Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -6241,4 +6241,5 @@ dataset/desktop_supplies/electronic_accessories/79cbe0976d5157ad810e45a62bd5522a
 dataset/desktop_supplies/electronic_accessories/79ec27b3ca385502bf7c912ae5c6056b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/7f60b1a8e6ad528c88166c53d47e6926/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/electronic_accessories/79ec27b3ca385502bf7c912ae5c6056b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/80a4e65f8bad59d68b8df9394af1ca62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,405 @@

+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the housing to pick up and hold the remote",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the lower half of the body to reposition or place the remote on a surface",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the side edges of the body while another tool presses front buttons",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support buttons and display",
+                "provide overall structure"
+            ],
+            "semantic_description": "Elongated slightly curved white plastic housing with a smooth matte finish, broader toward the rounded lower end and narrower near the screen end.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9925634264945984,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.0823968082797234,
+                            0.6930669025603569
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9923778772354126,
+                    "position": [
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+                        -0.0005771496798843145
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.029909520211866325,
+                            0.7089007086182801
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9919249415397644,
+                    "position": [
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+                        -0.018714578123763204,
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.09198318712515774,
+                            0.7036623298242445
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9916194677352905,
+                    "position": [
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+                        0.016159249236807227,
+                        -9.104990749619901e-05
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.7113728761881927,
+                            -0.023675142587190463
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9913177490234375,
+                    "position": [
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+                        -0.011029459768906236,
+                        -0.003924744611140341
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.6929126422611158,
+                            -0.028776514445202676
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9911144971847534,
+                    "position": [
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+                        0.002361005812417716,
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.02229757030393753,
+                            0.7235275644901418
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9910215735435486,
+                    "position": [
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+                        0.01868346589617431,
+                        -0.0054609288345091045
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.6915240193678953,
+                            -0.023124131530250797
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.990995466709137,
+                    "position": [
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+                        -0.00772033934481442,
+                        -0.005511170427780598
+                    ],
+                    "orientation": {
+                        "w": 0.722818758984304,
+                        "xyz": [
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+                            -0.6898325027070972,
+                            -0.03963856149802768
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9909929633140564,
+                    "position": [
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+                        0.000368064153008163,
+                        -0.0005224624910624698
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.7060987284228997,
+                            -0.027557542669609986
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9909579753875732,
+                    "position": [
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+                        0.018385230330750346,
+                        0.001552052388433367
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.08804185612411741,
+                            -0.7031586704333922
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.990791916847229,
+                    "position": [
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+                        0.026028240798041224,
+                        -0.0017800656496547163
+                    ],
+                    "orientation": {
+                        "w": 0.7160402323241083,
+                        "xyz": [
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+                            -0.6977485687887459,
+                            -0.006511238805531083
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9905850291252136,
+                    "position": [
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+                        0.0025905395159497857,
+                        -0.0027480590506456792
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+                    "orientation": {
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+                        "xyz": [
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+                            0.011999676889776767,
+                            0.7193638780368787
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9905552268028259,
+                    "position": [
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+                        0.005422583082690835,
+                        1.680891728028655e-05
+                    ],
+                    "orientation": {
+                        "w": 0.026949675311383627,
+                        "xyz": [
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+                            0.007331663602428984,
+                            -0.7096082212695787
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9898903369903564,
+                    "position": [
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+                        -0.004409943474456668,
+                        -0.002109476539772004
+                    ],
+                    "orientation": {
+                        "w": 0.7120976294674404,
+                        "xyz": [
+                            -0.036168940868035813,
+                            -0.6979623984223288,
+                            -0.0667627456886514
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9896888732910156,
+                    "position": [
+                        0.09614693933144736,
+                        0.022647452307865024,
+                        0.0033571143285371363
+                    ],
+                    "orientation": {
+                        "w": 0.7044188522723025,
+                        "xyz": [
+                            0.014268850799670092,
+                            -0.7095532570217271,
+                            -0.011164941114390174
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9896843433380127,
+                    "position": [
+                        0.09759456478968787,
+                        0.018607069505378604,
+                        0.00039963406743481755
+                    ],
+                    "orientation": {
+                        "w": 0.7041487071985962,
+                        "xyz": [
+                            0.07230125591795106,
+                            -0.7039069957619519,
+                            0.05883933939649563
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "display screen",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display temperature and mode",
+                "provide status feedback",
+                "show operating settings"
+            ],
+            "semantic_description": "Small dark rectangular LCD screen near the top end of the front face, with a glossy surface and visible dark border.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "display bezel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the display",
+                "protect screen edges",
+                "visually separate display area"
+            ],
+            "semantic_description": "White rectangular raised plastic frame surrounding the LCD screen, with a smooth hard finish and clearly defined border.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the controlled unit on or off",
+                "provide a primary control input",
+                "offer quick access to the power command"
+            ],
+            "semantic_description": "Pink oval button on the front face below the screen area, with a smooth slightly domed surface and prominent placement.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "large central rocker button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "adjust settings",
+                "provide primary input control",
+                "change values such as temperature or fan setting"
+            ],
+            "semantic_description": "Long white oval rocker-like button near the center of the front panel, larger than the small round buttons and slightly raised for pressing.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "orange round function button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "input a secondary function",
+                "adjust a specific setting",
+                "provide single-button control input"
+            ],
+            "semantic_description": "Small round light-colored button on the front face near the central control area, with a smooth slightly raised surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small front buttons",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "input secondary commands",
+                "select settings",
+                "provide tactile control points"
+            ],
+            "semantic_description": "Multiple small round light pink to off-white buttons distributed across the front face in rows, each slightly raised with smooth plastic surfaces.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blue round function button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "input a secondary function",
+                "adjust a specific setting",
+                "provide additional command control"
+            ],
+            "semantic_description": "Small round light-colored button on the front panel among the other controls, with a smooth slightly raised surface.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "purple round function button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "access an extra function",
+                "trigger a less common command",
+                "supplement the main controls"
+            ],
+            "semantic_description": "Small round light-colored button on the upper front area of the remote, with a smooth plastic top and isolated placement among nearby small buttons.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several button descriptions use wrong colors and one part name is overly color-specific despite light button appearance ambiguity."
+    }
+}

dataset/desktop_supplies/electronic_accessories/80b87e00a7ea54f4867b2872cc6d9252/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3787232