Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -7902,3 +7902,4 @@ dataset/tools/repair_tools/bf2bafd5a21f592195383436ab91d1a9/affordance/mesh_part
 dataset/tools/repair_tools/c13e15c7e0465ff3a943b12512afc281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c141ca0cb4d05d2eb6eba8b34ffea816/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c17cbbda96c45ed6975b9bbbe785b13a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/tools/repair_tools/c13e15c7e0465ff3a943b12512afc281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c141ca0cb4d05d2eb6eba8b34ffea816/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c17cbbda96c45ed6975b9bbbe785b13a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/c2d0d8972bdd5be5a692fdf5dd7cf7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/c2d0d8972bdd5be5a692fdf5dd7cf7d9/affordance/affordance_annot.json ADDED Viewed

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

+{
+    "affordances": [
+        {
+            "part_name": "main housing and handle",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle/body to pick up and reposition the glue gun",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize the tool during use",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support internal components",
+                "provide tool structure",
+                "mount nozzle and feed system"
+            ],
+            "semantic_description": "Large light blue plastic body with an integrated pistol-style handle, smooth matte finish, bulky shape, and a printed brand label on the side.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.9800747632980347,
+                    "position": [
+                        -0.12859903485514224,
+                        -0.08289867953862995,
+                        -0.0005684428178938106
+                    ],
+                    "orientation": {
+                        "w": 0.6997683383331922,
+                        "xyz": [
+                            -0.0732847758365991,
+                            0.7038150972961305,
+                            0.09796899057875616
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.9769883751869202,
+                    "position": [
+                        -0.11760301352478564,
+                        -0.10825458483304828,
+                        0.004209844963042997
+                    ],
+                    "orientation": {
+                        "w": 0.6687794338202688,
+                        "xyz": [
+                            -0.17826895840554666,
+                            0.6982447526098355,
+                            0.18277995738283673
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "glue stick",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed glue stick to insert or pull it during loading",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "push the stick forward into the feed opening during reloading",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "supply adhesive material",
+                "feed into heater",
+                "enable glue dispensing"
+            ],
+            "semantic_description": "Cylindrical white to translucent glue stick with a smooth slightly glossy surface, protruding from the rear of the gun.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "trigger",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press the trigger to actuate the glue feed mechanism",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "actuate feed mechanism",
+                "advance glue stick",
+                "control glue output"
+            ],
+            "semantic_description": "Large curved orange plastic trigger with a smooth matte finish inside the handle opening.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_61": {
+                    "confidence": 0.5699712038040161,
+                    "position": [
+                        0.07198890834115446,
+                        -0.09300680772867054,
+                        -0.007917308612377383
+                    ],
+                    "orientation": {
+                        "w": 0.3635298104486631,
+                        "xyz": [
+                            -0.6048020652044498,
+                            0.32129571001694035,
+                            0.6315295761595825
+                        ]
+                    }
+                },
+                "grasp_62": {
+                    "confidence": 0.5012011528015137,
+                    "position": [
+                        0.0883474329020828,
+                        -0.0805935071548447,
+                        -0.005820369711727835
+                    ],
+                    "orientation": {
+                        "w": 0.26564092978503173,
+                        "xyz": [
+                            -0.6282268193853089,
+                            0.296747183446163,
+                            0.6683614807458099
+                        ]
+                    }
+                },
+                "grasp_64": {
+                    "confidence": 0.20936477184295654,
+                    "position": [
+                        0.10423788218759,
+                        -0.054015837027691305,
+                        -0.014107050737948157
+                    ],
+                    "orientation": {
+                        "w": 0.20661260508372864,
+                        "xyz": [
+                            -0.6626345769252985,
+                            0.1317822605675223,
+                            0.7077146915835926
+                        ]
+                    }
+                },
+                "grasp_66": {
+                    "confidence": 0.568314254283905,
+                    "position": [
+                        0.10022076009772718,
+                        -0.07849907444324344,
+                        -0.018177708043367602
+                    ],
+                    "orientation": {
+                        "w": 0.7327104523980703,
+                        "xyz": [
+                            -0.2025890168513267,
+                            -0.5990332394456389,
+                            -0.25150002234014174
+                        ]
+                    }
+                },
+                "grasp_68": {
+                    "confidence": 0.15076130628585815,
+                    "position": [
+                        0.0954669991042465,
+                        -0.059596556588076055,
+                        -0.0056669408368179575
+                    ],
+                    "orientation": {
+                        "w": 0.7033677625727773,
+                        "xyz": [
+                            -0.16923548626933455,
+                            -0.6656533422851321,
+                            -0.18313592947638638
+                        ]
+                    }
+                },
+                "grasp_70": {
+                    "confidence": 0.3446832299232483,
+                    "position": [
+                        0.08391675888560712,
+                        -0.08864181803073734,
+                        -0.025482685668976046
+                    ],
+                    "orientation": {
+                        "w": 0.7672311899779377,
+                        "xyz": [
+                            -0.2835063005760351,
+                            -0.5282877117444561,
+                            -0.22779941237530657
+                        ]
+                    }
+                },
+                "grasp_78": {
+                    "confidence": 0.2549314498901367,
+                    "position": [
+                        0.08763256459496915,
+                        -0.06802684383001179,
+                        -0.02107394802442286
+                    ],
+                    "orientation": {
+                        "w": 0.7336653423865603,
+                        "xyz": [
+                            -0.18796051515000117,
+                            -0.5812011760582515,
+                            -0.2976763394592575
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nozzle",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense melted glue",
+                "direct adhesive output",
+                "provide application tip"
+            ],
+            "semantic_description": "Small tapered light gray to silver nozzle at the front tip of the glue gun, with a smooth slightly reflective surface.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "wire stand",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the folded wire stand to flip it out for resting the glue gun",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "adjust the wire stand to change the resting position",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "support resting position",
+                "keep hot nozzle off surface",
+                "stabilize tool when set down"
+            ],
+            "semantic_description": "Thin bent silver metal wire stand with a reflective surface, mounted beneath the front of the body.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feed collar",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide glue stick",
+                "form feed entry",
+                "support rear feed opening"
+            ],
+            "semantic_description": "Small orange collar-like ring at the rear feed opening where the glue stick enters the housing.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side screw",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "fasten housing",
+                "join body halves",
+                "provide assembly point"
+            ],
+            "semantic_description": "Small dark gray circular screw head, slightly reflective, inset on the side of the handle or body.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle end cap",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle end as part of a whole-handle pickup or reorientation",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "complete handle enclosure",
+                "protect handle end",
+                "provide contact surface"
+            ],
+            "semantic_description": "Rounded light blue plastic end section at the bottom of the handle, smooth matte and blending with the main housing.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_26": {
+                    "confidence": 0.34016427397727966,
+                    "position": [
+                        0.07255810289643705,
+                        -0.08960076735820621,
+                        0.024806164772599004
+                    ],
+                    "orientation": {
+                        "w": 0.5610418512821199,
+                        "xyz": [
+                            -0.33365448299891065,
+                            -0.7239137932884018,
+                            -0.22328355732444355
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.17272068560123444,
+                    "position": [
+                        0.10846640705130994,
+                        -0.0552271077176556,
+                        -0.0038736515125492588
+                    ],
+                    "orientation": {
+                        "w": 0.12826104230714075,
+                        "xyz": [
+                            -0.7028262207502555,
+                            0.10475765761520595,
+                            0.6918166242749406
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.3789057433605194,
+                    "position": [
+                        0.07638636766932905,
+                        -0.08226594643201679,
+                        0.03149044756719377
+                    ],
+                    "orientation": {
+                        "w": 0.18664123070603203,
+                        "xyz": [
+                            -0.7705802528284444,
+                            0.27241251205801353,
+                            0.5451261764267343
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle seam strip",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark housing boundary",
+                "separate molded housing sections",
+                "provide edge detail"
+            ],
+            "semantic_description": "Thin dark red strip-like seam detail running along the rear lower edge of the handle/body.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feed bushing",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support feed components",
+                "align glue stick path",
+                "separate adjacent feed parts"
+            ],
+            "semantic_description": "Very small pink-purple ring-like component adjacent to the rear feed area near the side of the body.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vent slots",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "vent heat",
+                "cool internal components",
+                "allow airflow through housing"
+            ],
+            "semantic_description": "Small slotted vent openings on the side of the light blue housing near the front-lower body area.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-part identities and visual descriptions are wrong, especially trigger, seam strip, end cap, and feed-area parts."
+    }
+}

dataset/tools/repair_tools/c2d0d8972bdd5be5a692fdf5dd7cf7d9/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3826456