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
2
xinjjj commited on
Commit
0976a85
·
verified ·
1 Parent(s): 7477420

Add asset tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/affordance_annot.json +585 -0
  3. dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8565,3 +8565,4 @@ dataset/tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae/affordance/mesh_part
8565
  dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8566
  dataset/tools/repair_tools/79c0a69526105254ba065b839f6b5f6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8567
  dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8565
  dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8566
  dataset/tools/repair_tools/79c0a69526105254ba065b839f6b5f6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8567
  dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8568
+ dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,585 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "housing",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body around the sides to pick up and move the tape measure",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body firmly while operating the lock slider or extending the tape",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "clamp the housing to stabilize the tool during placement or use",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "protect internal tape mechanism",
24
+ "support tape retraction mechanism",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Bulky rounded plastic body, mostly blue with red side sections, with a matte hard finish, molded ribs and grooves for grip, and white printed branding on the side, forming the main exterior shell of the tape measure.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9541347026824951,
32
+ "position": [
33
+ -0.1358586960559478,
34
+ -0.041997841792181134,
35
+ -0.0005921204647165723
36
+ ],
37
+ "orientation": {
38
+ "w": 0.06409654195723721,
39
+ "xyz": [
40
+ -0.6938342112902685,
41
+ -0.05920576910972697,
42
+ -0.7148289288049701
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9477108716964722,
48
+ "position": [
49
+ -0.1346161925321212,
50
+ -0.04237004672177136,
51
+ 0.002167907419789117
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0765345339989679,
55
+ "xyz": [
56
+ -0.7003542601975823,
57
+ -0.07062849046447128,
58
+ -0.7061572003905132
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9447547793388367,
64
+ "position": [
65
+ -0.13860170180851128,
66
+ -0.02902528760023415,
67
+ 0.002072527182463091
68
+ ],
69
+ "orientation": {
70
+ "w": 0.04996740534583314,
71
+ "xyz": [
72
+ -0.7005886404049534,
73
+ -0.043267154513215944,
74
+ -0.7104975500864684
75
+ ]
76
+ }
77
+ },
78
+ "grasp_7": {
79
+ "confidence": 0.9389612078666687,
80
+ "position": [
81
+ -0.04464556286984589,
82
+ -0.12566408817656338,
83
+ 0.0006304363996605389
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3632403062583542,
87
+ "xyz": [
88
+ -0.6055103864392056,
89
+ -0.3591696783645344,
90
+ -0.6102546959811923
91
+ ]
92
+ }
93
+ },
94
+ "grasp_8": {
95
+ "confidence": 0.9383162260055542,
96
+ "position": [
97
+ -0.12405536706501152,
98
+ -0.07700050179846585,
99
+ 0.0031550620842608623
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6778030166929837,
103
+ "xyz": [
104
+ -0.1788428956131061,
105
+ 0.6895629107121536,
106
+ 0.18193757561535367
107
+ ]
108
+ }
109
+ },
110
+ "grasp_10": {
111
+ "confidence": 0.9376334547996521,
112
+ "position": [
113
+ -0.11690009023004677,
114
+ -0.08765191887505352,
115
+ -0.00042470580228837207
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6837866172482285,
119
+ "xyz": [
120
+ -0.2089290293965176,
121
+ 0.6685370751347994,
122
+ 0.2045548872988907
123
+ ]
124
+ }
125
+ },
126
+ "grasp_11": {
127
+ "confidence": 0.9375234246253967,
128
+ "position": [
129
+ -0.11707600588852074,
130
+ -0.08589174156077206,
131
+ -0.002641039558511693
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6922001997488678,
135
+ "xyz": [
136
+ -0.1920407008814138,
137
+ 0.6645488756368568,
138
+ 0.20580098289947973
139
+ ]
140
+ }
141
+ },
142
+ "grasp_12": {
143
+ "confidence": 0.9368151426315308,
144
+ "position": [
145
+ -0.1195242890244117,
146
+ -0.08032601629383862,
147
+ 0.00040576649917056784
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6827813041562353,
151
+ "xyz": [
152
+ -0.18796267846330536,
153
+ 0.6810694518530497,
154
+ 0.18607558666358626
155
+ ]
156
+ }
157
+ },
158
+ "grasp_15": {
159
+ "confidence": 0.9362141489982605,
160
+ "position": [
161
+ -0.12189831222349312,
162
+ -0.07536338572390378,
163
+ 0.0032447230696561746
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6782916523858035,
167
+ "xyz": [
168
+ -0.17529191532559762,
169
+ 0.6924227248268712,
170
+ 0.1724643408608013
171
+ ]
172
+ }
173
+ },
174
+ "grasp_16": {
175
+ "confidence": 0.9360336065292358,
176
+ "position": [
177
+ -0.035525906932889484,
178
+ -0.12594700162298977,
179
+ -0.007017298026767094
180
+ ],
181
+ "orientation": {
182
+ "w": 0.3796322950086226,
183
+ "xyz": [
184
+ -0.5848608235862134,
185
+ -0.35764586419002176,
186
+ -0.6212137904524621
187
+ ]
188
+ }
189
+ },
190
+ "grasp_19": {
191
+ "confidence": 0.9342015981674194,
192
+ "position": [
193
+ -0.13544809455925133,
194
+ -0.038669704692438245,
195
+ -0.0006041602537152357
196
+ ],
197
+ "orientation": {
198
+ "w": 0.0854162530197323,
199
+ "xyz": [
200
+ -0.6950419398493694,
201
+ -0.07748602858458342,
202
+ -0.7096595528453655
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "belt clip",
210
+ "mask_color": "Teal",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "pinch the rear clip lightly to lift or stabilize the tape measure when the body is obstructed",
215
+ "confidence": 0.42
216
+ },
217
+ {
218
+ "scenario": "grasp the clip to slightly reorient the object on a surface",
219
+ "confidence": 0.39
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "clip to pocket or belt",
224
+ "provide carry attachment",
225
+ "help retain tool on clothing"
226
+ ],
227
+ "semantic_description": "Small white to silver metal spring clip on the blue top panel, with a smooth reflective finish and bent sheet-metal shape, mounted flat against the housing for pocket or belt attachment.",
228
+ "id": 10,
229
+ "grasp_group": {
230
+ "grasp_40": {
231
+ "confidence": 0.8829035758972168,
232
+ "position": [
233
+ 0.026840200545848347,
234
+ -0.11730704014189541,
235
+ 0.00019082170183537528
236
+ ],
237
+ "orientation": {
238
+ "w": 0.4550099936385218,
239
+ "xyz": [
240
+ -0.5360220852467122,
241
+ 0.4575393962887324,
242
+ 0.5443380665180239
243
+ ]
244
+ }
245
+ },
246
+ "grasp_41": {
247
+ "confidence": 0.8772227764129639,
248
+ "position": [
249
+ 0.0067301382223377,
250
+ -0.11969138239510357,
251
+ 0.0032773226193967275
252
+ ],
253
+ "orientation": {
254
+ "w": 0.4934399845212166,
255
+ "xyz": [
256
+ -0.5121104648895242,
257
+ 0.49435426398651316,
258
+ 0.4998736991527864
259
+ ]
260
+ }
261
+ },
262
+ "grasp_42": {
263
+ "confidence": 0.8720848560333252,
264
+ "position": [
265
+ 0.007720453562797047,
266
+ -0.11942895804531872,
267
+ 0.00047800345782889053
268
+ ],
269
+ "orientation": {
270
+ "w": 0.501340609152212,
271
+ "xyz": [
272
+ -0.49894681803676044,
273
+ 0.5021773077178812,
274
+ 0.4975214749124923
275
+ ]
276
+ }
277
+ },
278
+ "grasp_43": {
279
+ "confidence": 0.8692215085029602,
280
+ "position": [
281
+ 0.001624915181309916,
282
+ -0.12109185312874615,
283
+ 0.000968786007433664
284
+ ],
285
+ "orientation": {
286
+ "w": 0.4929512880377548,
287
+ "xyz": [
288
+ -0.5066516324921018,
289
+ -0.49525079692822216,
290
+ -0.5050047515191989
291
+ ]
292
+ }
293
+ },
294
+ "grasp_44": {
295
+ "confidence": 0.8664615750312805,
296
+ "position": [
297
+ 0.006897020983160473,
298
+ -0.12024995987303555,
299
+ -0.0014758418619749136
300
+ ],
301
+ "orientation": {
302
+ "w": 0.49726960678760307,
303
+ "xyz": [
304
+ -0.5041006184117086,
305
+ 0.5004991361616932,
306
+ 0.4981025189492966
307
+ ]
308
+ }
309
+ },
310
+ "grasp_45": {
311
+ "confidence": 0.8545295596122742,
312
+ "position": [
313
+ -0.0071380837907781824,
314
+ -0.11701293592341244,
315
+ 9.602322188584367e-05
316
+ ],
317
+ "orientation": {
318
+ "w": 0.45357529381688827,
319
+ "xyz": [
320
+ -0.5422903727743333,
321
+ -0.44203531312914224,
322
+ -0.552082771314247
323
+ ]
324
+ }
325
+ },
326
+ "grasp_46": {
327
+ "confidence": 0.8528736233711243,
328
+ "position": [
329
+ -0.008835729313432239,
330
+ -0.11889815633185208,
331
+ -0.00038406835665227845
332
+ ],
333
+ "orientation": {
334
+ "w": 0.4752677182833652,
335
+ "xyz": [
336
+ -0.5245253627877002,
337
+ -0.4668716710867763,
338
+ -0.5301175176192504
339
+ ]
340
+ }
341
+ },
342
+ "grasp_47": {
343
+ "confidence": 0.8516790866851807,
344
+ "position": [
345
+ 0.01568601829058025,
346
+ -0.1186420873273164,
347
+ -0.0006961956460145302
348
+ ],
349
+ "orientation": {
350
+ "w": 0.5501852491172996,
351
+ "xyz": [
352
+ -0.44699672124452056,
353
+ -0.5400490724215361,
354
+ -0.4536927619292842
355
+ ]
356
+ }
357
+ },
358
+ "grasp_48": {
359
+ "confidence": 0.8449829816818237,
360
+ "position": [
361
+ -0.01160949571931269,
362
+ -0.1176345229614526,
363
+ 0.002853453734132927
364
+ ],
365
+ "orientation": {
366
+ "w": 0.5346705060566256,
367
+ "xyz": [
368
+ -0.45624374785508104,
369
+ 0.5524596604033123,
370
+ 0.4480596122430114
371
+ ]
372
+ }
373
+ },
374
+ "grasp_49": {
375
+ "confidence": 0.8422770500183105,
376
+ "position": [
377
+ -0.010745538500486873,
378
+ -0.11904581193812191,
379
+ 0.0010148357760044746
380
+ ],
381
+ "orientation": {
382
+ "w": 0.4990499314731837,
383
+ "xyz": [
384
+ -0.5108535599182311,
385
+ -0.4931855192367913,
386
+ -0.4967351908518437
387
+ ]
388
+ }
389
+ },
390
+ "grasp_50": {
391
+ "confidence": 0.8408285975456238,
392
+ "position": [
393
+ -0.001018026247038506,
394
+ -0.12078222935087979,
395
+ 7.142637514334638e-05
396
+ ],
397
+ "orientation": {
398
+ "w": 0.49350046146016346,
399
+ "xyz": [
400
+ -0.5020515157402454,
401
+ -0.5060329930186414,
402
+ -0.49832938911740216
403
+ ]
404
+ }
405
+ },
406
+ "grasp_51": {
407
+ "confidence": 0.8397687673568726,
408
+ "position": [
409
+ 0.0017138114344561473,
410
+ -0.11933885817416012,
411
+ -0.0013372150788200088
412
+ ],
413
+ "orientation": {
414
+ "w": 0.4963805062941327,
415
+ "xyz": [
416
+ -0.5043691312799028,
417
+ -0.4914801590834782,
418
+ -0.5076075507815231
419
+ ]
420
+ }
421
+ },
422
+ "grasp_52": {
423
+ "confidence": 0.8256367444992065,
424
+ "position": [
425
+ 0.01503367153054569,
426
+ 0.12466974253766239,
427
+ -0.000921168721106369
428
+ ],
429
+ "orientation": {
430
+ "w": 0.4814209176545659,
431
+ "xyz": [
432
+ 0.5142567850819456,
433
+ 0.48763177098700183,
434
+ -0.5157413256332066
435
+ ]
436
+ }
437
+ },
438
+ "grasp_54": {
439
+ "confidence": 0.8178695440292358,
440
+ "position": [
441
+ 0.012664601104916073,
442
+ -0.11573999677784741,
443
+ 0.003393875544134062
444
+ ],
445
+ "orientation": {
446
+ "w": 0.48779008552919234,
447
+ "xyz": [
448
+ -0.5101408121986842,
449
+ 0.49476483112652947,
450
+ 0.5069762776196007
451
+ ]
452
+ }
453
+ },
454
+ "grasp_55": {
455
+ "confidence": 0.8161812424659729,
456
+ "position": [
457
+ 0.007106514545739628,
458
+ 0.12480222876183689,
459
+ -0.008620449698355515
460
+ ],
461
+ "orientation": {
462
+ "w": 0.5147471633059852,
463
+ "xyz": [
464
+ 0.5045592397142941,
465
+ 0.48449236980075727,
466
+ -0.49570401964501054
467
+ ]
468
+ }
469
+ },
470
+ "grasp_56": {
471
+ "confidence": 0.8156757950782776,
472
+ "position": [
473
+ -0.003063578958972357,
474
+ 0.1252645521890372,
475
+ 0.000535473860509228
476
+ ],
477
+ "orientation": {
478
+ "w": 0.5007807542310535,
479
+ "xyz": [
480
+ 0.516152620412874,
481
+ -0.4877277636626278,
482
+ 0.49490073467853424
483
+ ]
484
+ }
485
+ },
486
+ "grasp_57": {
487
+ "confidence": 0.8127262592315674,
488
+ "position": [
489
+ 0.014987217160523869,
490
+ -0.11601381306536496,
491
+ 0.009854002499196213
492
+ ],
493
+ "orientation": {
494
+ "w": 0.5178724481149101,
495
+ "xyz": [
496
+ -0.5093445159771784,
497
+ -0.5188398383153481,
498
+ -0.45075660139852336
499
+ ]
500
+ }
501
+ },
502
+ "grasp_59": {
503
+ "confidence": 0.8025370240211487,
504
+ "position": [
505
+ 0.10128957395500038,
506
+ 0.0750052451621741,
507
+ -0.0023427374035236426
508
+ ],
509
+ "orientation": {
510
+ "w": 0.6773293174915831,
511
+ "xyz": [
512
+ 0.2282072747517931,
513
+ -0.6591448242559563,
514
+ 0.23382586698936825
515
+ ]
516
+ }
517
+ }
518
+ }
519
+ },
520
+ {
521
+ "part_name": "external control and tape-end hook",
522
+ "mask_color": "Orange",
523
+ "graspable": true,
524
+ "grasp_scenarios": [
525
+ {
526
+ "scenario": "press or nudge the black lock slider while another gripper holds the body",
527
+ "confidence": 0.78
528
+ },
529
+ {
530
+ "scenario": "pinch the metal tape-end hook to start pulling the tape outward",
531
+ "confidence": 0.63
532
+ },
533
+ {
534
+ "scenario": "lightly grasp the exposed hook to guide alignment near an edge",
535
+ "confidence": 0.44
536
+ }
537
+ ],
538
+ "functional_labels": [
539
+ "lock or unlock tape motion",
540
+ "provide a small manual control surface",
541
+ "offer an external pull point at the tape end"
542
+ ],
543
+ "semantic_description": "Small orange-masked external parts including the black lock slider on the red side area and the shiny silver metal tape-end hook near the tape exit; these are distinct small protruding components grouped in one mask.",
544
+ "id": 4,
545
+ "grasp_group": {
546
+ "grasp_21": {
547
+ "confidence": 0.030363252386450768,
548
+ "position": [
549
+ 0.02465477575606201,
550
+ -0.007087732432410121,
551
+ -0.09918656422087224
552
+ ],
553
+ "orientation": {
554
+ "w": 0.7129620440912108,
555
+ "xyz": [
556
+ 0.028363876950157157,
557
+ -8.682416533767334e-05,
558
+ -0.7006287223852615
559
+ ]
560
+ }
561
+ },
562
+ "grasp_26": {
563
+ "confidence": 0.04233454540371895,
564
+ "position": [
565
+ -0.02683908688777592,
566
+ -0.00613012770190835,
567
+ -0.09906634165236028
568
+ ],
569
+ "orientation": {
570
+ "w": 0.7932206464862561,
571
+ "xyz": [
572
+ -0.09693210245386466,
573
+ 0.11131049816114491,
574
+ -0.5907750388268933
575
+ ]
576
+ }
577
+ }
578
+ }
579
+ }
580
+ ],
581
+ "quality_check": {
582
+ "success": false,
583
+ "message": "Orange part merges separate components with different identities and functions."
584
+ }
585
+ }
dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eeb8f5c82911993c773fbb7f7d28c95df8e9120df79eba2b0f4533fcf5230b80
3
+ size 3793336