Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -5885,4 +5885,4 @@ dataset/bathroom_supplies/personal_care/fdf4cee888a75e61abf71331e86c05f5/afforda
 dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/lighting_fixtures/1973a76702ee5e7c9d6718d88e85d786/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/lighting_fixtures/0a4489b1a2875c82a580f8b62d346e08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/lighting_fixtures/0a4489b1a2875c82a580f8b62d346e08/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,378 @@

+{
+    "affordances": [
+        {
+            "part_name": "lampshade",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sides of the lampshade to reposition the lamp carefully",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the lampshade to stabilize the lamp during cleaning or adjustment",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "diffuse light",
+                "cover the bulb",
+                "reduce glare",
+                "form the upper housing"
+            ],
+            "semantic_description": "Large off-white rectangular lampshade with a matte fabric-like surface and boxy shape, mounted at the top of the lamp.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.732804000377655,
+                    "position": [
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+                        -0.008301733527332544,
+                        0.34429897367954254
+                    ],
+                    "orientation": {
+                        "w": 0.04370817938075043,
+                        "xyz": [
+                            -0.008274621060207479,
+                            -0.9982679970205067,
+                            0.03849846524468466
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.72963947057724,
+                    "position": [
+                        -0.044175170944072306,
+                        -0.029693421442061663,
+                        0.3598540872335434
+                    ],
+                    "orientation": {
+                        "w": 0.05943817653794141,
+                        "xyz": [
+                            0.02909074438261145,
+                            -0.9976650947473146,
+                            0.01688758372121931
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.7277949452400208,
+                    "position": [
+                        -0.056292228982783854,
+                        -0.033418983686715364,
+                        0.34480448067188263
+                    ],
+                    "orientation": {
+                        "w": 0.0338525010820804,
+                        "xyz": [
+                            0.005332062331542789,
+                            -0.9991039092503567,
+                            0.024838595017345026
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.7156251668930054,
+                    "position": [
+                        -0.03595028503332287,
+                        -0.031632300931960344,
+                        0.3483036607503891
+                    ],
+                    "orientation": {
+                        "w": 0.07344857313283784,
+                        "xyz": [
+                            0.9920060854511491,
+                            0.07813105084507524,
+                            -0.06651896290894888
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7092488408088684,
+                    "position": [
+                        -0.04370085208211094,
+                        -0.04661712469533086,
+                        0.3473622351884842
+                    ],
+                    "orientation": {
+                        "w": 0.06660457260080807,
+                        "xyz": [
+                            0.030799026587115988,
+                            -0.997179535541606,
+                            0.015755150490455682
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.6910610795021057,
+                    "position": [
+                        -0.05775936006102711,
+                        0.004927011439576745,
+                        0.3418947011232376
+                    ],
+                    "orientation": {
+                        "w": 0.04066842328374662,
+                        "xyz": [
+                            -0.020822962460208982,
+                            -0.9989493522972914,
+                            0.0035602144341889542
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.6817595362663269,
+                    "position": [
+                        -0.06148441939149052,
+                        -0.05020133825019002,
+                        0.34715665876865387
+                    ],
+                    "orientation": {
+                        "w": 0.019672037627303168,
+                        "xyz": [
+                            0.018250690165407674,
+                            -0.9993906563031938,
+                            0.02232127545522757
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.6722295880317688,
+                    "position": [
+                        -0.04813721834216267,
+                        -0.01883689546957612,
+                        0.34073249995708466
+                    ],
+                    "orientation": {
+                        "w": 0.054004805696192267,
+                        "xyz": [
+                            -0.9969609938677748,
+                            0.04340515473871051,
+                            0.035612500754703985
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.6688874959945679,
+                    "position": [
+                        -0.05706379620824009,
+                        0.01901727495715022,
+                        0.35074780881404877
+                    ],
+                    "orientation": {
+                        "w": 0.024776027761589037,
+                        "xyz": [
+                            -0.04765179528804799,
+                            -0.9984691458093495,
+                            0.013221940891192328
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.6639479398727417,
+                    "position": [
+                        -0.031230617896653712,
+                        -0.06867160694673657,
+                        0.34987522661685944
+                    ],
+                    "orientation": {
+                        "w": 0.03474425527660462,
+                        "xyz": [
+                            0.057088793203379715,
+                            -0.9976488770410851,
+                            0.015179741582713553
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.6539241075515747,
+                    "position": [
+                        -0.048051752732135355,
+                        -0.020723456982523203,
+                        0.3415181189775467
+                    ],
+                    "orientation": {
+                        "w": 0.07165445099367912,
+                        "xyz": [
+                            -0.9970502179072999,
+                            -0.00504377013362281,
+                            0.0270381768364563
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6536436080932617,
+                    "position": [
+                        -0.04797358496580273,
+                        0.016575350891798735,
+                        0.35033412277698517
+                    ],
+                    "orientation": {
+                        "w": 0.04407510598569204,
+                        "xyz": [
+                            -0.0319898710266623,
+                            -0.9982460105091029,
+                            0.02321498840638151
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "light bulb",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bulb gently to unscrew or replace it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "emit light",
+                "serve as the replaceable light source",
+                "illuminate through the shade"
+            ],
+            "semantic_description": "Small frosted white bulb with a smooth translucent glass surface and rounded form, centered beneath the shade opening.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bulb socket",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold the light bulb",
+                "connect bulb to wiring",
+                "position the light source"
+            ],
+            "semantic_description": "Small dark socket component around the bulb base under the shade, with a smooth hard finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front base panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front lower panel to lift or reposition the lamp",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the lower panel to stabilize the lamp while moving it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support on a surface",
+                "stabilize the lamp",
+                "form one side of the base"
+            ],
+            "semantic_description": "Dark black front base panel, likely painted metal, with a smooth semi-gloss finish and broad trapezoidal shape at the bottom of the open frame.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the left side panel to steady or reorient the lamp",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "use the side panel as a secondary holding point while placing the lamp",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "connect upper structure to base",
+                "provide structural support",
+                "form a side of the open frame"
+            ],
+            "semantic_description": "Dark black side panel with a smooth hard finish, slanting from the upper area down to the base on the left side.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the right side panel to steady or reorient the lamp",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "use the side panel as a secondary holding point while placing the lamp",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "connect upper structure to base",
+                "provide structural support",
+                "form a side of the open frame"
+            ],
+            "semantic_description": "Dark black side panel with a smooth hard finish, slanting from the upper area down to the base on the right side.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear side panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear slanted panel to stabilize the lamp while adjusting it",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "use a careful pinch grasp on the rear panel for short-distance repositioning",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "connect upper structure to base",
+                "provide structural support",
+                "complete the open-frame geometry"
+            ],
+            "semantic_description": "Dark black rear slanted panel with a smooth hard finish, visible between the shade section and base from angled views.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "shade support rod",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the shade frame",
+                "connect interior fittings",
+                "maintain shade alignment"
+            ],
+            "semantic_description": "Thin metallic support rod visible inside the top opening of the shade, with a narrow linear shape and reflective finish.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bulb collar",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure the socket area",
+                "help mount the bulb assembly",
+                "position the central fitting"
+            ],
+            "semantic_description": "Small ring-like collar around the central bulb/socket area under the shade, appearing metallic with a warm brass-like reflective finish.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "One base part is misidentified and some grasp labels are unrealistic for thin slanted frame members."
+    }
+}

dataset/bedroom_supplies/lighting_fixtures/0a4489b1a2875c82a580f8b62d346e08/affordance/mesh_part_seg.glb ADDED Viewed

	@@ -0,0 +1,3 @@

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