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
9b60a7f
·
verified ·
1 Parent(s): 1d84f78

Add asset tools/repair_tools/5422f66a9ce3539099c399598f038460

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/affordance_annot.json +332 -0
  3. dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7861,3 +7861,4 @@ 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
 
 
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
dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/affordance_annot.json ADDED
@@ -0,0 +1,332 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wrench handle and open-end head",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the straight handle/body to pick up and reposition the wrench",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the handle to place the open end onto a fastener",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp near the middle of the body to stabilize the tool during handoff or storage",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "provide leverage",
24
+ "connect both tool ends",
25
+ "support open-end operation"
26
+ ],
27
+ "semantic_description": "Long silver-gray metal body with a smooth slightly reflective finish, including the straight narrow handle and the larger open-end wrench head at one end; this green region covers most of the tool except the ring end and the small toothed jaw feature.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9696977734565735,
32
+ "position": [
33
+ -0.1408198217395693,
34
+ -0.12808268913067877,
35
+ 0.0012949828087585047
36
+ ],
37
+ "orientation": {
38
+ "w": 0.038101464839650885,
39
+ "xyz": [
40
+ 0.7072287847050555,
41
+ -0.02780654077457334,
42
+ 0.7054094702737093
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9693877100944519,
48
+ "position": [
49
+ -0.13827293016947806,
50
+ -0.1339907015208155,
51
+ 0.0011511069169500843
52
+ ],
53
+ "orientation": {
54
+ "w": 0.031390475101979586,
55
+ "xyz": [
56
+ 0.7107672447026766,
57
+ -0.0154905572571441,
58
+ 0.7025557661613064
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9652931690216064,
64
+ "position": [
65
+ -0.136659492040053,
66
+ -0.1282170529011637,
67
+ 0.0014711068506585434
68
+ ],
69
+ "orientation": {
70
+ "w": 0.04206055584847444,
71
+ "xyz": [
72
+ 0.7091974623529181,
73
+ -0.01997042746335509,
74
+ 0.7034707179839326
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9646665453910828,
80
+ "position": [
81
+ -0.13883029320277274,
82
+ -0.12677966454066336,
83
+ 2.4325898266397417e-05
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7004056208131325,
87
+ "xyz": [
88
+ 0.02591153886613921,
89
+ 0.7129127340178516,
90
+ -0.022715460861510304
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.9646209478378296,
96
+ "position": [
97
+ -0.13743244507350028,
98
+ -0.13344567664898932,
99
+ 0.004037530467030592
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6993152273061988,
103
+ "xyz": [
104
+ 0.025504803491028374,
105
+ 0.7142731798876926,
106
+ -0.011024624696004497
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9643676280975342,
112
+ "position": [
113
+ -0.14017416932620108,
114
+ -0.14066545316018164,
115
+ -0.001352179140667431
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7135305848507048,
119
+ "xyz": [
120
+ -0.002765683990879478,
121
+ 0.7005267186640667,
122
+ 0.011347771253801415
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.9634166955947876,
128
+ "position": [
129
+ -0.13861400284804404,
130
+ -0.12212741025723517,
131
+ 0.0011903272970812395
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6980206371201887,
135
+ "xyz": [
136
+ 0.016364606291305338,
137
+ 0.7154518045498308,
138
+ -0.02506202668674889
139
+ ]
140
+ }
141
+ },
142
+ "grasp_10": {
143
+ "confidence": 0.9624913930892944,
144
+ "position": [
145
+ -0.13577244081534445,
146
+ -0.13286749669350684,
147
+ -0.0011830535222543404
148
+ ],
149
+ "orientation": {
150
+ "w": 0.718982778113249,
151
+ "xyz": [
152
+ 0.007003920721813952,
153
+ 0.6946610774910444,
154
+ -0.02146386009221532
155
+ ]
156
+ }
157
+ },
158
+ "grasp_11": {
159
+ "confidence": 0.9624050259590149,
160
+ "position": [
161
+ -0.13862412073649466,
162
+ -0.11959650018252432,
163
+ -0.001319083894486539
164
+ ],
165
+ "orientation": {
166
+ "w": 0.717036175993483,
167
+ "xyz": [
168
+ 0.022249065972148967,
169
+ 0.696058881493647,
170
+ -0.02943016944945614
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.9623854756355286,
176
+ "position": [
177
+ -0.13928896584548056,
178
+ -0.12944826134480536,
179
+ 0.0006529148813569918
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7171556822218638,
183
+ "xyz": [
184
+ 0.00696956830663493,
185
+ 0.6965423211452745,
186
+ -0.021632092549393387
187
+ ]
188
+ }
189
+ },
190
+ "grasp_13": {
191
+ "confidence": 0.962164044380188,
192
+ "position": [
193
+ -0.1362708101514727,
194
+ -0.10885926731862128,
195
+ -0.0031482264603255317
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7159006363609692,
199
+ "xyz": [
200
+ 0.07017506791275001,
201
+ 0.6890259568572527,
202
+ -0.08834573831457374
203
+ ]
204
+ }
205
+ },
206
+ "grasp_14": {
207
+ "confidence": 0.9595692157745361,
208
+ "position": [
209
+ -0.14644197025336325,
210
+ -0.12455582269467413,
211
+ 0.0015250121505232528
212
+ ],
213
+ "orientation": {
214
+ "w": 0.027226973606994023,
215
+ "xyz": [
216
+ 0.713819668127822,
217
+ -0.02057720840425803,
218
+ 0.6994974994925843
219
+ ]
220
+ }
221
+ },
222
+ "grasp_16": {
223
+ "confidence": 0.9581997990608215,
224
+ "position": [
225
+ -0.14065109589137137,
226
+ -0.1213646421674639,
227
+ 1.2104588677175343e-05
228
+ ],
229
+ "orientation": {
230
+ "w": 0.7128374112554937,
231
+ "xyz": [
232
+ 0.02735279978428927,
233
+ 0.7004430338547653,
234
+ -0.022230739593172722
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.9579454660415649,
240
+ "position": [
241
+ -0.14196941652335227,
242
+ -0.13292106636799872,
243
+ -0.0017674545961199328
244
+ ],
245
+ "orientation": {
246
+ "w": 0.7146304696563887,
247
+ "xyz": [
248
+ 0.028096064856412636,
249
+ 0.698352467793406,
250
+ -0.028596043522377584
251
+ ]
252
+ }
253
+ },
254
+ "grasp_18": {
255
+ "confidence": 0.9570295214653015,
256
+ "position": [
257
+ -0.14184064068831503,
258
+ -0.12588552781380713,
259
+ 0.0019832524267258123
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6997975718623183,
263
+ "xyz": [
264
+ 0.03622169242225079,
265
+ 0.7129641927971089,
266
+ -0.025561830975858416
267
+ ]
268
+ }
269
+ },
270
+ "grasp_19": {
271
+ "confidence": 0.9565265774726868,
272
+ "position": [
273
+ -0.1462228933814913,
274
+ -0.12621710845269263,
275
+ -0.002729150393861346
276
+ ],
277
+ "orientation": {
278
+ "w": 0.03910088226441389,
279
+ "xyz": [
280
+ 0.6984278724670258,
281
+ -0.02231606870453251,
282
+ 0.7142629915128622
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ },
288
+ {
289
+ "part_name": "box-end ring",
290
+ "mask_color": "Blue",
291
+ "graspable": true,
292
+ "grasp_scenarios": [
293
+ {
294
+ "scenario": "pinch the ring end to lift or orient the wrench when the handle is obstructed",
295
+ "confidence": 0.57
296
+ },
297
+ {
298
+ "scenario": "hold the ring end to reposition the tool in a tray or drawer",
299
+ "confidence": 0.48
300
+ }
301
+ ],
302
+ "functional_labels": [
303
+ "engage fastener head",
304
+ "apply torque through closed ring",
305
+ "provide alternate working end",
306
+ "indicate tool orientation"
307
+ ],
308
+ "semantic_description": "Rounded silver-gray metal ring end with a circular opening and smooth slightly reflective finish, located opposite the open-end head.",
309
+ "id": 2,
310
+ "grasp_group": {}
311
+ },
312
+ {
313
+ "part_name": "movable jaw teeth / adjustment feature",
314
+ "mask_color": "Red",
315
+ "graspable": false,
316
+ "grasp_scenarios": [],
317
+ "functional_labels": [
318
+ "contact fastener edges",
319
+ "provide toothed gripping surface",
320
+ "adjust jaw opening",
321
+ "help reduce slipping"
322
+ ],
323
+ "semantic_description": "Small silver-gray toothed metal feature inside the open wrench head, visible as a short ridged component between the jaws with a hard reflective finish.",
324
+ "id": 0,
325
+ "grasp_group": {}
326
+ }
327
+ ],
328
+ "quality_check": {
329
+ "success": true,
330
+ "message": "YES"
331
+ }
332
+ }
dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b619ff796e1fd9b4041d28ea088e9bb8cf13c38dfe84f66bc911c6ba18102d72
3
+ size 514824