Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -7765,3 +7765,4 @@ dataset/livingroom_supplies/ornaments/ca11e60e19a75c4c86ba5d70471d8f96/affordanc
 dataset/livingroom_supplies/ornaments/cca53a72e8e45d1bbb993976d6dbc321/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/livingroom_supplies/ornaments/cca53a72e8e45d1bbb993976d6dbc321/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d13ebf06d7985f17a3b69548f2255b71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/d13ebf06d7985f17a3b69548f2255b71/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,353 @@

+{
+    "affordances": [
+        {
+            "part_name": "frame body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer frame body to pick up and reposition the photo frame",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the frame body while folding or unfolding the stand",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "hold and border the photo",
+                "protect the picture insert",
+                "provide main structure",
+                "provide main grasp surface"
+            ],
+            "semantic_description": "Large rectangular gray frame body with rounded corners, likely plastic, with a matte smooth hard surface surrounding the picture at the front and forming the main structure.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9617284536361694,
+                    "position": [
+                        -0.04927139217033982,
+                        0.025774271169211715,
+                        0.18112663854844868
+                    ],
+                    "orientation": {
+                        "w": 0.18368699196477553,
+                        "xyz": [
+                            -0.030282360563590547,
+                            0.9788460806752332,
+                            0.08486706056158552
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9595078825950623,
+                    "position": [
+                        -0.019666329491883516,
+                        0.04731190105667338,
+                        0.19151341845281422
+                    ],
+                    "orientation": {
+                        "w": 0.00214950499750877,
+                        "xyz": [
+                            0.9986312281791668,
+                            0.015329301094602961,
+                            0.04996060709784883
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9576865434646606,
+                    "position": [
+                        -0.010922463145107031,
+                        0.005173944809939712,
+                        0.19151282240636647
+                    ],
+                    "orientation": {
+                        "w": 0.11585798038887885,
+                        "xyz": [
+                            -0.9926728397867194,
+                            0.010959399961656638,
+                            0.032518503693447484
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9575308561325073,
+                    "position": [
+                        -0.014921429101377726,
+                        -0.07408546010265127,
+                        0.18790447642095387
+                    ],
+                    "orientation": {
+                        "w": 0.029557764909574374,
+                        "xyz": [
+                            -0.049986947901573084,
+                            0.9950239477791338,
+                            0.08096287370803525
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9560582637786865,
+                    "position": [
+                        -0.03592683607712388,
+                        0.013240009488072246,
+                        0.18477749754674733
+                    ],
+                    "orientation": {
+                        "w": 0.10962826572743598,
+                        "xyz": [
+                            -0.9849343933523939,
+                            -0.016699406249001986,
+                            -0.13269142389799485
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9559400081634521,
+                    "position": [
+                        -0.04203235963359475,
+                        0.03859615226974711,
+                        0.18488855590112507
+                    ],
+                    "orientation": {
+                        "w": 0.12861404617573632,
+                        "xyz": [
+                            -0.00432748701615927,
+                            0.9916811242169283,
+                            -0.0028719077770125436
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9556996822357178,
+                    "position": [
+                        -0.03942466760054231,
+                        0.028231278934981674,
+                        0.18693189253099263
+                    ],
+                    "orientation": {
+                        "w": 0.12286966113760224,
+                        "xyz": [
+                            -5.925845972280751e-05,
+                            0.9924206718589934,
+                            0.002062262667567934
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9553585648536682,
+                    "position": [
+                        -0.021463776472955942,
+                        0.02686935564270243,
+                        0.19089943100698292
+                    ],
+                    "orientation": {
+                        "w": 0.0027376816700688607,
+                        "xyz": [
+                            0.9982564829993534,
+                            0.009637660240462378,
+                            0.05816884693652126
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9550944566726685,
+                    "position": [
+                        -0.039366757962852716,
+                        -0.02780756267020479,
+                        0.1882965557742864
+                    ],
+                    "orientation": {
+                        "w": 0.04703033760898993,
+                        "xyz": [
+                            0.9902792874449512,
+                            0.015373303229679752,
+                            0.1299951604857371
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.954932451248169,
+                    "position": [
+                        -0.043533983174711466,
+                        0.014434746408369392,
+                        0.18238027323968709
+                    ],
+                    "orientation": {
+                        "w": 0.075044067043228,
+                        "xyz": [
+                            -0.9848654614629616,
+                            -0.011589387823137592,
+                            -0.15580146632443526
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "support leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the support leg to open or close the stand",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the support leg to stabilize the frame during placement",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support standing display",
+                "prop the frame at an angle",
+                "stabilize on a surface",
+                "fold for storage"
+            ],
+            "semantic_description": "Long dark gray rectangular support bar, likely plastic, with a matte smooth hard surface positioned behind the frame near the bottom as the rear stand.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.9094610810279846,
+                    "position": [
+                        -0.10022472823038697,
+                        0.018443194159772247,
+                        -0.12825976382009685
+                    ],
+                    "orientation": {
+                        "w": 0.12335660820283384,
+                        "xyz": [
+                            0.37260729831401584,
+                            -0.2237969157509665,
+                            0.8921109174066739
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "support rod",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the thin rod to adjust the stand angle",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the rod lightly to guide folding of the support leg",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "link frame to support leg",
+                "guide stand motion",
+                "maintain display angle",
+                "transfer load to the stand"
+            ],
+            "semantic_description": "Thin silver metal rod with a smooth slightly reflective hard finish, running diagonally between the frame side and the rear support leg.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_49": {
+                    "confidence": 0.5340592265129089,
+                    "position": [
+                        -0.04760010773316026,
+                        -0.15830135444412008,
+                        -0.07262735138647258
+                    ],
+                    "orientation": {
+                        "w": 0.7369480640415023,
+                        "xyz": [
+                            -0.5083473129737649,
+                            0.36130579559182163,
+                            0.26066968057216827
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "support rod",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the thin rod to adjust the stand angle",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the rod lightly to guide folding of the support leg",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "link frame to support leg",
+                "guide stand motion",
+                "maintain display angle",
+                "transfer load to the stand"
+            ],
+            "semantic_description": "Thin silver metal rod with a smooth slightly reflective hard finish, running diagonally between the frame side and the rear support leg.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "retaining strap",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and lift the flexible strap to insert or remove the photo/card",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "pull the strap slightly to reposition the picture backing or media",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "retain the photo or card in the frame",
+                "press the insert against the frame body",
+                "help secure displayed media",
+                "allow media replacement"
+            ],
+            "semantic_description": "Thin dark flexible strap, appearing black or very dark gray, attached near the side hardware and spanning across the back of the frame to hold the displayed media in place.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge cap",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the support rod",
+                "serve as pivot point",
+                "connect stand hardware",
+                "allow stand rotation"
+            ],
+            "semantic_description": "Small round light-colored end cap with a smooth slightly glossy hard surface at the frame side, covering the stand pivot hardware.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge cap",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the support rod",
+                "serve as pivot point",
+                "connect stand hardware",
+                "allow stand rotation"
+            ],
+            "semantic_description": "Small round light-colored end cap with a smooth slightly glossy hard surface at the frame side, covering the stand pivot hardware.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Purple part is a strap across the front, not back; rod functions/descriptions partly inaccurate; support leg grasp confidence too high."
+    }
+}

dataset/livingroom_supplies/ornaments/d13ebf06d7985f17a3b69548f2255b71/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3782156