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
29de395
·
verified ·
1 Parent(s): 2cbf453

Add asset tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/affordance_annot.json +300 -0
  3. dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7816,4 +7816,4 @@ dataset/tools/repair_tools/1e6da64f854f547394444b5248405a68/affordance/mesh_part
7816
  dataset/tools/repair_tools/1ee3eca8561a5dc2ab466751eeefba93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7817
  dataset/tools/repair_tools/22c72bda21745483ad7284b1d5068177/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7818
  dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7819
- dataset/tools/repair_tools/24e68b9a5de25bfc90d8cfb6ff8455fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7816
  dataset/tools/repair_tools/1ee3eca8561a5dc2ab466751eeefba93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7817
  dataset/tools/repair_tools/22c72bda21745483ad7284b1d5068177/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7818
  dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/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
dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/affordance_annot.json ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "screwdriver handle",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and hold the screwdriver for use",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "grasp the handle to apply torque while turning a screw",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to reposition or pass the tool",
18
+ "confidence": 0.94
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip surface",
23
+ "apply turning torque",
24
+ "support handoff and pickup",
25
+ "stabilize tool during use"
26
+ ],
27
+ "semantic_description": "Large light purple plastic handle with a mostly matte finish and fine ribbed texture, bulbous ergonomic shape, located at the rear of the tool, with black printed branding on the side.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.98997563123703,
32
+ "position": [
33
+ 0.09522920768358745,
34
+ 0.0009724460542201996,
35
+ 0.024968568235635757
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6015169772382538,
39
+ "xyz": [
40
+ -0.020292705756702674,
41
+ -0.7985892587767212,
42
+ 0.004552796247794335
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9898987412452698,
48
+ "position": [
49
+ 0.09396321247913875,
50
+ 0.028925364837050438,
51
+ 0.01239379495382309
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6502262004136673,
55
+ "xyz": [
56
+ 0.03823827457047063,
57
+ -0.7585538504004561,
58
+ 0.018433086993809793
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9897997379302979,
64
+ "position": [
65
+ 0.09688831042149104,
66
+ 0.016354547813534737,
67
+ 0.010498970746994019
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6589253326414023,
71
+ "xyz": [
72
+ 0.03266664320737744,
73
+ -0.7514647310349655,
74
+ 0.00714523866128608
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9893446564674377,
80
+ "position": [
81
+ 0.09646709929802455,
82
+ 0.01927138678729534,
83
+ 0.024100787937641144
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6141836755900199,
87
+ "xyz": [
88
+ 0.04700839807753124,
89
+ -0.7875712863128635,
90
+ -0.017323167274487627
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9891296625137329,
96
+ "position": [
97
+ 0.09643455516197719,
98
+ -0.017224563052877784,
99
+ -0.00852307491004467
100
+ ],
101
+ "orientation": {
102
+ "w": 0.14151867848098187,
103
+ "xyz": [
104
+ -0.674223769934131,
105
+ 0.12708615695785974,
106
+ 0.7136132568881318
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9890854954719543,
112
+ "position": [
113
+ 0.09608881841995753,
114
+ 0.011872293427586555,
115
+ 0.02540329284965992
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5972342821985347,
119
+ "xyz": [
120
+ 0.025407200500522233,
121
+ -0.8016619933214252,
122
+ -0.0019325613694651503
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9890658855438232,
128
+ "position": [
129
+ 0.09228029023506679,
130
+ -0.023250799626111984,
131
+ 0.02266642451286316
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5960174924046872,
135
+ "xyz": [
136
+ -0.12097793886657723,
137
+ -0.7784676366733706,
138
+ -0.15529206582243754
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9889783263206482,
144
+ "position": [
145
+ 0.09648009311058559,
146
+ 0.008773045614361763,
147
+ 0.024221938103437424
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6019563784737179,
151
+ "xyz": [
152
+ 0.015812210896036027,
153
+ -0.7983322227829133,
154
+ 0.008009648424158454
155
+ ]
156
+ }
157
+ },
158
+ "grasp_29": {
159
+ "confidence": 0.988804280757904,
160
+ "position": [
161
+ 0.09023379455902614,
162
+ -0.022241664584726095,
163
+ 0.017253875732421875
164
+ ],
165
+ "orientation": {
166
+ "w": 0.18449771001959533,
167
+ "xyz": [
168
+ -0.754630881015709,
169
+ 0.14699230570138577,
170
+ 0.6122794218978539
171
+ ]
172
+ }
173
+ },
174
+ "grasp_30": {
175
+ "confidence": 0.9884661436080933,
176
+ "position": [
177
+ 0.09634380709030665,
178
+ 0.012594273313879967,
179
+ 0.009231448639184237
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6669392746844137,
183
+ "xyz": [
184
+ 0.035118960563031626,
185
+ -0.7442665187975895,
186
+ -0.00510014600939676
187
+ ]
188
+ }
189
+ },
190
+ "grasp_31": {
191
+ "confidence": 0.9883943796157837,
192
+ "position": [
193
+ 0.09710232834913768,
194
+ 0.023309310898184776,
195
+ -0.012187998741865158
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7475563943363946,
199
+ "xyz": [
200
+ 0.029882738024962194,
201
+ -0.6635199116494918,
202
+ 0.0027903583194507924
203
+ ]
204
+ }
205
+ },
206
+ "grasp_34": {
207
+ "confidence": 0.9880948662757874,
208
+ "position": [
209
+ 0.0983411438355688,
210
+ 0.013241501525044441,
211
+ 0.008167499210685492
212
+ ],
213
+ "orientation": {
214
+ "w": 0.033677840856391285,
215
+ "xyz": [
216
+ -0.7384366305394054,
217
+ -0.015338763458347948,
218
+ 0.6733066671646954
219
+ ]
220
+ }
221
+ },
222
+ "grasp_35": {
223
+ "confidence": 0.9880372285842896,
224
+ "position": [
225
+ 0.09691413413383998,
226
+ 0.003112511709332466,
227
+ -0.008088410831987858
228
+ ],
229
+ "orientation": {
230
+ "w": 0.05734498063583124,
231
+ "xyz": [
232
+ -0.6879806597067679,
233
+ 0.021935194572728745,
234
+ 0.7231272448915013
235
+ ]
236
+ }
237
+ },
238
+ "grasp_39": {
239
+ "confidence": 0.987834095954895,
240
+ "position": [
241
+ 0.09896008591749705,
242
+ 0.029159894213080406,
243
+ 0.010826554149389267
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6584867724824961,
247
+ "xyz": [
248
+ 0.018203175538756822,
249
+ -0.7523141607589604,
250
+ 0.009339078510861203
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "screwdriver shaft",
258
+ "mask_color": "Green",
259
+ "graspable": true,
260
+ "grasp_scenarios": [
261
+ {
262
+ "scenario": "grasp the shaft to stabilize the tool near the tip for precise alignment",
263
+ "confidence": 0.48
264
+ },
265
+ {
266
+ "scenario": "grasp the shaft to reposition the screwdriver in a bin or tray",
267
+ "confidence": 0.41
268
+ }
269
+ ],
270
+ "functional_labels": [
271
+ "connect handle to tip",
272
+ "transmit torque to tip",
273
+ "provide reach",
274
+ "support precise alignment"
275
+ ],
276
+ "semantic_description": "Long slender bent yellowish metal shaft with a smooth slightly reflective hard surface, extending from the handle to the tip and forming an offset L-shaped profile.",
277
+ "id": 1,
278
+ "grasp_group": {}
279
+ },
280
+ {
281
+ "part_name": "screwdriver tip",
282
+ "mask_color": "Red",
283
+ "graspable": false,
284
+ "grasp_scenarios": [],
285
+ "functional_labels": [
286
+ "engage screw head",
287
+ "drive or turn screws",
288
+ "provide contact point",
289
+ "enable fastening or loosening"
290
+ ],
291
+ "semantic_description": "Small dark gray metal tip with a reflective hard finish and smooth facets, positioned at the end of the bent shaft as the narrow working end of the tool.",
292
+ "id": 0,
293
+ "grasp_group": {}
294
+ }
295
+ ],
296
+ "quality_check": {
297
+ "success": true,
298
+ "message": "YES"
299
+ }
300
+ }
dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f13e65379806d26b70f4e0301d1304d86b1075a89ad0e2606550e929c3a45f62
3
+ size 3779832