Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -7738,3 +7738,4 @@ dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordanc
 dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,345 @@

+{
+    "affordances": [
+        {
+            "part_name": "watering can handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the watering can",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize and tilt the watering can while pouring",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "support lifting the container",
+                "control tilt while pouring",
+                "connect upper body to side"
+            ],
+            "semantic_description": "Large arched white plastic handle with a smooth matte surface and hard texture, mounted along the upper side/back of the can for one-handed carrying and pouring control.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "watering can lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lid to open or remove it for refilling",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "grasp the lid to steady the top during manipulation",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "cover the fill opening",
+                "retain water inside",
+                "allow refilling access",
+                "protect the opening"
+            ],
+            "semantic_description": "Rounded white plastic top cover with a smooth matte finish and hard surface, sitting on the can's top as a medium-sized cap-like piece.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout tube",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spout tube to orient the watering can during precise pouring",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the spout lightly to stabilize the object during inspection",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "channel water outward",
+                "set pouring direction",
+                "reach plants at a distance",
+                "support aiming"
+            ],
+            "semantic_description": "Slender white plastic tubular spout with a smooth matte finish and hard surface, projecting diagonally from the upper front side of the can.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.7122100591659546,
+                    "position": [
+                        0.0031550771091133356,
+                        0.23183570615947247,
+                        -0.030519955791532993
+                    ],
+                    "orientation": {
+                        "w": 0.9391276441421578,
+                        "xyz": [
+                            0.3394369006416294,
+                            0.010785159873045735,
+                            -0.052014794215860326
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.7093297839164734,
+                    "position": [
+                        0.012400846229866147,
+                        0.23591941408813,
+                        -0.027654164470732212
+                    ],
+                    "orientation": {
+                        "w": 0.9299804522539074,
+                        "xyz": [
+                            0.3625037352620399,
+                            -0.05008674044222006,
+                            -0.03491015294381619
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.7075080871582031,
+                    "position": [
+                        0.028856085846200585,
+                        0.22703966312110424,
+                        -0.025544612668454647
+                    ],
+                    "orientation": {
+                        "w": 0.9345083688442294,
+                        "xyz": [
+                            0.3336791780289588,
+                            -0.10195338875687177,
+                            -0.07041179752717178
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.7041018009185791,
+                    "position": [
+                        0.053176537388935685,
+                        0.21010771207511425,
+                        -0.027153528295457363
+                    ],
+                    "orientation": {
+                        "w": 0.9211213363506021,
+                        "xyz": [
+                            0.29957667177211506,
+                            -0.23053663387539236,
+                            -0.09296322870375291
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.6961327195167542,
+                    "position": [
+                        0.007297817850485444,
+                        0.24448431842029095,
+                        -0.017931649461388588
+                    ],
+                    "orientation": {
+                        "w": 0.9132561407956173,
+                        "xyz": [
+                            0.4058828377849013,
+                            -0.021921167925222806,
+                            -0.027236109993276733
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.686686635017395,
+                    "position": [
+                        0.048438009107485414,
+                        0.2152141910046339,
+                        -0.016964961774647236
+                    ],
+                    "orientation": {
+                        "w": 0.9054017186535038,
+                        "xyz": [
+                            0.3565904399376527,
+                            -0.19847436749154712,
+                            -0.11704234897328059
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.6672541499137878,
+                    "position": [
+                        0.007026656763628125,
+                        0.21168403141200542,
+                        -0.04424801003187895
+                    ],
+                    "orientation": {
+                        "w": 0.08717906330853832,
+                        "xyz": [
+                            -0.02785294600635431,
+                            -0.26477046894403533,
+                            0.9599586569715222
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.6641151309013367,
+                    "position": [
+                        -0.006734856171533465,
+                        0.21665620617568493,
+                        -0.04184908699244261
+                    ],
+                    "orientation": {
+                        "w": 0.9648023427553298,
+                        "xyz": [
+                            0.26086551164708943,
+                            0.033192901398022,
+                            0.001963553847027854
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.664052426815033,
+                    "position": [
+                        0.045057382667437196,
+                        0.19900625757873058,
+                        -0.0393636217340827
+                    ],
+                    "orientation": {
+                        "w": 0.943062460530374,
+                        "xyz": [
+                            0.26529853910630247,
+                            -0.1726012136147096,
+                            -0.10226779427164964
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.6635861992835999,
+                    "position": [
+                        0.013464839430525899,
+                        0.20465335063636303,
+                        -0.0499517610296607
+                    ],
+                    "orientation": {
+                        "w": 0.9693091006630079,
+                        "xyz": [
+                            0.2339208381738646,
+                            -0.05704715261930737,
+                            -0.04966418445858823
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rose head",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rose head to adjust or inspect the sprinkler end",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "grasp the rose head to guide nozzle orientation with a secondary gripper",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "disperse water flow",
+                "create a gentle spray",
+                "finish the spout outlet",
+                "indicate pouring direction"
+            ],
+            "semantic_description": "Small round white plastic sprinkler head with a smooth matte surface and hard texture, attached at the tip of the spout and slightly flared outward.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_73": {
+                    "confidence": 0.6813640594482422,
+                    "position": [
+                        0.006304620066657662,
+                        0.22361628524959087,
+                        -0.02378263045102358
+                    ],
+                    "orientation": {
+                        "w": 0.961971734509672,
+                        "xyz": [
+                            0.2683735836499237,
+                            -0.0016803602906985127,
+                            -0.05082497410371671
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper body to pick up or reposition the watering can when the handle is inaccessible",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the upper body to stabilize the can during refilling",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain water",
+                "form the main reservoir wall",
+                "support attached handle and spout",
+                "provide a secondary grasp surface"
+            ],
+            "semantic_description": "Bulging white plastic upper reservoir wall with a smooth matte finish and hard surface, forming the upper half of the can body beneath the lid.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body to lift or reposition the empty or lightly filled watering can",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the lower body to stabilize the can on a work surface",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain water",
+                "provide the main structural base",
+                "support upright placement",
+                "offer a stable grasp surface"
+            ],
+            "semantic_description": "Large cylindrical white plastic lower reservoir with a smooth matte finish and hard surface, forming the broad bottom half and base of the watering can.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "fill opening rim",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the fill opening",
+                "guide pouring into the can",
+                "seat the lid",
+                "finish the top edge"
+            ],
+            "semantic_description": "Thin white plastic rim with a smooth matte surface and hard texture, circling the top opening just beneath the lid as a narrow edge feature.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/affordance/mesh_part_seg.glb ADDED Viewed

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

+version https://git-lfs.github.com/spec/v1
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+size 2018052