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
381bc80
·
verified ·
1 Parent(s): 8579489

Add asset tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/affordance_annot.json +326 -0
  3. dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8584,3 +8584,4 @@ dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/affordance/mesh_part
8584
  dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8585
  dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8586
  dataset/tools/repair_tools/9a1c31bfcb915db38bac063916df73ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8584
  dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8585
  dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8586
  dataset/tools/repair_tools/9a1c31bfcb915db38bac063916df73ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8587
+ dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wrench body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the central handle to pick up and transport the wrench",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to position one open end onto a nut or bolt",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the shaft to stabilize the wrench during tool handoff or storage",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "provide leverage",
24
+ "connect the two wrench heads",
25
+ "enable turning fasteners",
26
+ "support positioning and alignment"
27
+ ],
28
+ "semantic_description": "Single-piece silver-gray metal wrench with a reflective smooth hard surface, elongated flat shaft, and open jaws at both ends, medium-sized and symmetric with no visible markings.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9456532597541809,
33
+ "position": [
34
+ -0.11086983653513016,
35
+ -0.004465266232728027,
36
+ 0.0024204496439779177
37
+ ],
38
+ "orientation": {
39
+ "w": 0.039281704774111345,
40
+ "xyz": [
41
+ 0.7025009052173324,
42
+ -0.03284466895520777,
43
+ 0.7098384700480037
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9371233582496643,
49
+ "position": [
50
+ -0.10739860358444275,
51
+ -0.014203248545527458,
52
+ 0.002661295948200859
53
+ ],
54
+ "orientation": {
55
+ "w": 0.6950573546162326,
56
+ "xyz": [
57
+ -0.0007627318739024954,
58
+ 0.7189512531391736,
59
+ 0.0019461869346800065
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9363786578178406,
65
+ "position": [
66
+ 0.13297624466213165,
67
+ -0.14728373382240534,
68
+ -0.0025818499125307426
69
+ ],
70
+ "orientation": {
71
+ "w": 0.05116940543386843,
72
+ "xyz": [
73
+ 0.7030750616798509,
74
+ 0.055344251870609984,
75
+ -0.7071097251320342
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9349690675735474,
81
+ "position": [
82
+ -0.12945214333740296,
83
+ -0.17190170381218195,
84
+ 0.003688854878419079
85
+ ],
86
+ "orientation": {
87
+ "w": 0.02718824295817214,
88
+ "xyz": [
89
+ 0.7131839552076799,
90
+ 0.0014147852994097487,
91
+ 0.7004480308072352
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9347245693206787,
97
+ "position": [
98
+ 0.13583342311176239,
99
+ -0.12172886077314615,
100
+ 0.002684154562302865
101
+ ],
102
+ "orientation": {
103
+ "w": 0.06876244252281297,
104
+ "xyz": [
105
+ 0.7119111811350627,
106
+ 0.08655668079469037,
107
+ -0.6935143384840597
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.934474766254425,
113
+ "position": [
114
+ 0.1313395607212442,
115
+ -0.12153670284897089,
116
+ 0.0001821358600864187
117
+ ],
118
+ "orientation": {
119
+ "w": 0.1150624848135111,
120
+ "xyz": [
121
+ 0.7016929584046662,
122
+ 0.12360703583584276,
123
+ -0.6921769408220158
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.932958722114563,
129
+ "position": [
130
+ -0.10466156574693741,
131
+ 0.0026198383420705795,
132
+ 0.0004456059104995802
133
+ ],
134
+ "orientation": {
135
+ "w": 0.029888545990401767,
136
+ "xyz": [
137
+ -0.6978956798887379,
138
+ -0.024051528444768766,
139
+ -0.7151711814598561
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9320692420005798,
145
+ "position": [
146
+ -0.1246840176245314,
147
+ -0.16251905355602503,
148
+ -0.002700153723708354
149
+ ],
150
+ "orientation": {
151
+ "w": 0.7144242456705732,
152
+ "xyz": [
153
+ -0.00022156516481907585,
154
+ 0.6995673420440794,
155
+ -0.01426471353697162
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9313713908195496,
161
+ "position": [
162
+ -0.12565195980278077,
163
+ -0.1396774211898446,
164
+ -0.004111306028789841
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7187352394796078,
168
+ "xyz": [
169
+ 0.07023066265409246,
170
+ 0.6852952337755269,
171
+ -0.09411563163419487
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9303248524665833,
177
+ "position": [
178
+ -0.12628296437469544,
179
+ -0.12798979971557856,
180
+ 0.0011100658593932167
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6990599771970475,
184
+ "xyz": [
185
+ 0.04691286632897527,
186
+ 0.7107944265778795,
187
+ -0.06233469659737415
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9299233555793762,
193
+ "position": [
194
+ -0.12425838830677094,
195
+ -0.16572013590484858,
196
+ 0.00022243348939809948
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7072493561670125,
200
+ "xyz": [
201
+ -0.00014804230691095856,
202
+ 0.7065845218574025,
203
+ -0.02316548631838537
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.9293382167816162,
209
+ "position": [
210
+ 0.13215323862823425,
211
+ 0.17562794592231512,
212
+ 0.0031487951200688258
213
+ ],
214
+ "orientation": {
215
+ "w": 0.7071389134939454,
216
+ "xyz": [
217
+ 0.014547805459627059,
218
+ -0.7065901209949024,
219
+ 0.021755902447849702
220
+ ]
221
+ }
222
+ },
223
+ "grasp_14": {
224
+ "confidence": 0.9293161630630493,
225
+ "position": [
226
+ 0.1274647819736856,
227
+ 0.18054380919784307,
228
+ 0.003536665128194727
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7087104643441523,
232
+ "xyz": [
233
+ 0.009089976125650386,
234
+ -0.7052340153340968,
235
+ 0.017083140193724883
236
+ ]
237
+ }
238
+ },
239
+ "grasp_15": {
240
+ "confidence": 0.9292333722114563,
241
+ "position": [
242
+ -0.11090813251939835,
243
+ 0.00044848816469311714,
244
+ 0.001860201606177725
245
+ ],
246
+ "orientation": {
247
+ "w": 0.6982797561414902,
248
+ "xyz": [
249
+ -0.018017985683894188,
250
+ 0.7152491678327566,
251
+ 0.022346415135883136
252
+ ]
253
+ }
254
+ },
255
+ "grasp_16": {
256
+ "confidence": 0.9283430576324463,
257
+ "position": [
258
+ 0.1332829999664682,
259
+ -0.15878632757812738,
260
+ -0.000569175070268102
261
+ ],
262
+ "orientation": {
263
+ "w": 0.7086762760460482,
264
+ "xyz": [
265
+ -0.0003739256194826247,
266
+ -0.7053183382377416,
267
+ -0.017430940728683987
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9282045960426331,
273
+ "position": [
274
+ -0.1274224114677054,
275
+ -0.15002709720283747,
276
+ -0.0076966157503193244
277
+ ],
278
+ "orientation": {
279
+ "w": 0.7354436739129575,
280
+ "xyz": [
281
+ -0.007871002212293714,
282
+ 0.6758709009368062,
283
+ -0.047530780473875725
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9279671907424927,
289
+ "position": [
290
+ 0.1355720716455835,
291
+ -0.15939125511795282,
292
+ -0.004992929505533539
293
+ ],
294
+ "orientation": {
295
+ "w": 0.7183800414160725,
296
+ "xyz": [
297
+ 0.010229832242903065,
298
+ -0.6955638117830805,
299
+ 0.00405590496866639
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.927903950214386,
305
+ "position": [
306
+ -0.10344256135431351,
307
+ 0.0023875865153968334,
308
+ 0.00227345411258284
309
+ ],
310
+ "orientation": {
311
+ "w": 0.7003296242057735,
312
+ "xyz": [
313
+ -0.014725475849164655,
314
+ 0.7131900069528099,
315
+ 0.02610731321807322
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ }
321
+ ],
322
+ "quality_check": {
323
+ "success": true,
324
+ "message": "YES"
325
+ }
326
+ }
dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2667906c72916152e3f2112ca087fa55d30316adc536d1e03eb7b82dba0c673d
3
+ size 379296