Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -6253,3 +6253,4 @@ dataset/desktop_supplies/electronic_accessories/8c10c929b390582cac3936e53e3a8b14
 dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/902d2e5e0f0f5a9f9295b539d8827d63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/electronic_accessories/8c205e0deef75de78b027808cad2cef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/902d2e5e0f0f5a9f9295b539d8827d63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/90913747fd455f4fb4830dcb4ac3f15e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/90913747fd455f4fb4830dcb4ac3f15e/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,367 @@

+{
+    "affordances": [
+        {
+            "part_name": "front housing",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote across the broad front body to pick it up from a table",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the front body to stabilize the remote while pressing buttons with another tool",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support control buttons",
+                "house internal electronics",
+                "provide front interface surface"
+            ],
+            "semantic_description": "Large white plastic front shell with a smooth matte to satin finish, flat elongated rounded-rectangle shape, forming most of the remote's front side around the buttons and navigation ring.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.5018858909606934,
+                    "position": [
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+                        0.17619459459092468,
+                        0.0010709401103667915
+                    ],
+                    "orientation": {
+                        "w": 0.7223141448083108,
+                        "xyz": [
+                            0.6905023331212398,
+                            0.0008671509991359239,
+                            0.03831516949078452
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.33165913820266724,
+                    "position": [
+                        0.007827902287317556,
+                        0.17041640111710876,
+                        0.0046324991853907704
+                    ],
+                    "orientation": {
+                        "w": 0.7153156977810361,
+                        "xyz": [
+                            0.6982281857493451,
+                            0.0006628318573372871,
+                            0.028291585094082115
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.35383182764053345,
+                    "position": [
+                        -0.00274239007376309,
+                        0.16157215961720794,
+                        -0.04317498009186238
+                    ],
+                    "orientation": {
+                        "w": 0.8632643489458871,
+                        "xyz": [
+                            0.5033786781511175,
+                            0.02194901975054986,
+                            0.030046809378982204
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.350624144077301,
+                    "position": [
+                        -0.0041401646285521565,
+                        0.15534274408128113,
+                        0.05421092931646854
+                    ],
+                    "orientation": {
+                        "w": 0.5094968317239691,
+                        "xyz": [
+                            0.8594659895582067,
+                            0.030303187465807846,
+                            0.028511543020015
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.2953295409679413,
+                    "position": [
+                        0.00502935804433946,
+                        0.15881902107503265,
+                        -0.04636828775983304
+                    ],
+                    "orientation": {
+                        "w": 0.8747985504287399,
+                        "xyz": [
+                            0.4827553418311684,
+                            -0.015814796034950063,
+                            0.03774477881270637
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.42402422428131104,
+                    "position": [
+                        -0.0022757555543648778,
+                        0.16523213812615722,
+                        0.05576007266063243
+                    ],
+                    "orientation": {
+                        "w": 0.03637007205746427,
+                        "xyz": [
+                            0.006430008864969793,
+                            0.8668651733030037,
+                            -0.49717265025228913
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.41934502124786377,
+                    "position": [
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+                        0.16577634343411773,
+                        0.057750636828131974
+                    ],
+                    "orientation": {
+                        "w": 0.046109373448251355,
+                        "xyz": [
+                            0.0021351727236816526,
+                            0.868727901032195,
+                            -0.49313405954754974
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.3896622955799103,
+                    "position": [
+                        -0.017720720190482098,
+                        0.16431319841649383,
+                        -0.05094180803280324
+                    ],
+                    "orientation": {
+                        "w": 0.8857746828765106,
+                        "xyz": [
+                            0.4593965380442578,
+                            0.06045354417000748,
+                            0.026521708188836538
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.2521095275878906,
+                    "position": [
+                        0.012582982499225182,
+                        -0.16290482750628144,
+                        0.05632203270215541
+                    ],
+                    "orientation": {
+                        "w": 0.030399836350790146,
+                        "xyz": [
+                            0.011269302072412921,
+                            -0.8758327680386818,
+                            -0.4815244700016262
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back cover",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote across the back body to lift or reposition it",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the back side to stabilize the remote during inspection",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal components",
+                "cover rear side",
+                "provide rear support structure"
+            ],
+            "semantic_description": "Large white plastic rear panel with a smooth matte finish, slightly curved elongated form covering most of the underside of the remote.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.2966763377189636,
+                    "position": [
+                        0.008703168090505642,
+                        -0.17385907343123108,
+                        -0.055469581740908325
+                    ],
+                    "orientation": {
+                        "w": 0.8749391782325899,
+                        "xyz": [
+                            -0.4833033525900528,
+                            -0.023114327901282983,
+                            -0.01910580054766316
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.21975450217723846,
+                    "position": [
+                        -0.010353496689276653,
+                        0.16503495106007904,
+                        -0.00030965852783992887
+                    ],
+                    "orientation": {
+                        "w": 0.7004658914145017,
+                        "xyz": [
+                            0.7115143896956287,
+                            -0.0010249283701703193,
+                            0.055621558255597156
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.08541914820671082,
+                    "position": [
+                        -0.014938583057301003,
+                        0.15972559282090515,
+                        -0.0031396205304190516
+                    ],
+                    "orientation": {
+                        "w": 0.7050984638730519,
+                        "xyz": [
+                            0.7053341677501744,
+                            -0.012532398362093966,
+                            0.07199171507420113
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.3961634039878845,
+                    "position": [
+                        -0.008887251298801857,
+                        -0.16917687526438385,
+                        -0.05416630010586232
+                    ],
+                    "orientation": {
+                        "w": 0.8721989693849663,
+                        "xyz": [
+                            -0.48692336898662275,
+                            0.04596019131579476,
+                            -0.007889952644674614
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.36582645773887634,
+                    "position": [
+                        -0.004229658674375969,
+                        -0.1778696911642328,
+                        0.025207106140442193
+                    ],
+                    "orientation": {
+                        "w": 0.5906462529578074,
+                        "xyz": [
+                            -0.8046423188416988,
+                            -0.03628378532721155,
+                            -0.04869527203214819
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "directional ring",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "navigate menus",
+                "provide directional input",
+                "center thumb target area",
+                "surround select control"
+            ],
+            "semantic_description": "Large light-gray circular plastic ring on the upper front, with a smooth matte surface and shallow recessed profile sized as the dominant navigation control.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center select button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "confirm selection",
+                "provide central click input",
+                "act as menu select control"
+            ],
+            "semantic_description": "Small round light-gray plastic button set inside the directional ring, with a smooth matte finish and slightly recessed central position.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper small round button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "trigger a device function",
+                "provide discrete push input",
+                "offer quick-access control"
+            ],
+            "semantic_description": "Small round light-gray plastic button with a smooth matte surface on the upper front button cluster, slightly raised and positioned above the lower round button.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left vertical oval button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "trigger a device function",
+                "provide discrete push input",
+                "offer quick-access control"
+            ],
+            "semantic_description": "Small vertically oriented pill-shaped light-gray plastic button with a smooth matte finish, positioned on the left side of the front button cluster.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right vertical oval button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "trigger a device function",
+                "provide discrete push input",
+                "offer quick-access control"
+            ],
+            "semantic_description": "Small vertically oriented pill-shaped light-gray plastic button with a smooth matte surface, positioned on the right side of the front button cluster.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower small round button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "trigger a device function",
+                "provide discrete push input",
+                "offer quick-access control"
+            ],
+            "semantic_description": "Small round light-gray plastic button with a matte smooth finish on the front control area, slightly raised and positioned below the upper round button.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/90913747fd455f4fb4830dcb4ac3f15e/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3787144