Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -8549,3 +8549,4 @@ dataset/livingroom_supplies/ornaments/2a2cc1db7ead5d89a977152e2372190b/affordanc
 dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a0ebba1917ef5b12a120b015e36fb8a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a0ebba1917ef5b12a120b015e36fb8a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/6a67ee1228d959679b96972db7ff348e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/6a67ee1228d959679b96972db7ff348e/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,395 @@

+{
+    "affordances": [
+        {
+            "part_name": "glue gun body and handle",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the glue gun",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the main body to stabilize the tool during manipulation",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main structural housing",
+                "provide primary grip surface",
+                "support internal heating mechanism",
+                "connect nozzle, handle, trigger, and cord entry"
+            ],
+            "semantic_description": "Large off-white or cream plastic housing with a smooth matte finish, forming the barrel and pistol-style handle, with rounded contours and a side brand label.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.9672702550888062,
+                    "position": [
+                        -0.1281616275664419,
+                        -0.003032851964235306,
+                        0.0028765269671566784
+                    ],
+                    "orientation": {
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+                        "xyz": [
+                            0.025824960590233394,
+                            0.7132853980178917,
+                            -0.006094296279936743
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.9660531878471375,
+                    "position": [
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+                        0.017018129117786884,
+                        0.004571486555505544
+                    ],
+                    "orientation": {
+                        "w": 0.11560848379658784,
+                        "xyz": [
+                            0.7125475243456464,
+                            -0.06322254517459891,
+                            0.6891397636218582
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.9657233357429504,
+                    "position": [
+                        -0.12122885487042367,
+                        -0.0006089918315410614,
+                        -1.6904843505471945e-05
+                    ],
+                    "orientation": {
+                        "w": 0.7056929374430916,
+                        "xyz": [
+                            0.05093325123850646,
+                            0.706623439477209,
+                            -0.009305737080669002
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.9652836918830872,
+                    "position": [
+                        -0.1249764000531286,
+                        0.005980347283184528,
+                        0.0004875461454503238
+                    ],
+                    "orientation": {
+                        "w": 0.03915079746711641,
+                        "xyz": [
+                            0.7004879277253158,
+                            -0.00017211901004154928,
+                            0.7125895372118707
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.964870035648346,
+                    "position": [
+                        -0.12426491430960596,
+                        0.00148379011079669,
+                        -0.006950978364329785
+                    ],
+                    "orientation": {
+                        "w": 0.7312298504226218,
+                        "xyz": [
+                            0.015256235738987342,
+                            0.6818389421976909,
+                            -0.012876724145539087
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.9640205502510071,
+                    "position": [
+                        -0.12006939551793039,
+                        0.0006054108962416649,
+                        -0.01955422357423231
+                    ],
+                    "orientation": {
+                        "w": 0.7818834526421342,
+                        "xyz": [
+                            0.023987522429929665,
+                            0.6223156994038902,
+                            -0.028390764828300715
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.9627152681350708,
+                    "position": [
+                        -0.1128458937164396,
+                        0.03157784231007099,
+                        0.008678370446432382
+                    ],
+                    "orientation": {
+                        "w": 0.6791224232831359,
+                        "xyz": [
+                            0.14077434224834984,
+                            0.7053054885632439,
+                            -0.14669521655851533
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.9613660573959351,
+                    "position": [
+                        -0.11328047118149698,
+                        0.034629710018634796,
+                        -0.005843109625857323
+                    ],
+                    "orientation": {
+                        "w": 0.7160511991160974,
+                        "xyz": [
+                            0.1790972350443089,
+                            0.6636045578951434,
+                            -0.12175323972968476
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "trigger",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or press the trigger to actuate glue feeding during use",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "lightly hold the trigger while another gripper stabilizes the body for controlled actuation",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "press to feed glue stick",
+                "actuate dispensing mechanism",
+                "control glue output"
+            ],
+            "semantic_description": "Peach or tan plastic trigger with a smooth matte surface and curved shape, located inside the handle opening under the body for finger-style actuation.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.42522701621055603,
+                    "position": [
+                        0.04690154665149748,
+                        -0.0928447525948286,
+                        -0.017287265218328685
+                    ],
+                    "orientation": {
+                        "w": 0.4372791279099078,
+                        "xyz": [
+                            -0.5174459826142106,
+                            0.36859638079776147,
+                            0.6365322673938508
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.4174085855484009,
+                    "position": [
+                        0.03619742416776717,
+                        -0.09225986711680889,
+                        0.034689618565607816
+                    ],
+                    "orientation": {
+                        "w": 0.4742429010609361,
+                        "xyz": [
+                            -0.37361964299637074,
+                            -0.6981521428304824,
+                            -0.38481894264936733
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.18922753632068634,
+                    "position": [
+                        0.03313376405276358,
+                        -0.0968772005289793,
+                        -0.004190437670331448
+                    ],
+                    "orientation": {
+                        "w": 0.4620002241666652,
+                        "xyz": [
+                            -0.5522277980385094,
+                            0.40793004518333453,
+                            0.5614208138110068
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.4954167306423187,
+                    "position": [
+                        0.0467925185803324,
+                        -0.07026836089789867,
+                        0.059660075523424894
+                    ],
+                    "orientation": {
+                        "w": 0.42883524758717884,
+                        "xyz": [
+                            -0.43830087814695434,
+                            -0.7504333644902459,
+                            -0.24666259566926915
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.5707329511642456,
+                    "position": [
+                        0.06068728514946997,
+                        -0.08037578128278255,
+                        -0.009223975881468505
+                    ],
+                    "orientation": {
+                        "w": 0.6484698576912319,
+                        "xyz": [
+                            -0.2709856598128322,
+                            -0.607370796015798,
+                            -0.370343532397764
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nozzle tip",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense melted glue",
+                "provide precise application point",
+                "direct adhesive flow"
+            ],
+            "semantic_description": "Small pointed metallic-looking tip at the front end, narrow and tapered for precise glue application.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front collar",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the nozzle",
+                "insulate the front assembly",
+                "transition from body to tip"
+            ],
+            "semantic_description": "Short peach-pink cylindrical collar around the nozzle base, with a smooth matte plastic look and stepped ring shape at the front nose of the glue gun.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side brand label",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "show branding",
+                "identify product brand",
+                "provide visual marking"
+            ],
+            "semantic_description": "Small elongated side badge on the body, white or light gray with printed brand text, smooth and slightly glossy.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side indicator or switch",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a small control or indicator feature",
+                "mark an interaction point",
+                "support tool status or mode indication"
+            ],
+            "semantic_description": "Tiny rectangular reddish feature on the side of the housing, smooth and slightly inset, positioned near the upper body.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power cord",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cord to route or untangle it while setting up the tool",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "pull the cord gently to reposition slack",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "deliver electrical power",
+                "connect the tool to a power source",
+                "provide cable routing"
+            ],
+            "semantic_description": "Thin flexible blue cable with a smooth plastic jacket, looping from the rear side of the glue gun toward the ribbed sleeve section.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "coiled cord section",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the ribbed sleeve section to manage cable slack during storage",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold this section to reposition the cord without touching the hot front end",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "provide strain relief",
+                "improve cable flexibility",
+                "help manage cable bending"
+            ],
+            "semantic_description": "Short ribbed spiral-like sleeve section in light gray or white plastic, flexible and corrugated, attached along the rear cable run.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear strain relief or cord sleeve",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect cord entry",
+                "reduce cable bending stress",
+                "connect the cable to the housing"
+            ],
+            "semantic_description": "Small peach-tan collar-like piece at the rear cord junction, smooth and compact, forming the connector where the cable enters the body.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle base cap",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the bottom of the handle",
+                "finish the handle base",
+                "protect the handle end"
+            ],
+            "semantic_description": "Small rounded cap at the bottom end of the handle, off-white to pale beige with a smooth matte plastic surface and blunt oval shape.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color part identities are mismatched, especially brand label, switch, rear sleeve, and handle cap."
+    }
+}

dataset/tools/repair_tools/6a67ee1228d959679b96972db7ff348e/affordance/mesh_part_seg.glb ADDED Viewed

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

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