Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -8125,3 +8125,4 @@ dataset/desktop_supplies/electronic_accessories/c5196959076e5abfbe5d3286b31ef2b0
 dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c9ad5a2cc77b517bb8e6b2fb77d8093b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/electronic_accessories/c89c4c828a625933a0beb1948aa805d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c9382dc6332f5b01a6fce3662595ba80/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/c9ad5a2cc77b517bb8e6b2fb77d8093b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,478 @@

+{
+    "affordances": [
+        {
+            "part_name": "remote body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick up the remote",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to stabilize the remote while pressing buttons",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the body to reorient or place the remote",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "house internal electronics",
+                "support the controls",
+                "provide overall structure",
+                "protect internal components"
+            ],
+            "semantic_description": "Elongated dark gray to black plastic housing with a mostly matte smooth finish, rounded corners, hard texture, and white branding on the front, forming most of the remote.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9761366844177246,
+                    "position": [
+                        -0.12009802932152525,
+                        -0.05100540892453864,
+                        -0.0003256929630879313
+                    ],
+                    "orientation": {
+                        "w": 0.7004881627250349,
+                        "xyz": [
+                            0.0016346625383404875,
+                            0.7135679966903362,
+                            -0.011592060206507762
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9488062858581543,
+                    "position": [
+                        -0.10789767379174009,
+                        -0.0033004002762027085,
+                        -0.0003297844377811998
+                    ],
+                    "orientation": {
+                        "w": 0.1793742699095337,
+                        "xyz": [
+                            0.6766132874524329,
+                            -0.17445202681063066,
+                            0.692521350485959
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9330698847770691,
+                    "position": [
+                        -0.1068913015187718,
+                        0.002459877112414688,
+                        -0.001148933166405186
+                    ],
+                    "orientation": {
+                        "w": 0.17652147490609554,
+                        "xyz": [
+                            0.6772918008384701,
+                            -0.1676876200214913,
+                            0.6942599279128006
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9276755452156067,
+                    "position": [
+                        -0.10639232123503461,
+                        0.002630948496516794,
+                        -0.00033077129046432674
+                    ],
+                    "orientation": {
+                        "w": 0.17971673891647202,
+                        "xyz": [
+                            0.6774167432891939,
+                            -0.17161519842431927,
+                            0.6923558863290411
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9147495031356812,
+                    "position": [
+                        -0.10806584084639326,
+                        -0.09694445581408218,
+                        -0.0013004181382711977
+                    ],
+                    "orientation": {
+                        "w": 0.6835835544536265,
+                        "xyz": [
+                            -0.1736005756215214,
+                            0.6879015143517606,
+                            0.1713705656668525
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8741415739059448,
+                    "position": [
+                        -0.10596587235340849,
+                        -0.0973018974182196,
+                        -0.002216926746768877
+                    ],
+                    "orientation": {
+                        "w": 0.171568952320716,
+                        "xyz": [
+                            -0.6745682129106725,
+                            -0.17794274564551193,
+                            -0.6955991661885532
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8508053421974182,
+                    "position": [
+                        -0.10496136272558942,
+                        -0.09884896577568725,
+                        -0.00011477878433652222
+                    ],
+                    "orientation": {
+                        "w": 0.17094270183342908,
+                        "xyz": [
+                            -0.677210693290056,
+                            -0.17774141872248916,
+                            -0.6932331913966651
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8074179291725159,
+                    "position": [
+                        -0.11486004019388929,
+                        -0.04005292878719047,
+                        0.05095540595357306
+                    ],
+                    "orientation": {
+                        "w": 0.5073411917242082,
+                        "xyz": [
+                            0.026793113371246357,
+                            0.8612370757722826,
+                            0.012559600747755762
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back side housing",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back side of the remote to pick it up from a table",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the rear housing to stabilize the remote during front-button interaction",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "rear enclosure surface",
+                "protect internal components",
+                "provide rear support surface",
+                "form backside of the housing"
+            ],
+            "semantic_description": "Large dark gray plastic backside of the remote with a matte smooth hard surface and rounded rectangular shape spanning nearly the entire rear face.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.24471648037433624,
+                    "position": [
+                        0.02177824912359938,
+                        0.16837604640750214,
+                        0.02554666859214194
+                    ],
+                    "orientation": {
+                        "w": 0.03810265308458389,
+                        "xyz": [
+                            -0.04048062773059112,
+                            -0.8013167124197018,
+                            0.5956517715942209
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.23859359323978424,
+                    "position": [
+                        0.002402143960352987,
+                        0.16197431384352967,
+                        0.031244924786733463
+                    ],
+                    "orientation": {
+                        "w": 0.5659230103150467,
+                        "xyz": [
+                            0.8243005320445209,
+                            -0.01582415004463955,
+                            -0.0030619507572899577
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.19445712864398956,
+                    "position": [
+                        0.010524956451263279,
+                        -0.18442950845928863,
+                        -0.011416152556193992
+                    ],
+                    "orientation": {
+                        "w": 0.728816935979247,
+                        "xyz": [
+                            -0.6844661968051966,
+                            -0.014572544215175842,
+                            0.010933444834464073
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.18799297511577606,
+                    "position": [
+                        0.0030457728425972164,
+                        0.16865302919177338,
+                        -0.013971774344099686
+                    ],
+                    "orientation": {
+                        "w": 0.07089440009199141,
+                        "xyz": [
+                            0.010152358145761792,
+                            0.6784648245132222,
+                            -0.7311336372770163
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.18083494901657104,
+                    "position": [
+                        0.005763564200606197,
+                        -0.17136984766693786,
+                        -0.004365104221506044
+                    ],
+                    "orientation": {
+                        "w": 0.7160010192319326,
+                        "xyz": [
+                            -0.6977833730191186,
+                            -0.002960044542816065,
+                            0.020788047844860973
+                        ]
+                    }
+                },
+                "grasp_20": {
+                    "confidence": 0.32006609439849854,
+                    "position": [
+                        0.0030306283733807504,
+                        0.13957616983680055,
+                        -0.06579753893311135
+                    ],
+                    "orientation": {
+                        "w": 0.0474599596773442,
+                        "xyz": [
+                            0.019747881533588422,
+                            0.43562919316959814,
+                            -0.8986572090963081
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.15457172691822052,
+                    "position": [
+                        0.015218172164168209,
+                        -0.17659775615902618,
+                        -0.006428697583032772
+                    ],
+                    "orientation": {
+                        "w": 0.7253812393340368,
+                        "xyz": [
+                            -0.6875657353741249,
+                            -0.032792001941068794,
+                            0.00031901466022065213
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.07943996787071228,
+                    "position": [
+                        0.0076529671787284315,
+                        -0.03963960410328582,
+                        -0.06728563594515435
+                    ],
+                    "orientation": {
+                        "w": 0.9062137851601123,
+                        "xyz": [
+                            -0.4216755457997055,
+                            -0.007241090326981281,
+                            0.03023038655357908
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "navigation ring",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "directional input",
+                "navigate menus",
+                "surround center select button",
+                "provide thumb target"
+            ],
+            "semantic_description": "Large turquoise circular plastic ring on the upper front face with a smooth slightly glossy finish and directional arrow icons around a central button.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center select button",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "confirm selection",
+                "central input",
+                "menu control"
+            ],
+            "semantic_description": "Small dark circular button seated at the center of the turquoise navigation ring, with a smooth matte finish and slightly recessed position.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper left button",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "command input",
+                "discrete button target"
+            ],
+            "semantic_description": "Small dark rectangular button near the upper left area of the front control cluster, with a smooth matte plastic surface and rounded corners.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper middle button",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "command input",
+                "discrete button target"
+            ],
+            "semantic_description": "Small dark rectangular button near the upper middle area of the front control cluster, with a smooth matte plastic surface and rounded corners.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper right button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "command input",
+                "discrete button target"
+            ],
+            "semantic_description": "Small dark rectangular button near the upper right area of the front control cluster, with a smooth matte plastic surface and rounded corners.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle left button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "command input",
+                "discrete button target"
+            ],
+            "semantic_description": "Small dark rectangular button in the middle left area of the front control cluster, with a smooth matte plastic surface and rounded corners.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "command input",
+                "discrete button target"
+            ],
+            "semantic_description": "Small dark rectangular button at the center of the front control cluster, with a smooth matte plastic surface and rounded corners.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle right button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "command input",
+                "discrete button target"
+            ],
+            "semantic_description": "Small dark rectangular button in the middle right area of the front control cluster, with a smooth matte plastic surface and rounded corners.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower button row",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "command input",
+                "provide multiple discrete button targets"
+            ],
+            "semantic_description": "Short row of small white circular button marks near one end of the front face on the dark housing, appearing as a grouped set of tiny round controls or indicators.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper branding dots",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide visual identification",
+                "branding mark"
+            ],
+            "semantic_description": "Short row of small red circular markings near one end of the front face, serving as visible decorative or brand-related dots on the dark surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower branding dots",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide visual identification",
+                "branding mark"
+            ],
+            "semantic_description": "Short row of small light green segmented dots near the opposite end of the front face in the mask, corresponding to the white brand text area on the dark housing.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top slot opening",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "opening feature",
+                "recessed end detail"
+            ],
+            "semantic_description": "Small narrow light-colored rectangular slot at one end of the remote, inset into the front end with a smooth surrounding frame.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions and functions mismatch image: branding dots/text, lower button row color/identity, and slot opening description are incorrect."
+    }
+}

dataset/desktop_supplies/electronic_accessories/cb09443b8c875958b27b4edc7fc36349/affordance/mesh_part_seg.glb ADDED Viewed

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

+version https://git-lfs.github.com/spec/v1
+oid sha256:5f75fb51f050b35982874185865d56fdaccf749d5bb17efc0a9e85c8a4f23a5d
+size 3826860