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
1
xinjjj commited on
Commit
b4bff90
·
verified ·
1 Parent(s): fac4bc1

Add asset tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/affordance_annot.json +415 -0
  3. dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7819,3 +7819,4 @@ dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/affordance/mesh_part
7819
  dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7820
  dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7821
  dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7819
  dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7820
  dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7821
  dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7822
+ dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,415 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "housing shell",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing to pick up and carry the tape measure",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the housing to stabilize the tool while extending or retracting the tape",
14
+ "confidence": 0.95
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "enclose internal tape mechanism",
20
+ "protect internal components",
21
+ "support overall structure"
22
+ ],
23
+ "semantic_description": "Large rounded orange-and-black body forming most of the tape measure, with orange side faces and thick black ribbed rubber overmold around the perimeter.",
24
+ "id": 6,
25
+ "grasp_group": {
26
+ "grasp_31": {
27
+ "confidence": 0.9464101791381836,
28
+ "position": [
29
+ -0.005687206867150962,
30
+ -0.1300671841017902,
31
+ -0.0029972574557177722
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5612363219351132,
35
+ "xyz": [
36
+ -0.4316234224280344,
37
+ -0.5465314019262563,
38
+ -0.44723421029789007
39
+ ]
40
+ }
41
+ },
42
+ "grasp_32": {
43
+ "confidence": 0.942507803440094,
44
+ "position": [
45
+ 0.005079841241240501,
46
+ -0.12821508152410388,
47
+ -0.0012009920901618898
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5834669705574471,
51
+ "xyz": [
52
+ -0.40397584773094736,
53
+ -0.5690095611500097,
54
+ -0.41544906792343517
55
+ ]
56
+ }
57
+ },
58
+ "grasp_33": {
59
+ "confidence": 0.9364033937454224,
60
+ "position": [
61
+ 0.007612721063196659,
62
+ -0.12896351469680667,
63
+ 0.00035453675081953406
64
+ ],
65
+ "orientation": {
66
+ "w": 0.589926523047816,
67
+ "xyz": [
68
+ -0.4066243775769995,
69
+ -0.5751281223664373,
70
+ -0.39480495922428466
71
+ ]
72
+ }
73
+ },
74
+ "grasp_34": {
75
+ "confidence": 0.9336786866188049,
76
+ "position": [
77
+ 0.012394919991493225,
78
+ -0.12657713098451495,
79
+ 0.0045385086559690535
80
+ ],
81
+ "orientation": {
82
+ "w": 0.3875801382481733,
83
+ "xyz": [
84
+ -0.5975713306486325,
85
+ 0.38486572440462885,
86
+ 0.5869995872237476
87
+ ]
88
+ }
89
+ },
90
+ "grasp_36": {
91
+ "confidence": 0.9246596693992615,
92
+ "position": [
93
+ 0.024162834510207176,
94
+ -0.1326599712483585,
95
+ 0.0013840431929565966
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4023542193301617,
99
+ "xyz": [
100
+ -0.5837542079596235,
101
+ 0.398486499577436,
102
+ 0.5818510260635198
103
+ ]
104
+ }
105
+ },
106
+ "grasp_38": {
107
+ "confidence": 0.9239941835403442,
108
+ "position": [
109
+ -0.032729754224419594,
110
+ -0.1328958417288959,
111
+ -0.0010049733682535589
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5169583985513326,
115
+ "xyz": [
116
+ -0.4843115582444358,
117
+ 0.5125841086498457,
118
+ 0.4852358810699504
119
+ ]
120
+ }
121
+ },
122
+ "grasp_41": {
123
+ "confidence": 0.9168952703475952,
124
+ "position": [
125
+ -0.03660392016172409,
126
+ -0.13454252434894443,
127
+ -0.0023784206132404506
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5345973775590808,
131
+ "xyz": [
132
+ -0.4632620666608496,
133
+ 0.5220502092052327,
134
+ 0.4765054884981333
135
+ ]
136
+ }
137
+ },
138
+ "grasp_43": {
139
+ "confidence": 0.9148067831993103,
140
+ "position": [
141
+ -0.029059085994958878,
142
+ -0.1359655405394733,
143
+ 0.0017323347856290638
144
+ ],
145
+ "orientation": {
146
+ "w": 0.485366204772198,
147
+ "xyz": [
148
+ -0.5193532469146577,
149
+ -0.48674891659238384,
150
+ -0.5077079321621604
151
+ ]
152
+ }
153
+ },
154
+ "grasp_44": {
155
+ "confidence": 0.9143662452697754,
156
+ "position": [
157
+ -0.03627270087599754,
158
+ -0.13291756762191653,
159
+ -0.004819907888304442
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5267629807907602,
163
+ "xyz": [
164
+ -0.4764113319844127,
165
+ 0.5097696529335836,
166
+ 0.4854769878925725
167
+ ]
168
+ }
169
+ },
170
+ "grasp_46": {
171
+ "confidence": 0.9126190543174744,
172
+ "position": [
173
+ 0.026178661733865738,
174
+ -0.1299417312256992,
175
+ -0.0008533246000297368
176
+ ],
177
+ "orientation": {
178
+ "w": 0.37324876227086495,
179
+ "xyz": [
180
+ -0.6021217788801457,
181
+ 0.35986632347507375,
182
+ 0.6071498613110355
183
+ ]
184
+ }
185
+ },
186
+ "grasp_47": {
187
+ "confidence": 0.912190318107605,
188
+ "position": [
189
+ 0.007609766907989979,
190
+ -0.12397457612678409,
191
+ 0.004374648502562195
192
+ ],
193
+ "orientation": {
194
+ "w": 0.396707187673445,
195
+ "xyz": [
196
+ -0.590093559105227,
197
+ 0.4009760570738522,
198
+ 0.5776081720372894
199
+ ]
200
+ }
201
+ },
202
+ "grasp_48": {
203
+ "confidence": 0.9115350246429443,
204
+ "position": [
205
+ -0.03515936620533466,
206
+ -0.13269171072170138,
207
+ -0.0010208996827714145
208
+ ],
209
+ "orientation": {
210
+ "w": 0.4887025603262402,
211
+ "xyz": [
212
+ -0.5286157559171473,
213
+ -0.4687390928828049,
214
+ -0.5118777714749156
215
+ ]
216
+ }
217
+ },
218
+ "grasp_49": {
219
+ "confidence": 0.9096757769584656,
220
+ "position": [
221
+ 0.025469407439231873,
222
+ -0.13194645894691348,
223
+ 0.0017633797833696008
224
+ ],
225
+ "orientation": {
226
+ "w": 0.3727030136908942,
227
+ "xyz": [
228
+ -0.6021869250704179,
229
+ 0.37362383444622804,
230
+ 0.5990564257176929
231
+ ]
232
+ }
233
+ }
234
+ }
235
+ },
236
+ {
237
+ "part_name": "belt clip",
238
+ "mask_color": "Red",
239
+ "graspable": true,
240
+ "grasp_scenarios": [
241
+ {
242
+ "scenario": "pinch and lift the tape measure by the clip to reorient it",
243
+ "confidence": 0.46
244
+ },
245
+ {
246
+ "scenario": "pull the clip area to free the tool from a belt or pocket edge",
247
+ "confidence": 0.68
248
+ }
249
+ ],
250
+ "functional_labels": [
251
+ "clip onto belt or pocket",
252
+ "provide carry attachment",
253
+ "retain tool on clothing"
254
+ ],
255
+ "semantic_description": "Small silver metal spring clip with a smooth reflective finish and rectangular bent shape, mounted across the top face of the housing.",
256
+ "id": 0,
257
+ "grasp_group": {
258
+ "grasp_13": {
259
+ "confidence": 0.04729422926902771,
260
+ "position": [
261
+ 0.026656154543161392,
262
+ 0.007596489507704973,
263
+ 0.12819308956386521
264
+ ],
265
+ "orientation": {
266
+ "w": 0.032997055245988546,
267
+ "xyz": [
268
+ 0.7201052298945928,
269
+ -0.6929168460883663,
270
+ -0.015029857966737163
271
+ ]
272
+ }
273
+ }
274
+ }
275
+ },
276
+ {
277
+ "part_name": "top branding insert",
278
+ "mask_color": "Purple",
279
+ "graspable": false,
280
+ "grasp_scenarios": [],
281
+ "functional_labels": [
282
+ "display branding",
283
+ "identify product face",
284
+ "decorate top face"
285
+ ],
286
+ "semantic_description": "Black elongated insert on the top center beneath the clip, with orange branding text, smooth and slightly recessed into the orange top surface.",
287
+ "id": 5,
288
+ "grasp_group": {}
289
+ },
290
+ {
291
+ "part_name": "side circular face panel",
292
+ "mask_color": "Magenta",
293
+ "graspable": false,
294
+ "grasp_scenarios": [],
295
+ "functional_labels": [
296
+ "form side cover surface",
297
+ "display product face",
298
+ "support decorative branding area"
299
+ ],
300
+ "semantic_description": "Large smooth orange oval or circular side face panel on the housing, bordered by black overmold and serving as the main side cover area.",
301
+ "id": 7,
302
+ "grasp_group": {}
303
+ },
304
+ {
305
+ "part_name": "lock slider",
306
+ "mask_color": "Green",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "press or slide the lock to lock or unlock the tape blade",
311
+ "confidence": 0.93
312
+ },
313
+ {
314
+ "scenario": "nudge the slider while the housing is otherwise supported",
315
+ "confidence": 0.8
316
+ }
317
+ ],
318
+ "functional_labels": [
319
+ "lock tape position",
320
+ "release tape for retraction",
321
+ "control blade movement"
322
+ ],
323
+ "semantic_description": "Small black ridged plastic slider with a matte finish, positioned on the upper side near the tape outlet for thumb actuation.",
324
+ "id": 1,
325
+ "grasp_group": {}
326
+ },
327
+ {
328
+ "part_name": "tape hook",
329
+ "mask_color": "Blue",
330
+ "graspable": true,
331
+ "grasp_scenarios": [
332
+ {
333
+ "scenario": "pinch the hook to start pulling the tape out",
334
+ "confidence": 0.91
335
+ },
336
+ {
337
+ "scenario": "grasp the hook delicately to guide tape positioning or retraction",
338
+ "confidence": 0.74
339
+ }
340
+ ],
341
+ "functional_labels": [
342
+ "hook onto measurement edge",
343
+ "pull tape outward",
344
+ "anchor tape end",
345
+ "mark tape tip position"
346
+ ],
347
+ "semantic_description": "Small silver metal hook at the tape outlet, reflective and bent, attached to the end of the measuring blade for catching edges.",
348
+ "id": 2,
349
+ "grasp_group": {
350
+ "grasp_30": {
351
+ "confidence": 0.4421289563179016,
352
+ "position": [
353
+ -0.1602872982621193,
354
+ -0.07811603648588061,
355
+ -0.002727238170336932
356
+ ],
357
+ "orientation": {
358
+ "w": 0.7135641154618404,
359
+ "xyz": [
360
+ -0.14584577055255651,
361
+ 0.6755235845933296,
362
+ 0.11499196056799388
363
+ ]
364
+ }
365
+ }
366
+ }
367
+ },
368
+ {
369
+ "part_name": "lanyard hole tab",
370
+ "mask_color": "Pink",
371
+ "graspable": false,
372
+ "grasp_scenarios": [],
373
+ "functional_labels": [
374
+ "provide tether point",
375
+ "support hanging storage",
376
+ "enable strap attachment"
377
+ ],
378
+ "semantic_description": "Small triangular corner tab near the lower side of the housing with a circular hole, black around the outside with an orange center, integrated into the casing as a lanyard attachment point.",
379
+ "id": 8,
380
+ "grasp_group": {}
381
+ },
382
+ {
383
+ "part_name": "side branding strip",
384
+ "mask_color": "Orange",
385
+ "graspable": false,
386
+ "grasp_scenarios": [],
387
+ "functional_labels": [
388
+ "display branding",
389
+ "identify product side",
390
+ "decorate housing side"
391
+ ],
392
+ "semantic_description": "Narrow black elongated strip centered within the orange side panel, carrying orange branding text and recessed slightly into the side face.",
393
+ "id": 4,
394
+ "grasp_group": {}
395
+ },
396
+ {
397
+ "part_name": "orange side trim",
398
+ "mask_color": "Yellow",
399
+ "graspable": false,
400
+ "grasp_scenarios": [],
401
+ "functional_labels": [
402
+ "form housing edge",
403
+ "provide visual accent",
404
+ "cover side perimeter region"
405
+ ],
406
+ "semantic_description": "Orange trim or side perimeter section visible along the side edges of the housing near the tape outlet and side face, integrated into the casing rather than a separate fastener cap.",
407
+ "id": 3,
408
+ "grasp_group": {}
409
+ }
410
+ ],
411
+ "quality_check": {
412
+ "success": false,
413
+ "message": "Several part identities/descriptions mismatch masks: yellow is orange side shell, magenta panel not orange, red clip position wrong."
414
+ }
415
+ }
dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fb9be963555726d4c156ab917bf678ae5ed216760d14d639268ce9911df8a57
3
+ size 3783732