85
+ -0.04367485152287043,
86
+ -0.7441004475142553
87
+ ]
88
+ }
89
+ },
90
+ "grasp_26": {
91
+ "confidence": 0.6949434876441956,
92
+ "position": [
93
+ 0.03125062584877014,
94
+ -0.050428108079358935,
95
+ -0.0945877879858017
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6396906170675235,
99
+ "xyz": [
100
+ -0.13901800885168275,
101
+ -0.2263836170913146,
102
+ -0.7212630349347858
103
+ ]
104
+ }
105
+ },
106
+ "grasp_27": {
107
+ "confidence": 0.6928440928459167,
108
+ "position": [
109
+ 0.02964004874229431,
110
+ -0.0472110032569617,
111
+ -0.09603330492973328
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6420643009332422,
115
+ "xyz": [
116
+ -0.1777840517878696,
117
+ -0.15025188918269505,
118
+ -0.730459194064957
119
+ ]
120
+ }
121
+ },
122
+ "grasp_29": {
123
+ "confidence": 0.6884670257568359,
124
+ "position": [
125
+ 0.015760913491249084,
126
+ -0.10898237372748554,
127
+ -0.043398670852184296
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5825079301775367,
131
+ "xyz": [
132
+ -0.40991472337557305,
133
+ -0.3694736419161143,
134
+ -0.5967777297867708
135
+ ]
136
+ }
137
+ },
138
+ "grasp_31": {
139
+ "confidence": 0.6800886392593384,
140
+ "position": [
141
+ 0.02429024875164032,
142
+ 0.09837519680149853,
143
+ 0.062001071870326996
144
+ ],
145
+ "orientation": {
146
+ "w": 0.340263083377694,
147
+ "xyz": [
148
+ 0.6344929927419609,
149
+ 0.5886861023189212,
150
+ -0.3675436697702894
151
+ ]
152
+ }
153
+ },
154
+ "grasp_33": {
155
+ "confidence": 0.67450350522995,
156
+ "position": [
157
+ 0.024915620684623718,
158
+ -0.023272015852853656,
159
+ -0.10331863909959793
160
+ ],
161
+ "orientation": {
162
+ "w": 0.63208174128194,
163
+ "xyz": [
164
+ -0.1470236554782391,
165
+ -0.06904557282884705,
166
+ -0.7576868917571051
167
+ ]
168
+ }
169
+ },
170
+ "grasp_35": {
171
+ "confidence": 0.6690068244934082,
172
+ "position": [
173
+ 0.028066426515579224,
174
+ -0.055132806999608874,
175
+ -0.09242134541273117
176
+ ],
177
+ "orientation": {
178
+ "w": 0.6642281862278182,
179
+ "xyz": [
180
+ -0.1636466838108136,
181
+ -0.2172900257072039,
182
+ -0.6962799180117066
183
+ ]
184
+ }
185
+ },
186
+ "grasp_36": {
187
+ "confidence": 0.6667389273643494,
188
+ "position": [
189
+ 0.02456638216972351,
190
+ -0.03429140220396221,
191
+ -0.10228599607944489
192
+ ],
193
+ "orientation": {
194
+ "w": 0.628035453654324,
195
+ "xyz": [
196
+ -0.19370883587184562,
197
+ -0.06759873135189554,
198
+ -0.7506522279844347
199
+ ]
200
+ }
201
+ },
202
+ "grasp_37": {
203
+ "confidence": 0.662807047367096,
204
+ "position": [
205
+ 0.03271980583667755,
206
+ -0.04878224874846637,
207
+ -0.09309139847755432
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6710073507116778,
211
+ "xyz": [
212
+ -0.1198369860104427,
213
+ -0.23218473359190794,
214
+ -0.693886504813059
215
+ ]
216
+ }
217
+ },
218
+ "grasp_38": {
219
+ "confidence": 0.6596845388412476,
220
+ "position": [
221
+ 0.0332283079624176,
222
+ -0.025436215801164508,
223
+ -0.104753278195858
224
+ ],
225
+ "orientation": {
226
+ "w": 0.7290352375565531,
227
+ "xyz": [
228
+ -0.12566746070628182,
229
+ 0.081513207722262,
230
+ 0.6678854008640427
231
+ ]
232
+ }
233
+ },
234
+ "grasp_39": {
235
+ "confidence": 0.6582856774330139,
236
+ "position": [
237
+ 0.028086215257644653,
238
+ -0.1056630879174918,
239
+ -0.020774848759174347
240
+ ],
241
+ "orientation": {
242
+ "w": 0.5159884625383246,
243
+ "xyz": [
244
+ -0.494578916984248,
245
+ -0.41320520826914553,
246
+ -0.5642774647824208
247
+ ]
248
+ }
249
+ }
250
+ }
251
+ }
252
+ ],
253
+ "quality_check": {
254
+ "success": true,
255
+ "message": "YES"
256
+ }
257
+ }
dataset/tools/repair_tools/41043ec0dac45a9a86fee1635478a9e8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2bbf5f42f4fde315bb6c273880f25adf3bb602f0ab4a5f45d03eb6c3d94dc3a9
3
+ size 240600