Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -6273,3 +6273,4 @@ dataset/desktop_supplies/electronic_accessories/acac82dd1e275f6190383e2f3d79249f
 dataset/desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b2e9e0700a115c72b1a64d78bef8ed0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/electronic_accessories/af5bc80c973f5620aebc05e227171e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b2e9e0700a115c72b1a64d78bef8ed0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/b2eb681161025ba29ace0674b9357f33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,351 @@

+{
+    "affordances": [
+        {
+            "part_name": "USB connector",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the metal connector end lightly to orient the drive for insertion",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "pull on the connector area to remove the drive from a loose USB port",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "plug into USB port",
+                "provide electrical connection",
+                "enable data transfer",
+                "enable power delivery"
+            ],
+            "semantic_description": "Small silver metal rectangular USB-A plug at one end with a smooth reflective finish, two visible dark contact openings on the top face, and a rectangular opening at the tip.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8571086525917053,
+                    "position": [
+                        -0.09716412672423758,
+                        -0.022510230250190943,
+                        -0.006461674929596484
+                    ],
+                    "orientation": {
+                        "w": 0.7268427593776596,
+                        "xyz": [
+                            -0.006289354670371716,
+                            0.6867747763661931,
+                            0.0006735764732326011
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.654037356376648,
+                    "position": [
+                        0.08313637724495493,
+                        -0.08082922146422789,
+                        0.00439845712389797
+                    ],
+                    "orientation": {
+                        "w": 0.21356031246114784,
+                        "xyz": [
+                            -0.7150568437340904,
+                            0.17455150081846993,
+                            0.6423530779349913
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.6187174916267395,
+                    "position": [
+                        0.048573923617368564,
+                        -0.11303060100181028,
+                        -0.003823458799161017
+                    ],
+                    "orientation": {
+                        "w": 0.37019696089671855,
+                        "xyz": [
+                            -0.6119290058638506,
+                            0.35068255619093436,
+                            0.6045815467814952
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.5082818865776062,
+                    "position": [
+                        -0.05269399160169996,
+                        -0.11280436412198469,
+                        -0.006827195757068694
+                    ],
+                    "orientation": {
+                        "w": 0.6358113870898235,
+                        "xyz": [
+                            -0.35575479203007204,
+                            0.5935098183008427,
+                            0.3419481007039745
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.4798212945461273,
+                    "position": [
+                        -0.04695269712829031,
+                        -0.10902386502129957,
+                        0.023383053834550083
+                    ],
+                    "orientation": {
+                        "w": 0.4583592223566287,
+                        "xyz": [
+                            -0.2287130990698166,
+                            0.750306493828747,
+                            0.41789628726864714
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.37318292260169983,
+                    "position": [
+                        -0.04275481277727522,
+                        -0.11362995550734922,
+                        0.021873249555937946
+                    ],
+                    "orientation": {
+                        "w": 0.5188881782003052,
+                        "xyz": [
+                            -0.3635389040587681,
+                            0.6835701696561042,
+                            0.3623897720908295
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.36431607604026794,
+                    "position": [
+                        0.08252868553972803,
+                        0.023745943151880056,
+                        -0.0012421136343618855
+                    ],
+                    "orientation": {
+                        "w": 0.19452499948886456,
+                        "xyz": [
+                            0.6786861270511395,
+                            0.20324535606253002,
+                            -0.6784073192125786
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.3451121151447296,
+                    "position": [
+                        -0.030242138222092763,
+                        -0.1139637787709944,
+                        0.037688237498514354
+                    ],
+                    "orientation": {
+                        "w": 0.5031453677630007,
+                        "xyz": [
+                            -0.8276146443097877,
+                            -0.10334456210286813,
+                            -0.22631535720402404
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "housing",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and carry the USB drive",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the housing while aligning the connector with a USB port",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "stabilize the drive by the body while unplugging",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "protect internal electronics",
+                "support connector",
+                "provide structural body"
+            ],
+            "semantic_description": "Elongated bright mint-green plastic casing with a smooth slightly glossy hard surface, rounded edges, and a compact rectangular form enclosing most of the drive.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.9393150210380554,
+                    "position": [
+                        0.10061216106987558,
+                        0.022963317402172834,
+                        -0.0045291908318176866
+                    ],
+                    "orientation": {
+                        "w": 0.7224733867341363,
+                        "xyz": [
+                            0.007948426131149438,
+                            -0.6913515470626077,
+                            0.0014374828984040934
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9386832118034363,
+                    "position": [
+                        0.09901832541800104,
+                        0.01015483058290556,
+                        -0.0008137694967444986
+                    ],
+                    "orientation": {
+                        "w": 0.07726608567518724,
+                        "xyz": [
+                            -0.707520343386631,
+                            0.0030507621311002264,
+                            0.7024497195877566
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9330474734306335,
+                    "position": [
+                        -0.09967512884759344,
+                        0.028556241013575345,
+                        -0.0014274610439315438
+                    ],
+                    "orientation": {
+                        "w": 0.7034129876760348,
+                        "xyz": [
+                            0.03023935646650328,
+                            0.709850187037866,
+                            -0.020210444118654417
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.8962306976318359,
+                    "position": [
+                        -0.005932392232352868,
+                        0.11248590453760698,
+                        0.0015526489587500691
+                    ],
+                    "orientation": {
+                        "w": 0.5099178188472272,
+                        "xyz": [
+                            0.49953460927172244,
+                            -0.4978561506733258,
+                            0.4925324815670259
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.8665927052497864,
+                    "position": [
+                        -0.081945958227152,
+                        0.06995417579310015,
+                        -0.006828027428127825
+                    ],
+                    "orientation": {
+                        "w": 0.7040108779839908,
+                        "xyz": [
+                            0.20179662777039656,
+                            0.6626070394222328,
+                            -0.1568397781457592
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "keyring loop",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or delicately pinch the loop to lift or retrieve the drive",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the loop briefly to orient the drive before grasping the body",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "attach to keychain",
+                "hang for storage",
+                "provide retrieval point",
+                "indicate rear end"
+            ],
+            "semantic_description": "Small rounded loop integrated at the rear of the body, made of the same mint-green plastic with a smooth hard surface and open ring shape.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "memory chip",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store digital data",
+                "provide flash memory",
+                "support read and write operations"
+            ],
+            "semantic_description": "Small black integrated circuit mounted near the center of the exposed board area, with a matte surface, rectangular shape, and a bright green logo or symbol on top.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "exposed circuit board area",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount electronic components",
+                "route electrical signals",
+                "support memory circuitry",
+                "enable device operation"
+            ],
+            "semantic_description": "Exposed pale green to off-white rectangular PCB area on the top face of the housing, slightly recessed and surrounding the central chip, with a flat hard surface.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative board panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide visual styling",
+                "cover part of the recessed top area",
+                "frame the exposed electronics region"
+            ],
+            "semantic_description": "Long magenta-colored rectangular panel running along the recessed top section beside and beneath the chip area, flat and smooth with a printed or insert-like appearance.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "connector tongue insert",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support USB contact area",
+                "insulate connector interior",
+                "form the inner tongue of the USB plug"
+            ],
+            "semantic_description": "Tiny light cyan rectangular insert visible inside the connector opening, recessed within the metal plug and appearing as a thin internal tongue.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions use mask colors as real colors; decorative panel identity/function also incorrect."
+    }
+}

dataset/desktop_supplies/electronic_accessories/b31f376c4d7a54b69046e647cd0282b5/affordance/mesh_part_seg.glb ADDED Viewed

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

+version https://git-lfs.github.com/spec/v1
+oid sha256:f022526391b0e1d071a0a8308ea9c765d1be5060eff6bc5e45d26830ca837660
+size 3783792