Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -6190,3 +6190,4 @@ dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877
 dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/13d2e898e9025206b0914dec12dbfc3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/electronic_accessories/1a7643bb6dcb52a8a94e96bb6240648e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/13d2e898e9025206b0914dec12dbfc3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1e6248a00c78525e8f79d8ef4fb9181e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,376 @@

+{
+    "affordances": [
+        {
+            "part_name": "cable body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle of the cable to pick up and reposition the charging cable",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the cable body to route or coil the cable during cable management",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "stabilize the cable body while aligning a connector with a port",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "transmit power",
+                "provide flexible reach",
+                "connect the two end plugs",
+                "allow routing and coiling",
+                "main grasp surface"
+            ],
+            "semantic_description": "Long flexible purple braided cable sleeve with a slightly matte finish and fine woven texture, forming the main curved body between the two connectors.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.7500395178794861,
+                    "position": [
+                        -0.014286529563833028,
+                        0.1101260301657021,
+                        -0.002295580223290017
+                    ],
+                    "orientation": {
+                        "w": 0.7099433417316681,
+                        "xyz": [
+                            0.7003385998349968,
+                            0.07140065062415957,
+                            0.020205053884488264
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.7486383318901062,
+                    "position": [
+                        -0.018671469122637063,
+                        0.11693427385762334,
+                        -0.0034577334263303783
+                    ],
+                    "orientation": {
+                        "w": 0.716164921589093,
+                        "xyz": [
+                            0.6922886545652133,
+                            0.08079428541503064,
+                            0.03628370556944336
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7284973859786987,
+                    "position": [
+                        -0.02268768410431221,
+                        0.11634376319125295,
+                        0.006234076110558817
+                    ],
+                    "orientation": {
+                        "w": 0.6927295666429308,
+                        "xyz": [
+                            0.7148393726010857,
+                            0.0786828608801754,
+                            0.05421647610915446
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7241953611373901,
+                    "position": [
+                        -0.025985314801800996,
+                        0.11231379630044103,
+                        -0.002398593813268235
+                    ],
+                    "orientation": {
+                        "w": 0.710612037235061,
+                        "xyz": [
+                            0.6958435619906519,
+                            0.07526907879027223,
+                            0.07188070360578298
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "connector housing",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one connector housing to plug or unplug the cable from a device",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the connector housing to precisely orient the plug near a port",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pick up the cable by one end using the housing as a stable pinch point",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide connector grip",
+                "support plug insertion",
+                "support plug removal",
+                "protect the connector termination",
+                "indicate cable end"
+            ],
+            "semantic_description": "Short light-purple plastic end housing with a smooth semi-matte hard surface, medium thickness, and cylindrical-to-rectangular shape located just behind one metal plug tip.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_28": {
+                    "confidence": 0.4768321216106415,
+                    "position": [
+                        -0.05091167363571003,
+                        -0.12230433104559779,
+                        0.03437923197998316
+                    ],
+                    "orientation": {
+                        "w": 0.33851985131651285,
+                        "xyz": [
+                            -0.6701442978722242,
+                            -0.45170285461641024,
+                            -0.4819496461513134
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7971529364585876,
+                    "position": [
+                        -0.07092920440481976,
+                        -0.11164412228390574,
+                        0.003819508016022155
+                    ],
+                    "orientation": {
+                        "w": 0.364895300180426,
+                        "xyz": [
+                            -0.6604892734529907,
+                            -0.27604436452028314,
+                            -0.5953191147413042
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.7773095369338989,
+                    "position": [
+                        -0.10316568362759426,
+                        -0.07555495528504252,
+                        0.00036086279214941896
+                    ],
+                    "orientation": {
+                        "w": 0.6901883500282869,
+                        "xyz": [
+                            -0.1584787052963518,
+                            0.685412399268393,
+                            0.16951219537829204
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.5908194184303284,
+                    "position": [
+                        -0.10284527885960415,
+                        -0.0835089641623199,
+                        0.006231943847524235
+                    ],
+                    "orientation": {
+                        "w": 0.1930148346224865,
+                        "xyz": [
+                            -0.7079047428110594,
+                            -0.15694062363652472,
+                            -0.6610490067868194
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "connector tip",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the exposed metal tip for fine connector orientation in a constrained space",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "make electrical connection",
+                "insert into device port",
+                "transfer charging power",
+                "provide mating interface"
+            ],
+            "semantic_description": "Small silver-colored metal plug tip with a smooth reflective hard surface at the end of one connector, compact and slightly protruding from the housing.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "connector housing",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the opposite connector housing to plug or unplug the cable from a device",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold this housing to orient the second plug for insertion",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pick up the cable by this end using the housing as a stable grasp point",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide connector grip",
+                "support plug insertion",
+                "support plug removal",
+                "protect the connector termination",
+                "indicate cable end"
+            ],
+            "semantic_description": "Short light-purple plastic end housing with a smooth semi-matte hard surface, medium thickness, and rectangular rounded shape located just behind the opposite metal plug tip.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_57": {
+                    "confidence": 0.8172166347503662,
+                    "position": [
+                        0.011005775711964816,
+                        -0.13052850542590022,
+                        0.001016802041704068
+                    ],
+                    "orientation": {
+                        "w": 0.5458413026536724,
+                        "xyz": [
+                            -0.5228852391638837,
+                            0.47158348293187813,
+                            0.4541556094641007
+                        ]
+                    }
+                },
+                "grasp_63": {
+                    "confidence": 0.8066906929016113,
+                    "position": [
+                        0.017774010717403144,
+                        -0.128810356836766,
+                        -0.008765266040427377
+                    ],
+                    "orientation": {
+                        "w": 0.5181698878376484,
+                        "xyz": [
+                            -0.4762443838953803,
+                            -0.4996828537842123,
+                            -0.5049834648584974
+                        ]
+                    }
+                },
+                "grasp_72": {
+                    "confidence": 0.7356297373771667,
+                    "position": [
+                        0.07238814485026523,
+                        -0.11657164571806788,
+                        -0.0058476461526879575
+                    ],
+                    "orientation": {
+                        "w": 0.3309986240439407,
+                        "xyz": [
+                            -0.6138575538100393,
+                            0.32751408101683954,
+                            0.6374585015881955
+                        ]
+                    }
+                },
+                "grasp_74": {
+                    "confidence": 0.7200180888175964,
+                    "position": [
+                        0.09118150424910709,
+                        -0.09822001634165645,
+                        -0.0018445429122948553
+                    ],
+                    "orientation": {
+                        "w": 0.28492080035044315,
+                        "xyz": [
+                            -0.6758741205704978,
+                            0.22254389800393992,
+                            0.6422526949199445
+                        ]
+                    }
+                },
+                "grasp_75": {
+                    "confidence": 0.7105109691619873,
+                    "position": [
+                        0.09999918442917988,
+                        -0.08510230807587504,
+                        0.02264529397143633
+                    ],
+                    "orientation": {
+                        "w": 0.5715941623104351,
+                        "xyz": [
+                            -0.1275804162243384,
+                            -0.7760680556572039,
+                            -0.23392674921244835
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "connector tip",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately pinch the exposed metal tip for precise end alignment when housing access is blocked",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "make electrical connection",
+                "insert into device port",
+                "transfer charging power",
+                "provide mating interface"
+            ],
+            "semantic_description": "Small silver-colored metal plug tip with a smooth reflective hard surface at the end of the opposite connector, compact and protruding slightly from its housing.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "strain relief sleeve",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reduce cable bending stress",
+                "reinforce connector joint",
+                "protect wire entry point",
+                "improve durability"
+            ],
+            "semantic_description": "Tiny dark collar between the braided cable and one end housing, likely rubber or soft plastic with a matte finish and smooth slightly tapered shape.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "strain relief sleeve",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reduce cable bending stress",
+                "reinforce connector joint",
+                "protect wire entry point",
+                "improve durability"
+            ],
+            "semantic_description": "Tiny dark collar between the braided cable and the other end housing, likely rubber or soft plastic with a matte finish and smooth slightly tapered shape.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/affordance/mesh_part_seg.glb ADDED Viewed

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

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