Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -5584,3 +5584,4 @@ dataset/bathroom_supplies/bath_products/308094cc70a550dd92492a1ea91decef/afforda
 dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/33eba2e4f2915b2ab81b4411f035d2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/bathroom_supplies/bath_products/3254713e395c53938ff154fdbc546756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/33eba2e4f2915b2ab81b4411f035d2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/3448a73a0631553a839f3375c5b66124/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,356 @@

+{
+    "affordances": [
+        {
+            "part_name": "soap dish body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body from the sides to pick up and relocate the soap dish",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the dish while placing or removing soap",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the soap",
+                "form the main container",
+                "provide a stable base",
+                "elevate soap above the counter",
+                "house the drainage insert"
+            ],
+            "semantic_description": "Large rectangular light-brown wooden body with visible darker grain streaks, a smooth matte to satin finish, rounded edges, thick walls, and a recessed basin on top.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9730015993118286,
+                    "position": [
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+                        "xyz": [
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+                        ]
+                    }
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+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9718940258026123,
+                    "position": [
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+                        0.11931645346339792,
+                        0.004213290012557991
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.48467094761294316,
+                            0.5025285649936397
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9706360101699829,
+                    "position": [
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+                        0.11913492006715387,
+                        0.0019939865014748648
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.49472019311682036,
+                            0.49012345953609104
+                        ]
+                    }
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+                "grasp_6": {
+                    "confidence": 0.9705314636230469,
+                    "position": [
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+                            0.733342511311392,
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+                        0.000779989713919349
+                    ],
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+                            0.01584209371422962,
+                            -0.7113337562279006
+                        ]
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+                    "position": [
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+                        0.11877528799232095,
+                        0.007878483927925117
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.5242289850064074,
+                            -0.4734252407004215
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+                    "position": [
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+                            0.00941866133305362
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+                    "position": [
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+                        0.11743173224385828,
+                        0.006848865843494423
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+                    "orientation": {
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+                        "xyz": [
+                            0.5121361190890198,
+                            -0.49615231050668196,
+                            0.4957427111449534
+                        ]
+                    }
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+                "grasp_13": {
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+                    "position": [
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+                        0.0034642428654478863
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+                    "orientation": {
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+                        "xyz": [
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+                            0.7197257757295745,
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+                "grasp_14": {
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+                    "position": [
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+                "grasp_17": {
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+                    "position": [
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+                        0.004854542858083732
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.48704192481142067
+                        ]
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+                },
+                "grasp_18": {
+                    "confidence": 0.9677096009254456,
+                    "position": [
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+                        -0.12591048853937536,
+                        -0.0048239932366413996
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.5016873640141766,
+                            0.5103392029464241
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drainage slat",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support soap above pooled water",
+                "promote drainage",
+                "allow airflow under soap"
+            ],
+            "semantic_description": "Light-wood horizontal rectangular slat with a smooth matte finish, positioned at one end of the recessed drainage rack and featuring two short perpendicular tabs.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drainage slat",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support soap above pooled water",
+                "promote drainage",
+                "allow airflow under soap"
+            ],
+            "semantic_description": "Light-wood horizontal rectangular slat with a smooth matte finish, spanning across the recessed top near the middle-lower area as part of the slotted drainage rack.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drainage slat",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support soap above pooled water",
+                "promote drainage",
+                "allow airflow under soap"
+            ],
+            "semantic_description": "Light-wood vertical rectangular slat with a smooth matte finish, running lengthwise through the recessed rack near the center.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drainage slat",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support soap above pooled water",
+                "promote drainage",
+                "allow airflow under soap"
+            ],
+            "semantic_description": "Light-wood horizontal rectangular slat with a smooth matte finish, located near the opposite end of the recessed rack and including two short perpendicular tabs.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drainage slat",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support soap above pooled water",
+                "promote drainage",
+                "allow airflow under soap"
+            ],
+            "semantic_description": "Light-wood vertical rectangular slat with a smooth matte finish, positioned lengthwise within the recessed top alongside the central support.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drainage slat",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support soap above pooled water",
+                "promote drainage",
+                "allow airflow under soap"
+            ],
+            "semantic_description": "Short light-wood rectangular cross slat with a smooth matte surface, located within the central area of the drainage grid.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drainage slat",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support soap above pooled water",
+                "promote drainage",
+                "allow airflow under soap"
+            ],
+            "semantic_description": "Short light-wood rectangular cross slat with a smooth matte surface, positioned near the central area of the recessed drainage grid.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Part colors and identities mismatch; cyan is tray recess, not a slat, and several slat descriptions have wrong positions/orientations."
+    }
+}

dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3784648