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HorizonRobotics
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EmbodiedGenData

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1 Parent(s): d09ae85

Add asset desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4

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Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/7a9e1b45e2ea571dbf4713d08a89cbb4.urdf +1 -0
  3. dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance/affordance_annot.json +285 -0
  4. dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6123,3 +6123,4 @@ dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/affordance
6123
  dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6124
  dataset/desktop_supplies/decorations/751e9255275657fc8b94db3559a4b9de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6125
  dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6123
  dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6124
  dataset/desktop_supplies/decorations/751e9255275657fc8b94db3559a4b9de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6125
  dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6126
+ dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/7a9e1b45e2ea571dbf4713d08a89cbb4.urdf CHANGED
@@ -52,6 +52,7 @@
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  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
 
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  </affordance>
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  </custom_data>
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  </robot>
 
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  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
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+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
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  </affordance>
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  </custom_data>
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  </robot>
dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,285 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "affordances": [
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+ {
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+ "part_name": "base of thermos",
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+ "mask_color": "Red",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "support standing upright",
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+ "protect the bottom",
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+ "provide a stable resting surface"
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+ ],
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+ "semantic_description": "Flat circular black bottom piece, likely plastic or rubber, with a matte smooth surface and slightly rounded edge at the base of the thermos.",
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+ "id": 0,
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+ "grasp_group": {}
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+ },
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+ {
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+ "part_name": "lid top",
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+ "mask_color": "Blue",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the lid top to twist and remove the cap",
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+ "confidence": 0.84
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+ },
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+ {
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+ "scenario": "hold the lid top to align and tighten the cap during closing",
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+ "confidence": 0.79
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+ }
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+ ],
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+ "functional_labels": [
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+ "cover the opening",
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+ "provide a grip for opening",
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+ "provide a grip for closing",
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+ "seal the container top"
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+ ],
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+ "semantic_description": "Round black top cap surface with a matte hard finish, smooth texture, and shallow recessed disk shape at the very top of the thermos.",
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+ "id": 2,
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+ "grasp_group": {
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+ "grasp_18": {
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "thermos body",
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+ "mask_color": "Yellow",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the main body to pick up and carry the thermos",
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+ },
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+ {
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+ "scenario": "hold the body steady while unscrewing the lid",
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+ },
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+ {
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+ "scenario": "grasp the body to reposition or place the thermos",
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+ "confidence": 0.9
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+ }
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+ ],
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+ "functional_labels": [
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+ "contain hot or cold liquid",
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+ "main grasp surface",
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+ "support carrying",
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+ "provide structural enclosure"
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+ ],
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+ "semantic_description": "Tall cylindrical black body with a slightly tapered profile, hard smooth matte finish, and plain unmarked appearance forming most of the thermos volume.",
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+ "id": 3,
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+ "grasp_group": {
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "lid collar",
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+ "mask_color": "Orange",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the upper collar to help twist the lid open",
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+ "confidence": 0.71
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+ },
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+ {
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+ "scenario": "hold the collar to guide lid alignment during closing",
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+ "confidence": 0.66
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+ }
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+ ],
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+ "functional_labels": [
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+ "connect lid sections",
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+ "assist cap rotation",
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+ "reinforce the upper rim"
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+ ],
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+ "semantic_description": "Narrow black ring below the lid top, likely plastic, with a smooth matte surface and small white printed text visible around part of the circumference.",
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+ "id": 4,
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+ "grasp_group": {
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+ "grasp_55": {
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "threaded grip ring",
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+ "mask_color": "Purple",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the ribbed ring to unscrew the thermos cap",
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+ "confidence": 0.88
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+ },
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+ {
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+ "scenario": "grasp the ring to tighten the cap securely",
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+ "confidence": 0.85
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+ }
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+ ],
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+ "functional_labels": [
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+ "provide twisting grip",
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+ "enable opening",
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+ "enable closing",
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+ "improve hand traction"
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+ ],
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+ "semantic_description": "Thick black band around the upper neck with a matte finish, hard ribbed texture, and circumferential grooves that make the cap easier to twist.",
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+ "id": 5,
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+ "grasp_group": {
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+ "quality_check": {
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+ "success": true,
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+ "message": "YES"
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+ }
dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/affordance/mesh_part_seg.glb ADDED
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