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
faa8e41
·
verified ·
1 Parent(s): aad5926

Add asset tools/repair_tools/15ff7ef89e6d5149bbacb29d75b35ac6

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/tools/repair_tools/15ff7ef89e6d5149bbacb29d75b35ac6/affordance/affordance_annot.json +365 -0
  3. dataset/tools/repair_tools/15ff7ef89e6d5149bbacb29d75b35ac6/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7804,4 +7804,4 @@ dataset/tools/repair_tools/118a8025d0cf57e6b7d03ef4ba33a13a/affordance/mesh_part
7804
  dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7805
  dataset/tools/repair_tools/133274a15f275f2581c3a41fec0bc511/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7806
  dataset/tools/repair_tools/143e6a9bdcef5dd190b23c1e009b2550/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7807
- dataset/tools/repair_tools/17082803f0f5517aa505fd663382fda8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7804
  dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7805
  dataset/tools/repair_tools/133274a15f275f2581c3a41fec0bc511/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7806
  dataset/tools/repair_tools/143e6a9bdcef5dd190b23c1e009b2550/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7807
+ dataset/tools/repair_tools/15ff7ef89e6d5149bbacb29d75b35ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/15ff7ef89e6d5149bbacb29d75b35ac6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tape measure case",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer case to pick up and carry the measuring tape",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the case while extending or retracting the tape",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the tool body during placement on a surface",
18
+ "confidence": 0.89
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "house the tape mechanism",
23
+ "provide main grasp surface",
24
+ "protect internal components",
25
+ "support handling and positioning"
26
+ ],
27
+ "semantic_description": "Rounded compact light blue plastic housing with a smooth matte surface, forming the main body around the sides and back, with molded contours, a tape outlet, and small protrusions near the edges.",
28
+ "id": 5,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9571037888526917,
32
+ "position": [
33
+ -0.13119598664343357,
34
+ -0.09068200038746,
35
+ -0.0016698053623258602
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6864987749591278,
39
+ "xyz": [
40
+ -0.1880085950430457,
41
+ 0.6743692123898068,
42
+ 0.19646466743490384
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9532513618469238,
48
+ "position": [
49
+ -0.11315729655325413,
50
+ -0.1101928879506886,
51
+ -0.00313132091469015
52
+ ],
53
+ "orientation": {
54
+ "w": 0.2989696424837755,
55
+ "xyz": [
56
+ -0.6390131005323803,
57
+ -0.29423347580027626,
58
+ -0.644752721544939
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9528111815452576,
64
+ "position": [
65
+ -0.1397977415472269,
66
+ -0.07506112055853009,
67
+ 0.001432232809747802
68
+ ],
69
+ "orientation": {
70
+ "w": 0.17080081964240237,
71
+ "xyz": [
72
+ -0.6865869008682838,
73
+ -0.15926131543503297,
74
+ -0.688521126016822
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9527150988578796,
80
+ "position": [
81
+ -0.15196446515619755,
82
+ -0.035932999569922686,
83
+ 0.0015133783635974396
84
+ ],
85
+ "orientation": {
86
+ "w": 0.03346648071611647,
87
+ "xyz": [
88
+ -0.7042327922087653,
89
+ -0.008902113699812086,
90
+ -0.7091240522066635
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.95168137550354,
96
+ "position": [
97
+ -0.04154692776501179,
98
+ 0.14785561664029956,
99
+ 0.0011997518777207006
100
+ ],
101
+ "orientation": {
102
+ "w": 0.48415644137442443,
103
+ "xyz": [
104
+ 0.5182977701168299,
105
+ -0.47867013722648666,
106
+ 0.5175276432183616
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9508817195892334,
112
+ "position": [
113
+ -0.14910941757261753,
114
+ -0.0494583104737103,
115
+ -0.00011189462748006918
116
+ ],
117
+ "orientation": {
118
+ "w": 0.703882868550645,
119
+ "xyz": [
120
+ -0.054576655463272256,
121
+ 0.70556319596333,
122
+ 0.061244367425674004
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9506892561912537,
128
+ "position": [
129
+ -0.1032006461173296,
130
+ -0.12094769673421979,
131
+ -0.0020663814902945887
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6211135102915422,
135
+ "xyz": [
136
+ -0.33403837483782184,
137
+ 0.6199933825728102,
138
+ 0.3438670921081999
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9505369067192078,
144
+ "position": [
145
+ -0.09947171993553638,
146
+ -0.12131221638992429,
147
+ -0.0005149736934981775
148
+ ],
149
+ "orientation": {
150
+ "w": 0.34255154086510775,
151
+ "xyz": [
152
+ -0.6199073688085033,
153
+ -0.33484391979599937,
154
+ -0.621492433842528
155
+ ]
156
+ }
157
+ },
158
+ "grasp_29": {
159
+ "confidence": 0.9503200650215149,
160
+ "position": [
161
+ -0.10380610264837742,
162
+ -0.11696140514686704,
163
+ -0.005116303433169378
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6272347564858896,
167
+ "xyz": [
168
+ -0.33183418873737924,
169
+ 0.6114747817067435,
170
+ 0.3500874501860673
171
+ ]
172
+ }
173
+ },
174
+ "grasp_30": {
175
+ "confidence": 0.9500763416290283,
176
+ "position": [
177
+ -0.1438972745090723,
178
+ -0.07226528273895383,
179
+ -0.00616075702055241
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7057067299549168,
183
+ "xyz": [
184
+ -0.1441302292778255,
185
+ 0.6725652814913585,
186
+ 0.16988357906845927
187
+ ]
188
+ }
189
+ },
190
+ "grasp_33": {
191
+ "confidence": 0.9497841000556946,
192
+ "position": [
193
+ -0.14068215526640415,
194
+ -0.07551246928051114,
195
+ 0.003841109592030989
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6785961213460749,
199
+ "xyz": [
200
+ -0.16823500890086232,
201
+ 0.6927001594220575,
202
+ 0.17711796919241926
203
+ ]
204
+ }
205
+ },
206
+ "grasp_34": {
207
+ "confidence": 0.9494209885597229,
208
+ "position": [
209
+ -0.1402574721723795,
210
+ -0.07920740591362119,
211
+ 0.0026452115453139413
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6834259419681994,
215
+ "xyz": [
216
+ -0.18236079262479638,
217
+ 0.686953194249998,
218
+ 0.16663982737586996
219
+ ]
220
+ }
221
+ },
222
+ "grasp_36": {
223
+ "confidence": 0.9487854838371277,
224
+ "position": [
225
+ -0.1342166606336832,
226
+ -0.08838973240926862,
227
+ 0.00014316125088953413
228
+ ],
229
+ "orientation": {
230
+ "w": 0.17610646806044852,
231
+ "xyz": [
232
+ -0.6807338850105384,
233
+ -0.1721026900464172,
234
+ -0.6899047425438677
235
+ ]
236
+ }
237
+ },
238
+ "grasp_37": {
239
+ "confidence": 0.9486629366874695,
240
+ "position": [
241
+ -0.10247389413416386,
242
+ -0.12149458425119519,
243
+ -0.004714069869805826
244
+ ],
245
+ "orientation": {
246
+ "w": 0.3348634481108111,
247
+ "xyz": [
248
+ -0.6219395780909324,
249
+ -0.32341977469230143,
250
+ -0.6296485382031726
251
+ ]
252
+ }
253
+ },
254
+ "grasp_39": {
255
+ "confidence": 0.948637068271637,
256
+ "position": [
257
+ -0.1323507223278284,
258
+ -0.0885229711420834,
259
+ -0.007716772593994392
260
+ ],
261
+ "orientation": {
262
+ "w": 0.696934860685534,
263
+ "xyz": [
264
+ -0.16462915796350427,
265
+ 0.6709107026905596,
266
+ 0.19250420599229037
267
+ ]
268
+ }
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "part_name": "front cover panel",
274
+ "mask_color": "Blue",
275
+ "graspable": false,
276
+ "grasp_scenarios": [],
277
+ "functional_labels": [
278
+ "cover the side of the internal mechanism",
279
+ "provide brand display area",
280
+ "protect the case face",
281
+ "identify the product front"
282
+ ],
283
+ "semantic_description": "Large pale pink oval side panel, likely plastic, with a smooth matte finish and dark printed logo text on the broad central face of the measuring tape.",
284
+ "id": 2,
285
+ "grasp_group": {}
286
+ },
287
+ {
288
+ "part_name": "hook and slider components",
289
+ "mask_color": "Green",
290
+ "graspable": true,
291
+ "grasp_scenarios": [
292
+ {
293
+ "scenario": "pinch the metal hook at the tape end to begin pulling out the tape",
294
+ "confidence": 0.72
295
+ },
296
+ {
297
+ "scenario": "press or slide the ridged lock slider with a finger or gripper tip to lock or release the blade",
298
+ "confidence": 0.83
299
+ }
300
+ ],
301
+ "functional_labels": [
302
+ "start tape extension",
303
+ "hook onto an edge",
304
+ "lock or release tape movement",
305
+ "provide small control features"
306
+ ],
307
+ "semantic_description": "Small protruding components shown by the green mask, including the shiny silver metal tape hook at the tape outlet and the dark gray ridged lock slider on the case edge; both are compact hard-surfaced control features attached to the light blue body.",
308
+ "id": 1,
309
+ "grasp_group": {
310
+ "grasp_7": {
311
+ "confidence": 0.7176019549369812,
312
+ "position": [
313
+ 0.1575999315828085,
314
+ 9.609898552298546e-05,
315
+ 0.0019662187150970567
316
+ ],
317
+ "orientation": {
318
+ "w": 0.06277004414237866,
319
+ "xyz": [
320
+ -0.7057942559173264,
321
+ 0.07040127115458861,
322
+ 0.7021097142842347
323
+ ]
324
+ }
325
+ },
326
+ "grasp_8": {
327
+ "confidence": 0.43004801869392395,
328
+ "position": [
329
+ 0.14368133805692196,
330
+ -0.11168134259060025,
331
+ -0.0020454535078897607
332
+ ],
333
+ "orientation": {
334
+ "w": 0.21345130806643875,
335
+ "xyz": [
336
+ -0.679352855557325,
337
+ 0.19317710326616677,
338
+ 0.6749821060624699
339
+ ]
340
+ }
341
+ },
342
+ "grasp_9": {
343
+ "confidence": 0.4043998718261719,
344
+ "position": [
345
+ 0.11542855016887188,
346
+ -0.13216520147398114,
347
+ 0.015207239444862353
348
+ ],
349
+ "orientation": {
350
+ "w": 0.6153739406373462,
351
+ "xyz": [
352
+ -0.4077300952230316,
353
+ -0.6278417552688859,
354
+ -0.24675050754712927
355
+ ]
356
+ }
357
+ }
358
+ }
359
+ }
360
+ ],
361
+ "quality_check": {
362
+ "success": false,
363
+ "message": "Green mask merges distinct parts; hook and lock slider should not be one part."
364
+ }
365
+ }
dataset/tools/repair_tools/15ff7ef89e6d5149bbacb29d75b35ac6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f7199582774a777ce5f400597a95886e7c6f0bb38ba66635c9ef2930c0c4485
3
+ size 3782116