Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -6198,4 +6198,4 @@ dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823
 dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/2e1dcc8d52d7583194676669c7b2f5c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,383 @@

+{
+    "affordances": [
+        {
+            "part_name": "charger housing",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the charger body to pick up and reposition the adapter",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the housing while inserting or removing the charger from an outlet",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "stabilize the adapter body while aligning a cable with the USB-C port",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal electronics",
+                "support plug blades and port",
+                "provide structural body"
+            ],
+            "semantic_description": "Large white hard plastic shell with a smooth mostly matte finish and rounded rectangular shape, forming the main body of the charger with printed text and an Apple logo on the exterior.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.9642061591148376,
+                    "position": [
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+                        -0.01264741993509233,
+                        -0.0041750802192837
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.02974068970346988,
+                            0.7123608363344089
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9622568488121033,
+                    "position": [
+                        -0.012055303784109128,
+                        -0.10513782105408609,
+                        0.003888094564899802
+                    ],
+                    "orientation": {
+                        "w": 0.5061333102993706,
+                        "xyz": [
+                            -0.4922351491689994,
+                            0.5218512786089634,
+                            0.47875345757724164
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9591082334518433,
+                    "position": [
+                        0.09766833775302075,
+                        -0.012556596426293254,
+                        0.00045597273856401443
+                    ],
+                    "orientation": {
+                        "w": 0.012423629040854318,
+                        "xyz": [
+                            -0.7068907935612964,
+                            0.02222379630579241,
+                            0.7068643167521573
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9580255746841431,
+                    "position": [
+                        0.09963779442568921,
+                        0.016784757608547807,
+                        -0.007536205695942044
+                    ],
+                    "orientation": {
+                        "w": 0.05176941737226648,
+                        "xyz": [
+                            0.6882310914405488,
+                            0.01341524107028591,
+                            -0.7235177423577897
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9547848701477051,
+                    "position": [
+                        -0.012977148288882745,
+                        -0.10445797792635858,
+                        0.003966458374634385
+                    ],
+                    "orientation": {
+                        "w": 0.49392706569844974,
+                        "xyz": [
+                            -0.5304803527456834,
+                            -0.4826877054473827,
+                            -0.4915681317287315
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9523305892944336,
+                    "position": [
+                        0.08463329367896222,
+                        0.05205318355001509,
+                        -0.0035947891883552074
+                    ],
+                    "orientation": {
+                        "w": 0.6824462202394604,
+                        "xyz": [
+                            0.16329184092937596,
+                            -0.6903530458460981,
+                            0.17611247331686739
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9499478936195374,
+                    "position": [
+                        0.08216329210063122,
+                        0.05708640092052519,
+                        -0.010883990908041596
+                    ],
+                    "orientation": {
+                        "w": 0.20549975445562346,
+                        "xyz": [
+                            0.6592955526840919,
+                            0.1751209592665537,
+                            -0.7017349034751074
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9490546584129333,
+                    "position": [
+                        -0.003808085922173632,
+                        -0.09123926213942468,
+                        0.05451927403919399
+                    ],
+                    "orientation": {
+                        "w": 0.0023686102764903755,
+                        "xyz": [
+                            0.016973776541588242,
+                            0.8752219648362481,
+                            0.4834178243129363
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9474886655807495,
+                    "position": [
+                        0.045687492122851836,
+                        -0.09422108135186136,
+                        0.003491882933303714
+                    ],
+                    "orientation": {
+                        "w": 0.35051751540566173,
+                        "xyz": [
+                            -0.6192199636075771,
+                            0.36271485868861597,
+                            0.6017823853771144
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9466314911842346,
+                    "position": [
+                        0.042464210769139754,
+                        -0.09342883131466806,
+                        -0.0006084851338528097
+                    ],
+                    "orientation": {
+                        "w": 0.35163433358381446,
+                        "xyz": [
+                            -0.6136403428551556,
+                            0.3630224222219064,
+                            0.6066412004058197
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9436295628547668,
+                    "position": [
+                        0.04504224576612614,
+                        -0.09601065865717828,
+                        -0.0030287664849311113
+                    ],
+                    "orientation": {
+                        "w": 0.6121014324115486,
+                        "xyz": [
+                            -0.366331049592761,
+                            -0.6049651859583034,
+                            -0.3537661972580649
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "AC prong",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "precisely grasp one exposed blade to orient the charger during assembly or inspection",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "pinch a blade lightly to pull the charger from a loose outlet in a constrained manipulation setup",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "conduct mains power",
+                "plug into wall outlet",
+                "provide electrical interface",
+                "set insertion orientation"
+            ],
+            "semantic_description": "Thin silver metal flat blade with a smooth reflective finish and rounded tip hole, protruding from the charger front as one of the two wall-plug contacts.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.7817583084106445,
+                    "position": [
+                        -0.06159761256913043,
+                        0.020953556755557656,
+                        0.08532934705726802
+                    ],
+                    "orientation": {
+                        "w": 0.24764176645868466,
+                        "xyz": [
+                            0.7467899461782884,
+                            0.5946164855547938,
+                            0.1655583489248343
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "AC prong",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "precisely grasp one exposed blade to orient the charger during assembly or inspection",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "pinch a blade lightly to pull the charger from a loose outlet in a constrained manipulation setup",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "conduct mains power",
+                "plug into wall outlet",
+                "provide electrical interface",
+                "set insertion orientation"
+            ],
+            "semantic_description": "Thin silver metal flat blade with a smooth reflective finish and rounded tip hole, protruding from the charger front as one of the two wall-plug contacts.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.8200188875198364,
+                    "position": [
+                        0.01124253228863381,
+                        0.11458313115872443,
+                        0.0011738298926502466
+                    ],
+                    "orientation": {
+                        "w": 0.4991441588575985,
+                        "xyz": [
+                            0.5149306822737476,
+                            0.47583036703744863,
+                            -0.5092022809615449
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.2726859748363495,
+                    "position": [
+                        0.014976320905589091,
+                        0.12294367351569235,
+                        0.004459430230781436
+                    ],
+                    "orientation": {
+                        "w": 0.7264311059668933,
+                        "xyz": [
+                            0.6862625752650984,
+                            -0.019981835556447947,
+                            -0.030696128779147534
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "plug face",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the AC prongs",
+                "insulate around live contacts",
+                "define plug-side interface",
+                "support insertion geometry"
+            ],
+            "semantic_description": "Dark gray hard plastic front panel with a smooth matte finish, slightly recessed around the prong base on the outlet-facing end of the charger.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "USB-C port opening",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "accept charging cable",
+                "provide power output interface",
+                "guide connector insertion",
+                "define output side"
+            ],
+            "semantic_description": "Small rounded-rectangle opening set into the white output face, appearing dark inside with a smooth hard surround on the opposite end from the wall prongs.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "Apple logo",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking",
+                "identify product orientation",
+                "provide visual recognition"
+            ],
+            "semantic_description": "Small gray logo printed on the white housing surface with a flat, smooth appearance, centered on a broad side of the charger body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "regulatory label",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display specifications",
+                "show safety information",
+                "provide product identification"
+            ],
+            "semantic_description": "Narrow line of small dark printed text on the white plastic housing, flat and smooth, positioned along a side face near the charger edges.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom pad",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stabilize resting orientation",
+                "provide contact surface",
+                "visually mark bottom side"
+            ],
+            "semantic_description": "Oval light gray insert or marking on the bottom face of the white charger, smooth and flush with the surrounding hard plastic surface.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/affordance/mesh_part_seg.glb ADDED Viewed

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

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