Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -5906,3 +5906,4 @@ dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/affo
 dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/46bb9dfc7ce85efab4247571da179c72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/46bb9dfc7ce85efab4247571da179c72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/503a36ae4bed579f8a81e45f9b9266ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/503a36ae4bed579f8a81e45f9b9266ef/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,510 @@

+{
+    "affordances": [
+        {
+            "part_name": "clock body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side of the clock body to pick up and move the alarm clock",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the body to stabilize the clock while adjusting side controls",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "enclose clock mechanism",
+                "support all other parts",
+                "main grasp surface",
+                "provide structural housing"
+            ],
+            "semantic_description": "Large rounded light pink body with a smooth glossy finish, forming the main housing of the alarm clock and supporting the face, bells, feet, and side controls.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_63": {
+                    "confidence": 0.9092782139778137,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                        ]
+                    }
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+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.011647007085595826
+                        ]
+                    }
+                },
+                "grasp_65": {
+                    "confidence": 0.9076827764511108,
+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.031907147190807894,
+                            -0.015803031542650323
+                        ]
+                    }
+                },
+                "grasp_67": {
+                    "confidence": 0.9059292674064636,
+                    "position": [
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+                        -0.01980716409161687,
+                        -0.14772648364305496
+                    ],
+                    "orientation": {
+                        "w": 0.9989150980165313,
+                        "xyz": [
+                            -0.02285098580260134,
+                            -0.038951067113358495,
+                            -0.011369862497104241
+                        ]
+                    }
+                },
+                "grasp_69": {
+                    "confidence": 0.9054679274559021,
+                    "position": [
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+                        -0.011965794954448938,
+                        -0.14808126538991928
+                    ],
+                    "orientation": {
+                        "w": 0.9992416331622378,
+                        "xyz": [
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+                            -0.02920377094283666,
+                            0.018595204029968504
+                        ]
+                    }
+                },
+                "grasp_70": {
+                    "confidence": 0.9051689505577087,
+                    "position": [
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+                        "xyz": [
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+                            -0.04458553984678304,
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+                    }
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+                "grasp_73": {
+                    "confidence": 0.9036644697189331,
+                    "position": [
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+                        -0.020209255162626505,
+                        -0.14573269337415695
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+                    "orientation": {
+                        "w": 0.9973909775686738,
+                        "xyz": [
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+                            -0.041327957687345096,
+                            -0.046829414452627914
+                        ]
+                    }
+                },
+                "grasp_74": {
+                    "confidence": 0.9030073881149292,
+                    "position": [
+                        0.018605980672873557,
+                        -0.016139595303684473,
+                        -0.1486842855811119
+                    ],
+                    "orientation": {
+                        "w": 0.9993866156627996,
+                        "xyz": [
+                            -0.01662783999405426,
+                            -0.02932257655902437,
+                            -0.009491779344658344
+                        ]
+                    }
+                },
+                "grasp_75": {
+                    "confidence": 0.9029584527015686,
+                    "position": [
+                        0.022681316011585295,
+                        -0.020778047386556864,
+                        -0.14386402815580368
+                    ],
+                    "orientation": {
+                        "w": 0.031206978208638665,
+                        "xyz": [
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+                            0.019171152203865227,
+                            0.9980450755282645
+                        ]
+                    }
+                },
+                "grasp_76": {
+                    "confidence": 0.9017483592033386,
+                    "position": [
+                        0.024632108979858458,
+                        0.024122397881001234,
+                        -0.1459261253476143
+                    ],
+                    "orientation": {
+                        "w": 0.9926736120319237,
+                        "xyz": [
+                            0.08291707058623753,
+                            -0.07209503100430559,
+                            0.050260977759870124
+                        ]
+                    }
+                },
+                "grasp_79": {
+                    "confidence": 0.9003145694732666,
+                    "position": [
+                        0.020155934267677367,
+                        0.004398110322654247,
+                        -0.149415485560894
+                    ],
+                    "orientation": {
+                        "w": 0.9992860890810471,
+                        "xyz": [
+                            0.018792854367447532,
+                            -0.030831092734398324,
+                            0.011116857228214845
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clock face",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display the time",
+                "provide dial background",
+                "support numerals and hands visually"
+            ],
+            "semantic_description": "Circular pale yellow-green dial on the front of the clock, showing orange numerals and pink center hub beneath the front opening.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left bell",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp a bell to steady or slightly reorient the small clock",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "hold the bell lightly while adjusting the clock body",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "resonance cover",
+                "produce alarm sound",
+                "top-mounted alarm component"
+            ],
+            "semantic_description": "Rounded dome-shaped light pink bell with a smooth glossy finish, mounted on the top left beneath the metal handle.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right bell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp a bell to steady or slightly reorient the small clock",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "hold the bell lightly while adjusting the clock body",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "resonance cover",
+                "produce alarm sound",
+                "top-mounted alarm component"
+            ],
+            "semantic_description": "Rounded dome-shaped light pink bell with a smooth glossy finish, mounted on the top right beneath the metal handle.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.879341185092926,
+                    "position": [
+                        -0.008880922920070589,
+                        0.11650010896846652,
+                        0.10800493508577347
+                    ],
+                    "orientation": {
+                        "w": 0.038928636908867706,
+                        "xyz": [
+                            0.03045727350000489,
+                            0.8697858522717493,
+                            -0.49094753987291745
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8733566403388977,
+                    "position": [
+                        -0.0042374132899567485,
+                        0.1356385867111385,
+                        0.05897531658411026
+                    ],
+                    "orientation": {
+                        "w": 0.6831088839696599,
+                        "xyz": [
+                            0.7263830770339509,
+                            -0.05454265875448738,
+                            0.05248786923096602
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the alarm clock",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the handle to reposition the clock on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "carry the clock",
+                "provide top grip",
+                "span between the bell mounts"
+            ],
+            "semantic_description": "Arched silver-gray metal handle with a smooth reflective finish, spanning across the top between the bells as a narrow carrying grip.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_85": {
+                    "confidence": 0.739156186580658,
+                    "position": [
+                        -0.013770656078122556,
+                        -0.011537030804902315,
+                        0.18526723235845566
+                    ],
+                    "orientation": {
+                        "w": 0.03534756077701839,
+                        "xyz": [
+                            -0.02906016702304607,
+                            0.9988317309604952,
+                            0.015531576422533154
+                        ]
+                    }
+                },
+                "grasp_86": {
+                    "confidence": 0.6421162486076355,
+                    "position": [
+                        -0.05244977993424982,
+                        0.003137450199574232,
+                        0.17636480182409286
+                    ],
+                    "orientation": {
+                        "w": 0.20468232798794522,
+                        "xyz": [
+                            0.04530199046590735,
+                            0.9775227919175264,
+                            -0.022406819297389077
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "alarm striker",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "strike the bells",
+                "generate alarm ringing",
+                "connect top alarm mechanism"
+            ],
+            "semantic_description": "Small light pink hammer-like striker positioned centrally between the two bells under the handle, with a smooth glossy finish.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "alarm knob",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small top knob to rotate and adjust the alarm mechanism",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "lightly grasp the knob for fine manipulation of the top mechanism",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "adjust alarm setting",
+                "provide small turning control",
+                "top control interface"
+            ],
+            "semantic_description": "Small rounded silver-gray metallic knob protruding near the top bell area, with a reflective finish.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hour hand",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate hour",
+                "show time on dial"
+            ],
+            "semantic_description": "Short thick blue-green clock hand mounted at the center of the dial, indicating the hour.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "minute hand",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate minute",
+                "show time on dial"
+            ],
+            "semantic_description": "Longer slender pink clock hand extending from the dial center, indicating minutes.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "second hand",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate seconds",
+                "provide precise time reading"
+            ],
+            "semantic_description": "Thin dark red second hand mounted at the dial center, sweeping across the face.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left foot",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a foot to slightly reposition or tilt the small clock",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "support upright stance",
+                "stabilize the clock on a table",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "Small rounded light pink foot attached at the lower front-left underside, helping support the clock on flat surfaces.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right foot",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a foot to slightly reposition or tilt the small clock",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "support upright stance",
+                "stabilize the clock on a table",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "Small rounded light pink foot attached at the lower front-right underside, helping support the clock on flat surfaces.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side knob",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and rotate the side knob to adjust clock settings",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "time-setting control",
+                "side adjustment knob",
+                "manual interface for clock mechanism"
+            ],
+            "semantic_description": "Small round light pink knob protruding from the left side of the clock body, with a smooth glossy finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side knob",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and rotate the side knob to adjust clock settings",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "time-setting control",
+                "side adjustment knob",
+                "manual interface for clock mechanism"
+            ],
+            "semantic_description": "Small round light pink knob protruding from the right side of the clock body, with a smooth glossy finish.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and visual descriptions mismatch images; side knob and foot colors are swapped, alarm knob color/material incorrect."
+    }
+}

dataset/bedroom_supplies/small_electronics/503a36ae4bed579f8a81e45f9b9266ef/affordance/mesh_part_seg.glb ADDED Viewed

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

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