Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -5998,3 +5998,4 @@ dataset/bedroom_supplies/storage/2f3fa105f7e955849a65ceb9d885e73f/affordance/mes
 dataset/bedroom_supplies/storage/30962f1a65b35f229c26c450bedb7cd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/bedroom_supplies/storage/30962f1a65b35f229c26c450bedb7cd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,433 @@

+{
+    "affordances": [
+        {
+            "part_name": "lid of glasses case",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the glasses case",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid to stabilize it while placing or removing glasses",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect the glasses",
+                "open and close access",
+                "provide top enclosure"
+            ],
+            "semantic_description": "A large dark gray to black hard-shell top cover with a smooth matte finish and rounded rectangular shape, forming the upper half of the case.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.5620286464691162,
+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.7333873873422334,
+                            -0.6311641685050962
+                        ]
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+                "grasp_28": {
+                    "confidence": 0.1431214064359665,
+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.001251096940942039
+                        ]
+                    }
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+                "grasp_39": {
+                    "confidence": 0.6201838850975037,
+                    "position": [
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+                    ],
+                    "orientation": {
+                        "w": 0.6162922721833255,
+                        "xyz": [
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+                            -0.19232007774840731,
+                            -0.3168443290281824
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base of glasses case",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base to pick up the whole glasses case",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the base steady while opening or closing the lid",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the base while inserting or removing the glasses",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the contents",
+                "protect the glasses",
+                "provide main grasp surface",
+                "form lower enclosure"
+            ],
+            "semantic_description": "A large dark gray to black hard-shell bottom half with a smooth matte finish, rounded corners, and a rigid rectangular form that supports the case and houses the glasses.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.938914954662323,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.0573617552950183,
+                            -0.6866293525783117
+                        ]
+                    }
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+                "grasp_1": {
+                    "confidence": 0.9333223700523376,
+                    "position": [
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+                        "xyz": [
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+                            0.04295490590921269,
+                            0.734590910717393
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9318286180496216,
+                    "position": [
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+                        0.04841488297097385,
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+                    "orientation": {
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+                        "xyz": [
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+                            0.07678798414527155,
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+                        ]
+                    }
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+                "grasp_4": {
+                    "confidence": 0.9281347393989563,
+                    "position": [
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+                        "xyz": [
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+                            0.12345024793453618,
+                            -0.6901802785241946
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+                    }
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+                "grasp_6": {
+                    "confidence": 0.9258933067321777,
+                    "position": [
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+                        "xyz": [
+                            0.4892742804770441,
+                            0.5183198237021739,
+                            -0.5152644255129452
+                        ]
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+                "grasp_10": {
+                    "confidence": 0.919192910194397,
+                    "position": [
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+                        0.1671286083292216,
+                        -0.025880859699100256
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.4618437838560646,
+                            -0.484033758204094
+                        ]
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+                "grasp_12": {
+                    "confidence": 0.9184874296188354,
+                    "position": [
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+                        0.16898882458917797,
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+                    "orientation": {
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+                        "xyz": [
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+                            0.4873080495175758,
+                            -0.5213007676634195
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+                "grasp_15": {
+                    "confidence": 0.9182651042938232,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.7735990300591417,
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+                "grasp_16": {
+                    "confidence": 0.9168003797531128,
+                    "position": [
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+                        -0.030329206492751837
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.5016781561858449
+                        ]
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+                },
+                "grasp_17": {
+                    "confidence": 0.9161360263824463,
+                    "position": [
+                        0.14772620471194386,
+                        -0.014873468549922109,
+                        -0.051265069749206305
+                    ],
+                    "orientation": {
+                        "w": 0.7845308450924505,
+                        "xyz": [
+                            0.006780709622898989,
+                            -0.6196862415526172,
+                            0.021315184867275582
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9153580069541931,
+                    "position": [
+                        0.14314616890624166,
+                        0.043407247168943286,
+                        -0.039368735160678625
+                    ],
+                    "orientation": {
+                        "w": 0.07717968408782146,
+                        "xyz": [
+                            -0.674846365791394,
+                            0.06378617468948777,
+                            0.7311340525927749
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner lid lining",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cushion the contents",
+                "protect lenses from scratches",
+                "provide soft interior contact",
+                "line the inside of the lid"
+            ],
+            "semantic_description": "A dark interior lining on the inside of the lid, likely soft fabric or flocked material, with a smooth slightly plush texture and visible white and gold Ray-Ban branding text.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner base lining",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cushion the glasses",
+                "protect frames from scratches",
+                "provide a resting surface",
+                "stabilize stored eyewear"
+            ],
+            "semantic_description": "A dark interior tray lining in the lower half, appearing soft and slightly textured, recessed inside the base around the sunglasses.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch clasp",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the front clasp to open the case",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "press or guide the clasp area while closing the case",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "secure the case closed",
+                "release the closure",
+                "provide a front manipulation point",
+                "align the front closure"
+            ],
+            "semantic_description": "A small light gold-toned metal clasp at the front center of the case with a reflective finish, compact shape, and crisp hard edges.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear hinge hardware",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to base",
+                "enable rotation",
+                "support opening motion",
+                "maintain alignment"
+            ],
+            "semantic_description": "A small light gold-toned metal hinge area near the rear top edge with a reflective finish and compact rectangular shape.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sunglasses frame",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the frame edge to lift the sunglasses from the case",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the frame to reposition the sunglasses inside the case",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "hold the lenses",
+                "maintain eyewear structure",
+                "support the bridge and temples",
+                "form the main body of the stored eyewear"
+            ],
+            "semantic_description": "A dark frame surrounding the lenses, visible as a thin border and side sections around the sunglasses inside the case, with a smooth finish and rigid shape.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left lens of sunglasses",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "block light",
+                "provide left-eye viewing area",
+                "part of stored eyewear",
+                "indicate eyewear orientation"
+            ],
+            "semantic_description": "A dark nearly black sunglass lens with a glossy smooth surface and rounded shape, occupying one side of the glasses inside the case.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right lens of sunglasses",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "block light",
+                "provide right-eye viewing area",
+                "part of stored eyewear",
+                "indicate eyewear orientation"
+            ],
+            "semantic_description": "A dark nearly black sunglass lens with a glossy smooth surface and rounded shape, occupying the opposite side of the glasses inside the case.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bridge and nose pad area of sunglasses",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the bridge area to lift the glasses out of the case",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "grasp the center of the frame to reposition the glasses inside the case",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "connect the two lenses",
+                "support nose placement",
+                "maintain frame shape",
+                "help position the eyewear"
+            ],
+            "semantic_description": "A small central bridge and nose-contact area between the lenses, appearing dark with some light gold-toned reflective metal details, with narrow curved geometry at the center of the stored sunglasses.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-color/part mapping conflict: Yellow used for inner base lining and bridge area; inner lining extent also mismatched."
+    }
+}

dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3795352