Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -8206,3 +8206,4 @@ dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affo
 dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,339 @@

+{
+    "affordances": [
+        {
+            "part_name": "main body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up and reposition the correction tape dispenser",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body while applying correction tape to paper",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "stabilize the dispenser body while orienting the tip toward the page",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal tape mechanism",
+                "support dispensing",
+                "provide overall structure"
+            ],
+            "semantic_description": "Large light blue plastic shell with a smooth mostly matte surface, rounded teardrop shape, and printed black branding on one side, forming the main bulk of the handheld dispenser.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front neck",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front neck lightly for precise orientation during fine manipulation",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "stabilize the front neck while aligning the tip to the paper",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "connect tip to body",
+                "support front end",
+                "indicate dispensing direction",
+                "house the front tape path"
+            ],
+            "semantic_description": "Small light blue plastic tapered neck with a smooth hard surface, positioned between the main body and the dispensing tip at the narrow front of the dispenser.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9524025917053223,
+                    "position": [
+                        -0.07999134226702154,
+                        0.004356275196187198,
+                        0.08407656088093063
+                    ],
+                    "orientation": {
+                        "w": 0.21808778824825273,
+                        "xyz": [
+                            0.6792343246140121,
+                            0.6744786775693553,
+                            0.1901498419337391
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9488987922668457,
+                    "position": [
+                        -0.02861119224689901,
+                        8.009711746126413e-05,
+                        0.10198621436575195
+                    ],
+                    "orientation": {
+                        "w": 0.01915810121075753,
+                        "xyz": [
+                            -0.7079857094044154,
+                            0.7057148563446003,
+                            -0.01886117630598129
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.942547082901001,
+                    "position": [
+                        -0.07800845964811742,
+                        -0.0027854115469381213,
+                        0.08383522167423507
+                    ],
+                    "orientation": {
+                        "w": 0.17290984974940965,
+                        "xyz": [
+                            0.6805463282968849,
+                            0.6782641914039063,
+                            0.2166023212259526
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9384490251541138,
+                    "position": [
+                        -0.08616025908850133,
+                        0.009862160892225802,
+                        0.07968831792095443
+                    ],
+                    "orientation": {
+                        "w": 0.2553079254314223,
+                        "xyz": [
+                            0.6956546897920414,
+                            0.6410273251859447,
+                            0.19991594270391372
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9342818260192871,
+                    "position": [
+                        -0.12205795361660421,
+                        0.0013870838447473943,
+                        -0.00022230903414310887
+                    ],
+                    "orientation": {
+                        "w": 0.5097471075566569,
+                        "xyz": [
+                            -0.47757318236551,
+                            0.5098840222385449,
+                            -0.5020956340068534
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9323697686195374,
+                    "position": [
+                        -0.11641169502399862,
+                        -0.012310697115026414,
+                        0.03585955485323211
+                    ],
+                    "orientation": {
+                        "w": 0.44420350208984594,
+                        "xyz": [
+                            -0.6000048782622924,
+                            0.5695391089673938,
+                            -0.34395144737185673
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9318050146102905,
+                    "position": [
+                        -0.07430676533840597,
+                        8.3792838267982e-05,
+                        0.07969377919653198
+                    ],
+                    "orientation": {
+                        "w": 0.17905070199100548,
+                        "xyz": [
+                            0.6820371789733592,
+                            0.679098409681023,
+                            0.20393989943926322
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9595696926116943,
+                    "position": [
+                        -0.11030134721659124,
+                        -0.002285920432768762,
+                        0.03921145930507919
+                    ],
+                    "orientation": {
+                        "w": 0.3430928608897008,
+                        "xyz": [
+                            0.6018220699247692,
+                            0.5983858088977414,
+                            0.40253187285950703
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9573348164558411,
+                    "position": [
+                        -0.1085800991859287,
+                        0.021589279756881297,
+                        0.04324694707611343
+                    ],
+                    "orientation": {
+                        "w": 0.2685658403668757,
+                        "xyz": [
+                            -0.6177962482412671,
+                            0.5805372018169294,
+                            -0.4573584396877555
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9528852105140686,
+                    "position": [
+                        -0.11129091843031347,
+                        -0.00012059917207807302,
+                        0.03860221415379783
+                    ],
+                    "orientation": {
+                        "w": 0.3799998301206778,
+                        "xyz": [
+                            -0.5903729251046406,
+                            0.6049081569747501,
+                            -0.37569410434162764
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9148795008659363,
+                    "position": [
+                        -0.11982738389633596,
+                        0.021844754577614367,
+                        0.02139407939830562
+                    ],
+                    "orientation": {
+                        "w": 0.49250156323491595,
+                        "xyz": [
+                            0.6029627936526164,
+                            0.49131225118099897,
+                            0.39050012998878214
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8444809317588806,
+                    "position": [
+                        -0.11613661958836019,
+                        -0.021300440072081983,
+                        0.039933573301823344
+                    ],
+                    "orientation": {
+                        "w": 0.4952829206700049,
+                        "xyz": [
+                            -0.5667721518508138,
+                            0.6033892545287377,
+                            -0.26341139667493835
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.8432940244674683,
+                    "position": [
+                        -0.11546081467531621,
+                        -0.035663777380250394,
+                        -0.020284971375076566
+                    ],
+                    "orientation": {
+                        "w": 0.6052707534799928,
+                        "xyz": [
+                            -0.5465698854816016,
+                            0.32077627238389816,
+                            -0.48167546993996063
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "dispensing tip",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "apply correction tape",
+                "contact paper",
+                "guide tape onto surface",
+                "define dispensing point"
+            ],
+            "semantic_description": "Tiny pale gray-white tip at the frontmost end, narrow and slightly protruding where the correction tape is pressed onto the paper.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spool window ring",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame viewing window",
+                "surround visible spool area",
+                "retain side opening structure"
+            ],
+            "semantic_description": "Oval orange-peach ring around the visible spool window on the side of the dispenser, forming a smooth border around the exposed reel area.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spool hub",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support tape reel",
+                "enable tape rotation",
+                "serve as reel center"
+            ],
+            "semantic_description": "Small circular yellow center hub visible through the side window at the middle of the reel.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed branding text",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display brand information",
+                "show product marking"
+            ],
+            "semantic_description": "Small printed logo/text marking on the side near the front, appearing light cyan in the mask but as black and white printed graphics on the real object, not a physical control.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer spool gear ring",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form outer reel structure",
+                "support visible spool perimeter",
+                "provide geared outer edge of the reel"
+            ],
+            "semantic_description": "Thin ring around the reel near the window border, corresponding to the pale gray toothed outer edge of the visible spool on the real object.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask includes non-physical printed text and one reel part is misidentified as a gear ring."
+    }
+}

dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3785036