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
d99cbe3
·
verified ·
1 Parent(s): 1890b9d

Add asset tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/affordance_annot.json +346 -0
  3. dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7945,4 +7945,4 @@ dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/mesh_part
7945
  dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7946
  dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7947
  dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7948
- dataset/tools/repair_tools/f7a458e179375b88993034fbbe7b6c08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7945
  dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7946
  dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7947
  dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7948
+ dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,346 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "measuring tape housing",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing to pick up and carry the tape measure",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the housing steady while extending or retracting the tape",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "clamp the housing sides to stabilize the tool during measurement",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "enclose internal tape reel",
23
+ "main grasp surface",
24
+ "protect internal mechanism",
25
+ "support tool handling",
26
+ "mount other components"
27
+ ],
28
+ "semantic_description": "Large dark red to burgundy plastic housing with a mostly matte smooth finish, angular polygonal body with rounded edges, and white printed logo text on the top surface.",
29
+ "id": 7,
30
+ "grasp_group": {
31
+ "grasp_21": {
32
+ "confidence": 0.9478577971458435,
33
+ "position": [
34
+ -0.010011349804699421,
35
+ -0.13001237786374986,
36
+ -0.004315053884056397
37
+ ],
38
+ "orientation": {
39
+ "w": 0.3669766539162465,
40
+ "xyz": [
41
+ -0.5827759881566918,
42
+ -0.37719239147473316,
43
+ -0.6192141656341517
44
+ ]
45
+ }
46
+ },
47
+ "grasp_22": {
48
+ "confidence": 0.9467219710350037,
49
+ "position": [
50
+ 0.0026673180982470512,
51
+ -0.13247367716394365,
52
+ -0.009625114806112833
53
+ ],
54
+ "orientation": {
55
+ "w": 0.39305794078671213,
56
+ "xyz": [
57
+ -0.5567727891524319,
58
+ -0.383588354203225,
59
+ -0.6231929805153391
60
+ ]
61
+ }
62
+ },
63
+ "grasp_23": {
64
+ "confidence": 0.9464713931083679,
65
+ "position": [
66
+ -0.006941493134945631,
67
+ -0.13070832169614732,
68
+ -0.00194607961748261
69
+ ],
70
+ "orientation": {
71
+ "w": 0.3775410296725348,
72
+ "xyz": [
73
+ -0.585354892035811,
74
+ -0.3826144150074511,
75
+ -0.6069832211124561
76
+ ]
77
+ }
78
+ },
79
+ "grasp_24": {
80
+ "confidence": 0.9455594420433044,
81
+ "position": [
82
+ -0.002348468638956547,
83
+ -0.1323086021002382,
84
+ 0.002854868464055471
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5768928827807399,
88
+ "xyz": [
89
+ -0.4076639453986859,
90
+ 0.5844246895113655,
91
+ 0.39931502815252073
92
+ ]
93
+ }
94
+ },
95
+ "grasp_25": {
96
+ "confidence": 0.9426180720329285,
97
+ "position": [
98
+ -0.10946295410394669,
99
+ 0.10188504331745207,
100
+ 0.0020752648561028764
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6543990006444595,
104
+ "xyz": [
105
+ 0.2650840603075831,
106
+ 0.6607777939436358,
107
+ -0.25468626966792046
108
+ ]
109
+ }
110
+ },
111
+ "grasp_26": {
112
+ "confidence": 0.9418598413467407,
113
+ "position": [
114
+ 0.038244374096393585,
115
+ -0.14379063225351274,
116
+ 0.0007479961932403967
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5006300260661579,
120
+ "xyz": [
121
+ -0.5037816464395963,
122
+ 0.49554607918132687,
123
+ 0.50000771306013
124
+ ]
125
+ }
126
+ },
127
+ "grasp_27": {
128
+ "confidence": 0.941148579120636,
129
+ "position": [
130
+ -0.08696900308132172,
131
+ 0.12173304730094969,
132
+ -0.0010743455059127882
133
+ ],
134
+ "orientation": {
135
+ "w": 0.6200622431288183,
136
+ "xyz": [
137
+ 0.346513235614668,
138
+ 0.6169534452349801,
139
+ -0.33885076154938837
140
+ ]
141
+ }
142
+ },
143
+ "grasp_29": {
144
+ "confidence": 0.9399288296699524,
145
+ "position": [
146
+ 0.04950786009430885,
147
+ -0.14151096320711076,
148
+ 0.0017857277271104977
149
+ ],
150
+ "orientation": {
151
+ "w": 0.49460332783692035,
152
+ "xyz": [
153
+ -0.5068904278679146,
154
+ 0.49551008848241607,
155
+ 0.5028910363495002
156
+ ]
157
+ }
158
+ },
159
+ "grasp_30": {
160
+ "confidence": 0.939869225025177,
161
+ "position": [
162
+ 0.04066603630781174,
163
+ -0.14160369313322008,
164
+ 0.0026322402263758704
165
+ ],
166
+ "orientation": {
167
+ "w": 0.4916675454495346,
168
+ "xyz": [
169
+ -0.5127573042788862,
170
+ 0.4953227876324119,
171
+ 0.4999983077094719
172
+ ]
173
+ }
174
+ },
175
+ "grasp_31": {
176
+ "confidence": 0.9397461414337158,
177
+ "position": [
178
+ -0.019622646272182465,
179
+ -0.1289206591900438,
180
+ -0.0003519814636092633
181
+ ],
182
+ "orientation": {
183
+ "w": 0.3708091424381672,
184
+ "xyz": [
185
+ -0.5855212464288625,
186
+ -0.3858768337301357,
187
+ -0.6089043595303517
188
+ ]
189
+ }
190
+ },
191
+ "grasp_32": {
192
+ "confidence": 0.9397443532943726,
193
+ "position": [
194
+ 0.05081199109554291,
195
+ -0.14246797538362443,
196
+ 0.0015412617212859914
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4928650851526018,
200
+ "xyz": [
201
+ -0.5112633663404135,
202
+ 0.4927951534148465,
203
+ 0.5028386568737777
204
+ ]
205
+ }
206
+ },
207
+ "grasp_33": {
208
+ "confidence": 0.939643144607544,
209
+ "position": [
210
+ 0.051188353449106216,
211
+ -0.14291958487592638,
212
+ 0.005443207614007406
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4816399039889489,
216
+ "xyz": [
217
+ -0.519389848477318,
218
+ 0.4911284000149616,
219
+ 0.5070010679307967
220
+ ]
221
+ }
222
+ },
223
+ "grasp_34": {
224
+ "confidence": 0.9395856857299805,
225
+ "position": [
226
+ 0.028888724744319916,
227
+ -0.13932831562124193,
228
+ -0.0017174961540149525
229
+ ],
230
+ "orientation": {
231
+ "w": 0.4622926877067703,
232
+ "xyz": [
233
+ -0.5341299181174726,
234
+ -0.4588497003597849,
235
+ -0.5389319566925007
236
+ ]
237
+ }
238
+ },
239
+ "grasp_35": {
240
+ "confidence": 0.9388269186019897,
241
+ "position": [
242
+ 0.04537580534815788,
243
+ -0.14153733826242387,
244
+ -0.0011036958458134905
245
+ ],
246
+ "orientation": {
247
+ "w": 0.49741193427544117,
248
+ "xyz": [
249
+ -0.5074765250834926,
250
+ 0.4898886506545834,
251
+ 0.5050327257607958
252
+ ]
253
+ }
254
+ },
255
+ "grasp_36": {
256
+ "confidence": 0.9386942386627197,
257
+ "position": [
258
+ -0.10600099712610245,
259
+ 0.10144574218429625,
260
+ -0.00016945516836130992
261
+ ],
262
+ "orientation": {
263
+ "w": 0.6434097931276362,
264
+ "xyz": [
265
+ 0.30197806388185905,
266
+ 0.6421208571270464,
267
+ -0.28725231397509055
268
+ ]
269
+ }
270
+ },
271
+ "grasp_38": {
272
+ "confidence": 0.9386010766029358,
273
+ "position": [
274
+ -0.021744636818766594,
275
+ -0.13205321109853685,
276
+ -0.0001809689165384043
277
+ ],
278
+ "orientation": {
279
+ "w": 0.6046967829771729,
280
+ "xyz": [
281
+ -0.37874961387980727,
282
+ 0.5937124102470225,
283
+ 0.3720162692163161
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "belt clip and side button",
291
+ "mask_color": "Yellow",
292
+ "graspable": true,
293
+ "grasp_scenarios": [
294
+ {
295
+ "scenario": "pinch the metal belt clip lightly to help orient the tape measure during pickup",
296
+ "confidence": 0.42
297
+ },
298
+ {
299
+ "scenario": "press the round side button as a control input",
300
+ "confidence": 0.72
301
+ }
302
+ ],
303
+ "functional_labels": [
304
+ "clip onto belt or pocket",
305
+ "aid storage and carrying",
306
+ "provide side control input"
307
+ ],
308
+ "semantic_description": "Yellow-masked parts include a small silver metal belt clip on the top face with a reflective smooth finish and a round light-colored side button inset on the housing side.",
309
+ "id": 3,
310
+ "grasp_group": {}
311
+ },
312
+ {
313
+ "part_name": "tape hook and lock slider",
314
+ "mask_color": "Purple",
315
+ "graspable": true,
316
+ "grasp_scenarios": [
317
+ {
318
+ "scenario": "pinch the metal tape hook at the blade end to start pulling out the tape",
319
+ "confidence": 0.8
320
+ },
321
+ {
322
+ "scenario": "press or slide the front lock slider to control tape movement",
323
+ "confidence": 0.76
324
+ },
325
+ {
326
+ "scenario": "delicately grasp the hook end to align it with an object edge",
327
+ "confidence": 0.64
328
+ }
329
+ ],
330
+ "functional_labels": [
331
+ "hook onto object edges",
332
+ "enable measurement start point",
333
+ "pull out measuring tape",
334
+ "lock tape extension",
335
+ "control tape movement"
336
+ ],
337
+ "semantic_description": "Small purple-masked parts include the metal tape hook at the tape outlet and the dark ridged front slider near the outlet used to lock or release the tape blade.",
338
+ "id": 5,
339
+ "grasp_group": {}
340
+ }
341
+ ],
342
+ "quality_check": {
343
+ "success": false,
344
+ "message": "Yellow and purple parts are misidentified; side button color/function and slider/hook grouping mismatch mask and RGB views."
345
+ }
346
+ }
dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2cbddc8afd804c2fbfd2efa31e1b113901eea11e2dadb20bbf7e89f22fe5dfa7
3
+ size 3781472