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
95514ee
·
verified ·
1 Parent(s): 1c4d6b8

Add asset tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/affordance_annot.json +599 -0
  3. dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7868,4 +7868,4 @@ dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/affordance/mesh_part
7868
  dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7869
  dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7870
  dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7871
- dataset/tools/repair_tools/5d817517bf5b5cacafc3e8c9487c8098/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7868
  dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7869
  dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7870
  dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7871
+ dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/affordance_annot.json ADDED
@@ -0,0 +1,599 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "hammer head",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the head to pick up or reposition the mini hammer in tight storage",
10
+ "confidence": 0.38
11
+ },
12
+ {
13
+ "scenario": "hold the head to stabilize the tool while another gripper manipulates the handle",
14
+ "confidence": 0.33
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "deliver impact for hammering",
19
+ "pull small nails with the claw",
20
+ "concentrate striking force",
21
+ "provide tool balance at the front"
22
+ ],
23
+ "semantic_description": "Small silver-gray metal head with a dull smooth hard surface, consisting of a round striking face and curved claw, mounted at the front of the hammer.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_10": {
27
+ "confidence": 0.9545015096664429,
28
+ "position": [
29
+ -0.19263665878679603,
30
+ 0.09307266026735306,
31
+ -0.0012524084595497698
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5401933649620426,
35
+ "xyz": [
36
+ -0.5128873625585699,
37
+ 0.45904706816012986,
38
+ -0.48416264931558745
39
+ ]
40
+ }
41
+ },
42
+ "grasp_12": {
43
+ "confidence": 0.9539284110069275,
44
+ "position": [
45
+ -0.1735620101680979,
46
+ 0.09804133325815201,
47
+ -0.0610020776221063
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5683244213375617,
51
+ "xyz": [
52
+ 0.3562000680204628,
53
+ 0.30931177957723444,
54
+ 0.674132840520552
55
+ ]
56
+ }
57
+ }
58
+ }
59
+ },
60
+ {
61
+ "part_name": "handle shaft",
62
+ "mask_color": "Blue",
63
+ "graspable": true,
64
+ "grasp_scenarios": [
65
+ {
66
+ "scenario": "grasp the narrow shaft near the head for precise controlled manipulation",
67
+ "confidence": 0.72
68
+ },
69
+ {
70
+ "scenario": "hold the shaft to lift and carry the mini hammer",
71
+ "confidence": 0.64
72
+ }
73
+ ],
74
+ "functional_labels": [
75
+ "connect head to grip",
76
+ "transmit swing force",
77
+ "support precise tool control",
78
+ "provide a secondary grasp area"
79
+ ],
80
+ "semantic_description": "Short yellow handle shaft, likely plastic or fiberglass, with a mostly smooth hard finish, slight curve, printed label, and position between the metal head and green grip.",
81
+ "id": 2,
82
+ "grasp_group": {
83
+ "grasp_40": {
84
+ "confidence": 0.9593484401702881,
85
+ "position": [
86
+ -0.09629303717520088,
87
+ -0.032055072486400604,
88
+ -0.0006909198418725282
89
+ ],
90
+ "orientation": {
91
+ "w": 0.07242241053295408,
92
+ "xyz": [
93
+ -0.6967231879363532,
94
+ -0.05341670105591212,
95
+ -0.7116729936513709
96
+ ]
97
+ }
98
+ },
99
+ "grasp_41": {
100
+ "confidence": 0.9503692388534546,
101
+ "position": [
102
+ -0.09929860883858055,
103
+ -0.02983390912413597,
104
+ -0.0027435329684522003
105
+ ],
106
+ "orientation": {
107
+ "w": 0.7101345827517359,
108
+ "xyz": [
109
+ -0.025152374904794904,
110
+ 0.7013074754217892,
111
+ 0.056956626780232805
112
+ ]
113
+ }
114
+ },
115
+ "grasp_42": {
116
+ "confidence": 0.9500033259391785,
117
+ "position": [
118
+ -0.08669873082544655,
119
+ -0.05144781619310379,
120
+ -0.005000930832466111
121
+ ],
122
+ "orientation": {
123
+ "w": 0.12876926078727954,
124
+ "xyz": [
125
+ -0.6805343632943017,
126
+ -0.10745436650466789,
127
+ -0.7132636377742788
128
+ ]
129
+ }
130
+ },
131
+ "grasp_43": {
132
+ "confidence": 0.9446818828582764,
133
+ "position": [
134
+ 0.11425449198577553,
135
+ -0.014662202447652817,
136
+ 0.0018878380360547453
137
+ ],
138
+ "orientation": {
139
+ "w": 0.7027767436317479,
140
+ "xyz": [
141
+ 0.03509124686022499,
142
+ -0.7103138217979906,
143
+ 0.01810324741262714
144
+ ]
145
+ }
146
+ },
147
+ "grasp_44": {
148
+ "confidence": 0.9376589059829712,
149
+ "position": [
150
+ -0.0977866625180468,
151
+ -0.012702278792858124,
152
+ -0.005728864663979039
153
+ ],
154
+ "orientation": {
155
+ "w": 0.7185651674517469,
156
+ "xyz": [
157
+ -0.030678167307552285,
158
+ 0.6921307482466109,
159
+ 0.060646331358783556
160
+ ]
161
+ }
162
+ },
163
+ "grasp_45": {
164
+ "confidence": 0.9374597072601318,
165
+ "position": [
166
+ -0.0826278900494799,
167
+ -0.054939813911914825,
168
+ -0.001991479395655915
169
+ ],
170
+ "orientation": {
171
+ "w": 0.21466465117779718,
172
+ "xyz": [
173
+ -0.6655840199173569,
174
+ -0.19711103889952442,
175
+ -0.687069311139216
176
+ ]
177
+ }
178
+ },
179
+ "grasp_46": {
180
+ "confidence": 0.9304112195968628,
181
+ "position": [
182
+ -0.08765173458959907,
183
+ -0.035367272794246674,
184
+ 0.04141741423518397
185
+ ],
186
+ "orientation": {
187
+ "w": 0.057110161581573796,
188
+ "xyz": [
189
+ -0.8299462523564655,
190
+ -0.07377121609128334,
191
+ -0.5499867774046916
192
+ ]
193
+ }
194
+ },
195
+ "grasp_47": {
196
+ "confidence": 0.9303985238075256,
197
+ "position": [
198
+ -0.0775040885200724,
199
+ -0.051549576222896576,
200
+ -0.03229299755184911
201
+ ],
202
+ "orientation": {
203
+ "w": 0.8026302527761823,
204
+ "xyz": [
205
+ -0.15364455529625354,
206
+ 0.5514249841507912,
207
+ 0.16765594176932133
208
+ ]
209
+ }
210
+ },
211
+ "grasp_48": {
212
+ "confidence": 0.9296067953109741,
213
+ "position": [
214
+ -0.09355297440197319,
215
+ -0.012773159891366959,
216
+ -0.005893428431591019
217
+ ],
218
+ "orientation": {
219
+ "w": 0.07893942135759438,
220
+ "xyz": [
221
+ -0.6794135946961871,
222
+ -0.04862762063266113,
223
+ -0.7278743638907331
224
+ ]
225
+ }
226
+ },
227
+ "grasp_49": {
228
+ "confidence": 0.9272493720054626,
229
+ "position": [
230
+ -0.08606823289301246,
231
+ -0.04178831726312637,
232
+ 0.0023040926607791334
233
+ ],
234
+ "orientation": {
235
+ "w": 0.11412289870059468,
236
+ "xyz": [
237
+ -0.689657469556824,
238
+ -0.09015347770918059,
239
+ -0.7093806376929052
240
+ ]
241
+ }
242
+ },
243
+ "grasp_50": {
244
+ "confidence": 0.926863431930542,
245
+ "position": [
246
+ -0.07910354190971702,
247
+ -0.07486782968044281,
248
+ -0.01252331500290893
249
+ ],
250
+ "orientation": {
251
+ "w": 0.724623652957197,
252
+ "xyz": [
253
+ -0.15045462139339535,
254
+ 0.6466123827131715,
255
+ 0.1848685884576726
256
+ ]
257
+ }
258
+ },
259
+ "grasp_51": {
260
+ "confidence": 0.9209640026092529,
261
+ "position": [
262
+ 0.10749739652965218,
263
+ -0.001539081335067749,
264
+ 0.02165289773256518
265
+ ],
266
+ "orientation": {
267
+ "w": 0.624283256257426,
268
+ "xyz": [
269
+ 0.07339410642471751,
270
+ -0.7767963147595318,
271
+ 0.038356309451672226
272
+ ]
273
+ }
274
+ },
275
+ "grasp_52": {
276
+ "confidence": 0.919055163860321,
277
+ "position": [
278
+ -0.09035967045929283,
279
+ -0.03019409254193306,
280
+ 0.009616276161978021
281
+ ],
282
+ "orientation": {
283
+ "w": 0.6832415761615939,
284
+ "xyz": [
285
+ -0.04420211907540319,
286
+ 0.7266951818141506,
287
+ 0.05604671267400866
288
+ ]
289
+ }
290
+ },
291
+ "grasp_53": {
292
+ "confidence": 0.9185060262680054,
293
+ "position": [
294
+ -0.07643764966633171,
295
+ -0.06756169348955154,
296
+ -0.0173902791866567
297
+ ],
298
+ "orientation": {
299
+ "w": 0.7364172161168513,
300
+ "xyz": [
301
+ -0.16505237933429953,
302
+ 0.6263534039493512,
303
+ 0.19526599612798662
304
+ ]
305
+ }
306
+ },
307
+ "grasp_54": {
308
+ "confidence": 0.9120854735374451,
309
+ "position": [
310
+ -0.07742679619695991,
311
+ -0.07005766779184341,
312
+ 0.00047374723362736404
313
+ ],
314
+ "orientation": {
315
+ "w": 0.6853111693832369,
316
+ "xyz": [
317
+ -0.17098978505530457,
318
+ 0.6796360854006721,
319
+ 0.1980047624340675
320
+ ]
321
+ }
322
+ },
323
+ "grasp_56": {
324
+ "confidence": 0.8866891860961914,
325
+ "position": [
326
+ -0.07769690954592079,
327
+ -0.06083087623119354,
328
+ -0.0026355365698691458
329
+ ],
330
+ "orientation": {
331
+ "w": 0.1605338190989472,
332
+ "xyz": [
333
+ -0.6777165496935578,
334
+ -0.11438732571275789,
335
+ -0.7084099878694888
336
+ ]
337
+ }
338
+ }
339
+ }
340
+ },
341
+ {
342
+ "part_name": "handle grip",
343
+ "mask_color": "Green",
344
+ "graspable": true,
345
+ "grasp_scenarios": [
346
+ {
347
+ "scenario": "grasp the grip to pick up and use the mini hammer normally",
348
+ "confidence": 0.97
349
+ },
350
+ {
351
+ "scenario": "hold the grip to orient or place the tool accurately",
352
+ "confidence": 0.92
353
+ },
354
+ {
355
+ "scenario": "grasp the grip to pull the hammer from a surface or container",
356
+ "confidence": 0.88
357
+ }
358
+ ],
359
+ "functional_labels": [
360
+ "provide primary handhold",
361
+ "improve grip friction",
362
+ "support swinging control",
363
+ "reduce slipping during use"
364
+ ],
365
+ "semantic_description": "Green rubber-like end grip with a matte slightly textured surface, elongated rounded shape, and thicker rear position for secure high-friction holding.",
366
+ "id": 1,
367
+ "grasp_group": {
368
+ "grasp_20": {
369
+ "confidence": 0.957555890083313,
370
+ "position": [
371
+ 0.12978553271386772,
372
+ -0.08128250390291214,
373
+ 0.005818431644001976
374
+ ],
375
+ "orientation": {
376
+ "w": 0.05249656540340887,
377
+ "xyz": [
378
+ 0.7172149422413127,
379
+ 0.06409122277683332,
380
+ -0.6919097863230483
381
+ ]
382
+ }
383
+ },
384
+ "grasp_21": {
385
+ "confidence": 0.9557921290397644,
386
+ "position": [
387
+ 0.11790549254510552,
388
+ -0.023190341889858246,
389
+ 0.00016559773939661682
390
+ ],
391
+ "orientation": {
392
+ "w": 0.20372308106303172,
393
+ "xyz": [
394
+ 0.6707090396670861,
395
+ 0.2183499386539478,
396
+ -0.678947416697978
397
+ ]
398
+ }
399
+ },
400
+ "grasp_22": {
401
+ "confidence": 0.9540104269981384,
402
+ "position": [
403
+ 0.1302530715474859,
404
+ -0.08540195971727371,
405
+ -0.0030929579806979746
406
+ ],
407
+ "orientation": {
408
+ "w": 0.7110462778857818,
409
+ "xyz": [
410
+ 0.0667328151362123,
411
+ -0.698638146822558,
412
+ 0.04318173101109117
413
+ ]
414
+ }
415
+ },
416
+ "grasp_26": {
417
+ "confidence": 0.9472368359565735,
418
+ "position": [
419
+ 0.11866285896394402,
420
+ -0.035199202597141266,
421
+ 0.011889651330420747
422
+ ],
423
+ "orientation": {
424
+ "w": 0.6441061505289237,
425
+ "xyz": [
426
+ 0.1518781767424314,
427
+ -0.7361741124638487,
428
+ 0.14180254729119168
429
+ ]
430
+ }
431
+ },
432
+ "grasp_28": {
433
+ "confidence": 0.9470673203468323,
434
+ "position": [
435
+ 0.12238030380103737,
436
+ -0.06188289821147919,
437
+ -0.0034578371269162744
438
+ ],
439
+ "orientation": {
440
+ "w": 0.7127694457994341,
441
+ "xyz": [
442
+ 0.09491671561360167,
443
+ -0.6913704539291918,
444
+ 0.07040901693418113
445
+ ]
446
+ }
447
+ },
448
+ "grasp_29": {
449
+ "confidence": 0.9468738436698914,
450
+ "position": [
451
+ 0.13168173527810723,
452
+ -0.08573631197214127,
453
+ 0.010794192465255037
454
+ ],
455
+ "orientation": {
456
+ "w": 0.6651835743651809,
457
+ "xyz": [
458
+ 0.07267273899776862,
459
+ -0.7418116911386996,
460
+ 0.044327195842584634
461
+ ]
462
+ }
463
+ },
464
+ "grasp_30": {
465
+ "confidence": 0.946826159954071,
466
+ "position": [
467
+ 0.11511630064342171,
468
+ -0.025348566472530365,
469
+ 0.0004665662709157914
470
+ ],
471
+ "orientation": {
472
+ "w": 0.21605124963098427,
473
+ "xyz": [
474
+ 0.6715306940265334,
475
+ 0.23949038173720139,
476
+ -0.6670927533473151
477
+ ]
478
+ }
479
+ },
480
+ "grasp_31": {
481
+ "confidence": 0.9468026161193848,
482
+ "position": [
483
+ 0.13416039443109185,
484
+ -0.09357796609401703,
485
+ -0.004037115111714229
486
+ ],
487
+ "orientation": {
488
+ "w": 0.7140349926004139,
489
+ "xyz": [
490
+ 0.06765428802195461,
491
+ -0.6954996511626205,
492
+ 0.04309480116026865
493
+ ]
494
+ }
495
+ },
496
+ "grasp_32": {
497
+ "confidence": 0.9455993175506592,
498
+ "position": [
499
+ -0.08210688584949821,
500
+ -0.14477789402008057,
501
+ -0.0024671527498867363
502
+ ],
503
+ "orientation": {
504
+ "w": 0.05880247616054242,
505
+ "xyz": [
506
+ -0.6890011337011583,
507
+ -0.04287394367441277,
508
+ -0.7210974493851096
509
+ ]
510
+ }
511
+ },
512
+ "grasp_33": {
513
+ "confidence": 0.9450762271881104,
514
+ "position": [
515
+ -0.08725803846027702,
516
+ -0.09201723337173462,
517
+ -0.004268527583917603
518
+ ],
519
+ "orientation": {
520
+ "w": 0.050896532701164225,
521
+ "xyz": [
522
+ -0.6819974079321549,
523
+ -0.029233141692937892,
524
+ -0.7289955431685315
525
+ ]
526
+ }
527
+ },
528
+ "grasp_36": {
529
+ "confidence": 0.9432567954063416,
530
+ "position": [
531
+ -0.08810225629713386,
532
+ -0.08492245525121689,
533
+ -0.00454580326913856
534
+ ],
535
+ "orientation": {
536
+ "w": 0.028134370577231036,
537
+ "xyz": [
538
+ -0.6949727477880726,
539
+ -0.0028746728572720537,
540
+ -0.7184796958022427
541
+ ]
542
+ }
543
+ },
544
+ "grasp_37": {
545
+ "confidence": 0.9431167840957642,
546
+ "position": [
547
+ 0.13382659351918846,
548
+ -0.06866257637739182,
549
+ 0.0020141083805356175
550
+ ],
551
+ "orientation": {
552
+ "w": 0.08485860564465575,
553
+ "xyz": [
554
+ 0.7108863589498055,
555
+ 0.08980158029723806,
556
+ -0.6923693218819356
557
+ ]
558
+ }
559
+ },
560
+ "grasp_38": {
561
+ "confidence": 0.9423598051071167,
562
+ "position": [
563
+ 0.12384197360370308,
564
+ -0.05641082674264908,
565
+ 0.0029464740364346653
566
+ ],
567
+ "orientation": {
568
+ "w": 0.14015732052116534,
569
+ "xyz": [
570
+ 0.7014081406554585,
571
+ 0.1363419469804481,
572
+ -0.6854147789624622
573
+ ]
574
+ }
575
+ },
576
+ "grasp_39": {
577
+ "confidence": 0.9422605037689209,
578
+ "position": [
579
+ -0.08131738507654518,
580
+ -0.12579916417598724,
581
+ -0.02337789357989095
582
+ ],
583
+ "orientation": {
584
+ "w": 0.7721377470976837,
585
+ "xyz": [
586
+ -0.028632204947993144,
587
+ 0.6301113900279516,
588
+ 0.07709171488410493
589
+ ]
590
+ }
591
+ }
592
+ }
593
+ }
594
+ ],
595
+ "quality_check": {
596
+ "success": true,
597
+ "message": "YES"
598
+ }
599
+ }
dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e73494c00f9bd0f406c79db6048c44d4eece9a317da612814f90bdfa4b950f36
3
+ size 3778136