Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -7589,3 +7589,4 @@ dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/affordance/mesh_p
 dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7e7a813a9e815d93a05c70051901794d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/85e39841ef325521ab8037ebf023c400/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/85e39841ef325521ab8037ebf023c400/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,363 @@

+{
+    "affordances": [
+        {
+            "part_name": "sliding spout cover",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or push the textured sliding cover to open or close the drinking opening",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "use a gripper to nudge the cover along its track during lid operation",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "cover the drinking opening",
+                "slide to open the spout",
+                "slide to close the spout",
+                "provide a thumb or finger actuation surface"
+            ],
+            "semantic_description": "Elongated light brown/taupe plastic slider on top of the lid with a matte surface and shallow grip ridges, positioned across the center of the lid.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slider end tab",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "bound one end of the sliding cover",
+                "help retain the sliding cover in its track",
+                "provide a stop at one end of travel",
+                "stabilize the slider assembly"
+            ],
+            "semantic_description": "Small light brown/taupe plastic tab at one end of the top slider assembly, slightly raised and integrated with the lid near the rim.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slider end tab",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "bound the opposite end of the sliding cover",
+                "help retain the sliding cover in its track",
+                "provide a stop at the opposite end of travel",
+                "stabilize the slider assembly"
+            ],
+            "semantic_description": "Small light brown/taupe plastic tab at the opposite end of the top slider assembly, slightly raised and integrated with the lid near the rim.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid rim to twist the top during opening or closing",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the upper lid area to stabilize the tumbler while operating the slider",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "seal the opening",
+                "support the drinking mechanism",
+                "provide top structure"
+            ],
+            "semantic_description": "Round light brown/taupe plastic lid with a matte smooth hard surface and slightly raised rim, covering the top opening and supporting the sliding spout hardware.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "collar ring",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the collar ring to stabilize the tumbler during lid operation",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold near the neck for short-distance pickup",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "join lid to body",
+                "provide neck reinforcement",
+                "help seal the top junction",
+                "indicate the lid-body boundary"
+            ],
+            "semantic_description": "Narrow white or off-white band around the upper tumbler neck with a smooth hard finish, encircling the cup just below the lid as a contrasting collar.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_65": {
+                    "confidence": 0.0714283213019371,
+                    "position": [
+                        0.012656717328354716,
+                        0.016347951954230666,
+                        0.14519823528826237
+                    ],
+                    "orientation": {
+                        "w": 0.11372969687498467,
+                        "xyz": [
+                            0.9927245776549988,
+                            -0.02167711692409667,
+                            -0.03306919367459371
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "tumbler body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tumbler body around the sidewall to pick up and carry it",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize the tumbler while opening or closing the lid",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body to place or reposition the tumbler on a surface",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "contain liquid",
+                "provide the main grasp surface",
+                "support insulated transport",
+                "display branding and markings"
+            ],
+            "semantic_description": "Large tapered brown vessel body with a matte smooth finish, likely coated metal or plastic, occupying most of the object and showing white printed coffee-themed text on the side.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.8397125005722046,
+                    "position": [
+                        0.010095705045387149,
+                        0.11357934190891683,
+                        -0.07277795486152172
+                    ],
+                    "orientation": {
+                        "w": 0.7197531240773103,
+                        "xyz": [
+                            0.691828669182102,
+                            -0.01528501819804795,
+                            -0.055631835286634915
+                        ]
+                    }
+                },
+                "grasp_41": {
+                    "confidence": 0.8364929556846619,
+                    "position": [
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+                        -0.11291489587165415,
+                        -0.07253986410796642
+                    ],
+                    "orientation": {
+                        "w": 0.04660081653542655,
+                        "xyz": [
+                            0.11185400291384169,
+                            0.6881951993001472,
+                            0.7153351756978068
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.8320027589797974,
+                    "position": [
+                        0.00233031646348536,
+                        -0.09632381633855402,
+                        -0.11697470210492611
+                    ],
+                    "orientation": {
+                        "w": 0.8539824793905968,
+                        "xyz": [
+                            -0.5193444643594681,
+                            0.007242975872859936,
+                            0.03070491057748195
+                        ]
+                    }
+                },
+                "grasp_43": {
+                    "confidence": 0.8313297629356384,
+                    "position": [
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+                        0.11556916101835668,
+                        -0.07931235991418362
+                    ],
+                    "orientation": {
+                        "w": 0.7234159575109695,
+                        "xyz": [
+                            0.686714454160356,
+                            -0.03535708419194439,
+                            -0.06198780092224108
+                        ]
+                    }
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+                "grasp_44": {
+                    "confidence": 0.829371452331543,
+                    "position": [
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+                        -0.10374019131995738,
+                        -0.08378547243773937
+                    ],
+                    "orientation": {
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+                        "xyz": [
+                            -0.643582101163439,
+                            0.07002802716313472,
+                            -0.10801019404345764
+                        ]
+                    }
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+                "grasp_47": {
+                    "confidence": 0.8271000981330872,
+                    "position": [
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+                        -0.10808640555478632,
+                        -0.07601951621472836
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+                    "orientation": {
+                        "w": 0.05121107350722784,
+                        "xyz": [
+                            0.1106611972586196,
+                            0.6911093267905264,
+                            0.7123899380217774
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+                    }
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+                "grasp_51": {
+                    "confidence": 0.8251358866691589,
+                    "position": [
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+                        0.11393287195824087,
+                        -0.07363554649055004
+                    ],
+                    "orientation": {
+                        "w": 0.7239741942671762,
+                        "xyz": [
+                            0.6871674159477639,
+                            0.05593222997941305,
+                            0.023106149493051068
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.82466721534729,
+                    "position": [
+                        -0.016424989560618997,
+                        0.11380542977713048,
+                        -0.07033533416688442
+                    ],
+                    "orientation": {
+                        "w": 0.7235991866646939,
+                        "xyz": [
+                            0.68664651926902,
+                            0.0621270132662215,
+                            0.032573130898819955
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.8244460821151733,
+                    "position": [
+                        0.018597234738990664,
+                        0.11498665227554739,
+                        -0.06828649155795574
+                    ],
+                    "orientation": {
+                        "w": 0.09210288559135543,
+                        "xyz": [
+                            -0.02855669852693067,
+                            -0.7024441767452455,
+                            0.705176397784045
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.8236653804779053,
+                    "position": [
+                        0.007988430326804519,
+                        0.11033454700373113,
+                        -0.0742661114782095
+                    ],
+                    "orientation": {
+                        "w": 0.7299537681103385,
+                        "xyz": [
+                            0.6819822864311594,
+                            -0.011846002653886134,
+                            -0.043901362584444756
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.823154628276825,
+                    "position": [
+                        -0.014999945880845189,
+                        0.11243855371139944,
+                        -0.06322909705340862
+                    ],
+                    "orientation": {
+                        "w": 0.030424145306437927,
+                        "xyz": [
+                            -0.06301609338215394,
+                            0.7004466488436011,
+                            -0.7102660314846782
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.822432279586792,
+                    "position": [
+                        0.011900694807991385,
+                        -0.0921294076833874,
+                        -0.11798409186303616
+                    ],
+                    "orientation": {
+                        "w": 0.8540133959129461,
+                        "xyz": [
+                            -0.5145573307498021,
+                            -0.019843527323619603,
+                            0.07414922384107175
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support upright standing",
+                "protect the bottom",
+                "stabilize placement",
+                "contact the table surface"
+            ],
+            "semantic_description": "Circular darker base area at the bottom with a smooth hard surface, slightly recessed and sized to support the tumbler when standing upright.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red/green parts are mislabeled as end tabs; they are the hinged flap and front latch area, with incorrect functions/descriptions."
+    }
+}

dataset/kitchen_supplies/ware/85e39841ef325521ab8037ebf023c400/affordance/mesh_part_seg.glb ADDED Viewed

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

+version https://git-lfs.github.com/spec/v1
+oid sha256:cd167ee64fa3220d5ece548668e9baf4ff4ea25598e3f91967ac717df064d233
+size 3786728