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
25bc912
·
verified ·
1 Parent(s): f2916ea

Add asset tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/affordance_annot.json +463 -0
  3. dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7794,3 +7794,4 @@ dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordanc
7794
  dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7795
  dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7796
  dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7794
  dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7795
  dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7796
  dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7797
+ dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,463 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "hex key shaft",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the long shaft to pick up and reposition the hex key",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold the shaft to insert one end into a hex socket",
14
+ "confidence": 0.86
15
+ },
16
+ {
17
+ "scenario": "grasp the shaft to apply turning torque with the sleeved end free",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "engage hex socket fasteners",
23
+ "transmit torque",
24
+ "provide main tool body",
25
+ "support general gripping"
26
+ ],
27
+ "semantic_description": "Long L-shaped gold-colored metal shaft with a smooth satin finish and hard surface, forming most of the tool body with printed black size markings along the longer arm.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9441764950752258,
32
+ "position": [
33
+ -0.11077057116199285,
34
+ 0.07963279727846384,
35
+ 0.006741732198861428
36
+ ],
37
+ "orientation": {
38
+ "w": 0.032308274219754476,
39
+ "xyz": [
40
+ -0.7149104011411275,
41
+ 0.02064679135726344,
42
+ -0.6981640235387546
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9420657157897949,
48
+ "position": [
49
+ -0.11004766367841512,
50
+ 0.08432657364755869,
51
+ -0.0053217463864712045
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7200702110247991,
55
+ "xyz": [
56
+ 0.015326289675452034,
57
+ 0.6934975991410609,
58
+ -0.018029864810079902
59
+ ]
60
+ }
61
+ },
62
+ "grasp_5": {
63
+ "confidence": 0.9363263845443726,
64
+ "position": [
65
+ -0.10909618728328496,
66
+ 0.08096178714185953,
67
+ 0.026816686455276795
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6206081233037777,
71
+ "xyz": [
72
+ 0.01424954843259887,
73
+ 0.7839732368875272,
74
+ 0.005335869462707237
75
+ ]
76
+ }
77
+ },
78
+ "grasp_10": {
79
+ "confidence": 0.9320231080055237,
80
+ "position": [
81
+ 0.047883720020763576,
82
+ 0.1526088872924447,
83
+ -0.004563181355479173
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3487086635510673,
87
+ "xyz": [
88
+ 0.5778194065253313,
89
+ 0.3721534127048256,
90
+ -0.6372039224763878
91
+ ]
92
+ }
93
+ },
94
+ "grasp_11": {
95
+ "confidence": 0.9319338798522949,
96
+ "position": [
97
+ -0.10582384013105184,
98
+ 0.09125653002411127,
99
+ 0.004960618287441321
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6937644955549475,
103
+ "xyz": [
104
+ 0.03014831668630346,
105
+ 0.7186404018988706,
106
+ -0.03657699368457275
107
+ ]
108
+ }
109
+ },
110
+ "grasp_12": {
111
+ "confidence": 0.9307244420051575,
112
+ "position": [
113
+ 0.0468281329376623,
114
+ 0.15765403304249048,
115
+ -0.008075196456047706
116
+ ],
117
+ "orientation": {
118
+ "w": 0.3429653766431361,
119
+ "xyz": [
120
+ 0.5552061621987044,
121
+ 0.3825688465489714,
122
+ -0.6540351256093261
123
+ ]
124
+ }
125
+ },
126
+ "grasp_14": {
127
+ "confidence": 0.9280261993408203,
128
+ "position": [
129
+ -0.11083498888183385,
130
+ 0.08453091327100992,
131
+ 0.005246193453785963
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6996085111322528,
135
+ "xyz": [
136
+ -0.021302862616303903,
137
+ 0.7128411298802907,
138
+ -0.04417740085896768
139
+ ]
140
+ }
141
+ },
142
+ "grasp_15": {
143
+ "confidence": 0.9262422919273376,
144
+ "position": [
145
+ 0.04931815422605723,
146
+ 0.15032342169433832,
147
+ -0.0031740131526021287
148
+ ],
149
+ "orientation": {
150
+ "w": 0.353640111250402,
151
+ "xyz": [
152
+ 0.5809356984645057,
153
+ 0.37033171072555104,
154
+ -0.6326980401387742
155
+ ]
156
+ }
157
+ },
158
+ "grasp_16": {
159
+ "confidence": 0.9244633316993713,
160
+ "position": [
161
+ 0.0459225446684286,
162
+ 0.15290361735969782,
163
+ -0.004939891092362814
164
+ ],
165
+ "orientation": {
166
+ "w": 0.35522387621295665,
167
+ "xyz": [
168
+ 0.5715781396820651,
169
+ 0.37491107869876195,
170
+ -0.6376175272643959
171
+ ]
172
+ }
173
+ },
174
+ "grasp_17": {
175
+ "confidence": 0.9236716628074646,
176
+ "position": [
177
+ -0.11167666607070714,
178
+ 0.08813273254781961,
179
+ 0.018773419622448273
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6489759800837843,
183
+ "xyz": [
184
+ 0.028695449215873768,
185
+ 0.7602561844506289,
186
+ -0.004157219402752583
187
+ ]
188
+ }
189
+ },
190
+ "grasp_18": {
191
+ "confidence": 0.9211925864219666,
192
+ "position": [
193
+ -0.11332717828918248,
194
+ 0.08136114571243525,
195
+ -0.012988461341592483
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7505479507257117,
199
+ "xyz": [
200
+ 0.003788695424044442,
201
+ 0.6607905913071572,
202
+ -0.004383364958092984
203
+ ]
204
+ }
205
+ },
206
+ "grasp_19": {
207
+ "confidence": 0.9194002747535706,
208
+ "position": [
209
+ -0.1107268586056307,
210
+ 0.09507080260664225,
211
+ 0.012666387323406525
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6728785376500173,
215
+ "xyz": [
216
+ 0.03975001882623665,
217
+ 0.7375727130256031,
218
+ -0.040508055659825064
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "protective sleeve",
226
+ "mask_color": "Green",
227
+ "graspable": true,
228
+ "grasp_scenarios": [
229
+ {
230
+ "scenario": "grasp the padded sleeve to pick up the hex key comfortably",
231
+ "confidence": 0.74
232
+ },
233
+ {
234
+ "scenario": "hold the sleeve to stabilize and orient the tool during insertion",
235
+ "confidence": 0.71
236
+ },
237
+ {
238
+ "scenario": "grasp the sleeve as a higher-friction area while turning the tool",
239
+ "confidence": 0.68
240
+ }
241
+ ],
242
+ "functional_labels": [
243
+ "provide cushioned grip",
244
+ "improve friction for handling",
245
+ "add end protection",
246
+ "aid orientation by touch"
247
+ ],
248
+ "semantic_description": "Short turquoise cylindrical sleeve near one end, likely rubber or soft plastic, with a matte smooth slightly compliant surface and a larger diameter than the metal shaft.",
249
+ "id": 1,
250
+ "grasp_group": {
251
+ "grasp_22": {
252
+ "confidence": 0.9552459716796875,
253
+ "position": [
254
+ 0.02381602197419852,
255
+ -0.005840565077960491,
256
+ 0.0897190904506715
257
+ ],
258
+ "orientation": {
259
+ "w": 0.1858924696756883,
260
+ "xyz": [
261
+ 0.9756019345912416,
262
+ 0.02405257683779788,
263
+ -0.11430804209311812
264
+ ]
265
+ }
266
+ },
267
+ "grasp_24": {
268
+ "confidence": 0.9506654143333435,
269
+ "position": [
270
+ 0.10012966103386134,
271
+ -0.0318216560408473,
272
+ -0.009345756072434597
273
+ ],
274
+ "orientation": {
275
+ "w": 0.7346715712736551,
276
+ "xyz": [
277
+ 0.0011505797592882084,
278
+ -0.6783763656691475,
279
+ -0.007865432603177592
280
+ ]
281
+ }
282
+ },
283
+ "grasp_26": {
284
+ "confidence": 0.9500451683998108,
285
+ "position": [
286
+ 0.10028102702926844,
287
+ -0.06239472236484289,
288
+ -0.006843705821665935
289
+ ],
290
+ "orientation": {
291
+ "w": 0.0017920287013157446,
292
+ "xyz": [
293
+ -0.6789657189523433,
294
+ 0.0042275705876074765,
295
+ 0.7341556161792869
296
+ ]
297
+ }
298
+ },
299
+ "grasp_27": {
300
+ "confidence": 0.9471043944358826,
301
+ "position": [
302
+ 0.09842323220800608,
303
+ -0.05889879073947668,
304
+ -0.004068899594130926
305
+ ],
306
+ "orientation": {
307
+ "w": 0.12101500267205716,
308
+ "xyz": [
309
+ -0.696461084862307,
310
+ 0.06821131771828959,
311
+ 0.7040202713955295
312
+ ]
313
+ }
314
+ },
315
+ "grasp_28": {
316
+ "confidence": 0.9461912512779236,
317
+ "position": [
318
+ 0.0971634954912588,
319
+ -0.03474596422165632,
320
+ 0.02976218036201317
321
+ ],
322
+ "orientation": {
323
+ "w": 0.5618951415875604,
324
+ "xyz": [
325
+ 0.004916170048510687,
326
+ -0.827032460900898,
327
+ -0.016339820946220367
328
+ ]
329
+ }
330
+ },
331
+ "grasp_29": {
332
+ "confidence": 0.9445045590400696,
333
+ "position": [
334
+ -0.038660279591567814,
335
+ -0.03163221385329962,
336
+ 0.08907826601353008
337
+ ],
338
+ "orientation": {
339
+ "w": 0.2249894993715458,
340
+ "xyz": [
341
+ -0.004084143036854953,
342
+ 0.974283957456946,
343
+ 0.011567851582192876
344
+ ]
345
+ }
346
+ },
347
+ "grasp_30": {
348
+ "confidence": 0.9436285495758057,
349
+ "position": [
350
+ 0.01030240289401263,
351
+ -0.026303897611796856,
352
+ 0.09784910439339001
353
+ ],
354
+ "orientation": {
355
+ "w": 0.053000717909933937,
356
+ "xyz": [
357
+ -0.005408323814036669,
358
+ -0.9984757869210857,
359
+ 0.01441446727678159
360
+ ]
361
+ }
362
+ },
363
+ "grasp_31": {
364
+ "confidence": 0.9432383179664612,
365
+ "position": [
366
+ 0.0868412823183462,
367
+ -0.08960442151874304,
368
+ -0.002976864969241433
369
+ ],
370
+ "orientation": {
371
+ "w": 0.2029283459589383,
372
+ "xyz": [
373
+ -0.6767859494414318,
374
+ 0.19551119363633895,
375
+ 0.6801148713327202
376
+ ]
377
+ }
378
+ },
379
+ "grasp_34": {
380
+ "confidence": 0.938355028629303,
381
+ "position": [
382
+ 0.021594595978967845,
383
+ 0.00522256176918745,
384
+ -0.08212619663390797
385
+ ],
386
+ "orientation": {
387
+ "w": 0.046166411377015645,
388
+ "xyz": [
389
+ 0.13016033423460951,
390
+ 0.2844370586771634,
391
+ -0.9486951615263918
392
+ ]
393
+ }
394
+ },
395
+ "grasp_38": {
396
+ "confidence": 0.9334976673126221,
397
+ "position": [
398
+ -0.02411479235161096,
399
+ -0.04324109759181738,
400
+ 0.09241880087938625
401
+ ],
402
+ "orientation": {
403
+ "w": 0.06735295181409301,
404
+ "xyz": [
405
+ -0.9861493101401538,
406
+ -0.0043036370104029276,
407
+ -0.15150774468821768
408
+ ]
409
+ }
410
+ },
411
+ "grasp_39": {
412
+ "confidence": 0.9334894418716431,
413
+ "position": [
414
+ -0.03074761584866792,
415
+ -0.043881057761609554,
416
+ 0.09010505287733395
417
+ ],
418
+ "orientation": {
419
+ "w": 0.07348839376139207,
420
+ "xyz": [
421
+ -0.979760268938946,
422
+ -0.002624398828705965,
423
+ -0.18617836588025694
424
+ ]
425
+ }
426
+ }
427
+ }
428
+ },
429
+ {
430
+ "part_name": "sleeve label patch",
431
+ "mask_color": "Orange",
432
+ "graspable": false,
433
+ "grasp_scenarios": [],
434
+ "functional_labels": [
435
+ "mark or label area on the sleeve",
436
+ "provide visual identification",
437
+ "indicate branding or model detail"
438
+ ],
439
+ "semantic_description": "Small orange oval or rounded rectangular patch inset on the turquoise sleeve surface, visible as a contrasting marking rather than a separate cap.",
440
+ "id": 4,
441
+ "grasp_group": {}
442
+ },
443
+ {
444
+ "part_name": "hex tip",
445
+ "mask_color": "Blue",
446
+ "graspable": false,
447
+ "grasp_scenarios": [],
448
+ "functional_labels": [
449
+ "insert into hex socket",
450
+ "engage fastener recess",
451
+ "apply torque at the contact point",
452
+ "indicate working end"
453
+ ],
454
+ "semantic_description": "Tiny exposed end face of the gold-colored metal shaft at the tool extremity, with a hard smooth finish and compact hexagonal working profile.",
455
+ "id": 2,
456
+ "grasp_group": {}
457
+ }
458
+ ],
459
+ "quality_check": {
460
+ "success": true,
461
+ "message": "YES"
462
+ }
463
+ }
dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ac255f1f6d317f451673a442eaff61399781572dc200dbbd6c1d05460fd31f2c
3
+ size 3781732