Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -5795,3 +5795,4 @@ dataset/bathroom_supplies/personal_care/4d6337f9178d506ebdd785dc80cbe505/afforda
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,369 @@

+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the toothbrush",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to orient the brush head for brushing or placement",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "stabilize the toothbrush by clamping the handle during storage or docking",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support brushing motions",
+                "house internal components",
+                "provide reach and leverage"
+            ],
+            "semantic_description": "Long white plastic handle with a smooth matte finish, rounded rectangular cross-section, and gently tapered form making up most of the toothbrush body.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9920585751533508,
+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.4910286369241047,
+                            0.518681527621697
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9918687343597412,
+                    "position": [
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+                        -0.012888554585515521,
+                        -0.09595038536645006
+                    ],
+                    "orientation": {
+                        "w": 0.7200339880511879,
+                        "xyz": [
+                            -0.010180114782139768,
+                            0.07127316551788798,
+                            0.6901938547909451
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9915167093276978,
+                    "position": [
+                        -0.05472554359585047,
+                        0.08473272611445282,
+                        -0.0038835632585687563
+                    ],
+                    "orientation": {
+                        "w": 0.3706043594321588,
+                        "xyz": [
+                            0.604628309236159,
+                            -0.3296913802068605,
+                            0.6232019016798633
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9914331436157227,
+                    "position": [
+                        -0.0010553160682320595,
+                        0.09239957471436355,
+                        0.028385950441588648
+                    ],
+                    "orientation": {
+                        "w": 0.44170688908768546,
+                        "xyz": [
+                            0.5744984265673476,
+                            0.5659344299967487,
+                            -0.39314730438904977
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9912034273147583,
+                    "position": [
+                        -0.04009984526783228,
+                        -0.04760255302244332,
+                        0.08005170729302336
+                    ],
+                    "orientation": {
+                        "w": 0.3062732730690982,
+                        "xyz": [
+                            -0.6356834521292722,
+                            0.7053205557345678,
+                            0.06801576692821751
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9911717772483826,
+                    "position": [
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+                        0.08527685691660736,
+                        -0.005712397207389586
+                    ],
+                    "orientation": {
+                        "w": 0.3638535508560748,
+                        "xyz": [
+                            0.5999254823421878,
+                            -0.3364425223612265,
+                            0.628097475168572
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9911355972290039,
+                    "position": [
+                        -0.0020905956625938416,
+                        -0.09283409277850296,
+                        0.021191321502556093
+                    ],
+                    "orientation": {
+                        "w": 0.5050042705400147,
+                        "xyz": [
+                            -0.4787960492039171,
+                            -0.617671804699078,
+                            -0.36634215111402535
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9910441637039185,
+                    "position": [
+                        -0.012564275704789907,
+                        -0.08728137622529175,
+                        0.04609222170256544
+                    ],
+                    "orientation": {
+                        "w": 0.35404000801896596,
+                        "xyz": [
+                            -0.6118946340210868,
+                            -0.6078124943865278,
+                            -0.3616691875813555
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9909389019012451,
+                    "position": [
+                        -0.0006565740332007408,
+                        0.09061155458039138,
+                        0.03540548887394834
+                    ],
+                    "orientation": {
+                        "w": 0.3849673734697849,
+                        "xyz": [
+                            0.5920262209380471,
+                            -0.5793326941164139,
+                            0.40703649051824287
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.990838348865509,
+                    "position": [
+                        -0.01490938849747181,
+                        0.09672102321928833,
+                        0.007416987049509771
+                    ],
+                    "orientation": {
+                        "w": 0.5081144107786434,
+                        "xyz": [
+                            0.5442096245014544,
+                            0.504762218538514,
+                            -0.4368875517740636
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9906588792800903,
+                    "position": [
+                        -0.011646052240394056,
+                        0.09668422480172012,
+                        -0.02095717731572222
+                    ],
+                    "orientation": {
+                        "w": 0.5411122979622329,
+                        "xyz": [
+                            0.4417756122734355,
+                            -0.45817497693133025,
+                            0.5496430477213716
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.990614652633667,
+                    "position": [
+                        -0.033498565666377544,
+                        0.08805543174094055,
+                        0.01232944727235008
+                    ],
+                    "orientation": {
+                        "w": 0.3436852371751006,
+                        "xyz": [
+                            0.6134597617910467,
+                            -0.41301862648994114,
+                            0.5787600475011466
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9905789494514465,
+                    "position": [
+                        -0.0033418191596865654,
+                        -0.0460985117679229,
+                        0.08560834285162855
+                    ],
+                    "orientation": {
+                        "w": 0.18373081874231817,
+                        "xyz": [
+                            -0.6876340391536818,
+                            0.6833986007993185,
+                            0.1623846263259057
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the toothbrush on and off",
+                "user control input",
+                "indicate interaction point"
+            ],
+            "semantic_description": "Small oval gray button on the front face of the handle, slightly recessed and positioned in the upper-middle area for thumb pressing.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp the neck to reorient the toothbrush during precise placement",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "hold the neck to stabilize the brush head for inspection or cleaning",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "connect handle to brush head",
+                "provide reach to the mouth",
+                "transmit brushing motion"
+            ],
+            "semantic_description": "Slim white plastic neck with a smooth hard surface, narrow elongated form, and slight curvature linking the handle to the brush head.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.5591229200363159,
+                    "position": [
+                        -0.17859275732189417,
+                        0.018992489101947285,
+                        -0.0042735247843666
+                    ],
+                    "orientation": {
+                        "w": 0.31623146262964175,
+                        "xyz": [
+                            0.6657788406325746,
+                            0.18728808092224125,
+                            0.649353041229135
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "collar",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect handle and neck",
+                "reinforce transition joint",
+                "provide visual separation of parts"
+            ],
+            "semantic_description": "Thin ring-shaped transition collar at the junction of the handle and neck, appearing white to light gray rather than metallic.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "brush head",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support bristles",
+                "contact teeth surfaces",
+                "reach into the mouth"
+            ],
+            "semantic_description": "Small white plastic head at the tip with a compact rounded profile and smooth hard finish, supporting the bristle clusters on top.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bristles",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "clean teeth surfaces",
+                "scrub plaque",
+                "reach between tooth contours"
+            ],
+            "semantic_description": "Short dense nylon bristles in light blue, teal-green, and white, arranged in compact tufts on top of the brush head.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base cap",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the handle end",
+                "protect internal components",
+                "provide resting contact surface"
+            ],
+            "semantic_description": "Small white end cap at the bottom of the handle, rounded and flat-ended with a smooth hard plastic finish forming the toothbrush base.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "head accent insert",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide visual identification",
+                "accent the top of the brush head",
+                "mark the area adjacent to the bristles"
+            ],
+            "semantic_description": "Small purple accent section on the top of the brush head adjacent to the bristles, visible as a narrow colored insert.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use wrong visible colors; base cap graspability too restrictive; collar function overstated."
+    }
+}

dataset/bathroom_supplies/personal_care/50b89769cd75506a9da93468810c172b/affordance/mesh_part_seg.glb ADDED Viewed

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

+version https://git-lfs.github.com/spec/v1
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+size 3787752