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HorizonRobotics
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EmbodiedGenData

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Add asset bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca

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Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/affordance_annot.json +211 -0
  3. dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8089,4 +8089,4 @@ dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/mes
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  dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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- dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
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  dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8090
  dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8091
  dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8092
+ dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/affordance_annot.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "affordances": [
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+ {
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+ "part_name": "bin body",
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+ "mask_color": "Red",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the outer sidewalls to lift or reposition the empty or lightly loaded bin",
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+ "confidence": 0.72
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+ },
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+ {
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+ "scenario": "hold the outer side of the bin to stabilize it during placement",
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+ "confidence": 0.79
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+ }
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+ ],
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+ "functional_labels": [
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+ "contain stored items",
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+ "form the main outer structure",
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+ "support the base and walls",
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+ "provide side support"
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+ ],
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+ "semantic_description": "Large white plastic bin body with a smooth matte to satin finish, tapered rectangular tub shape, rounded corners, and broad exterior sidewalls forming the main container.",
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+ "id": 0,
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+ "grasp_group": {
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+ "grasp_9": {
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+ "orientation": {
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+ }
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "interior cavity",
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+ "mask_color": "Green",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "place gripper fingers inside the bin against the inner walls to steady it during inspection or repositioning",
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+ "confidence": 0.42
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+ },
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+ {
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+ "scenario": "use internal contact on the cavity walls to stabilize the bin while another gripper holds the rim",
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+ "confidence": 0.48
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+ }
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+ ],
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+ "functional_labels": [
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+ "define the storage cavity",
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+ "contain contents",
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+ "guide item placement inside the bin",
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+ "provide interior support surfaces"
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+ ],
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+ "semantic_description": "White plastic interior surfaces of the bin with a smooth matte finish, including the broad slightly sloped inner walls and bottom that form the open storage cavity.",
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+ "id": 1,
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+ "grasp_group": {
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+ "grasp_20": {
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "top rim",
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+ "mask_color": "Blue",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "pinch the rim edge to pick up or reposition the bin",
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+ "confidence": 0.68
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+ },
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+ {
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+ "scenario": "grasp the rim to stabilize the bin while loading or unloading",
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+ "confidence": 0.76
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+ }
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+ ],
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+ "functional_labels": [
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+ "reinforce the opening",
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+ "provide an edge for gripping",
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+ "protect the upper perimeter",
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+ "maintain bin shape"
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+ ],
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+ "semantic_description": "White plastic rounded top rim with a smooth slightly matte finish, running around the opening as a narrow raised lip thicker than the sidewalls.",
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+ "id": 2,
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+ }
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+ }
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+ }
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+ ],
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+ "quality_check": {
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+ "success": false,
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+ "message": "Green mask includes side handle cutouts; annotated as interior cavity, missing handles and mislabeling graspable region."
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+ }
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+ }
dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/mesh_part_seg.glb ADDED
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+ size 3782184