Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -7949,3 +7949,4 @@ dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/mesh_part
 dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f900b2672e6e52ab9411dd07dfce69d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f96ec79c35a35cac9535ae5280e96832/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f900b2672e6e52ab9411dd07dfce69d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f96ec79c35a35cac9535ae5280e96832/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,325 @@

+{
+    "affordances": [
+        {
+            "part_name": "wrench body and fixed jaw",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle/body to pick up and reposition the wrench",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle while turning a fastener with the jaws engaged",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "clamp the mid-handle for storage or robotic handoff",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "provide leverage",
+                "support torque transfer",
+                "support the adjustable head",
+                "connect all wrench parts"
+            ],
+            "semantic_description": "Long silver metal wrench frame with a smooth reflective finish, including the handle and fixed jaw, elongated and fairly flat with engraved markings and a hanging hole at one end.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "worm screw",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and rotate the knurled worm screw to adjust jaw opening",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "briefly grasp the screw for fine head adjustment while stabilizing the wrench",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "adjust jaw opening",
+                "set fastener size",
+                "fine positioning of movable jaw",
+                "mechanical adjustment control"
+            ],
+            "semantic_description": "Small silver metal knurled adjustment screw in the wrench head, with a reflective finish and ridged texture for turning, positioned between the jaws.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9501377940177917,
+                    "position": [
+                        0.09919743065256625,
+                        0.02431824099039659,
+                        -0.0009416204848093912
+                    ],
+                    "orientation": {
+                        "w": 0.03564468085623174,
+                        "xyz": [
+                            -0.7031169546010502,
+                            0.03847671467508007,
+                            0.7091371851109024
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.846340000629425,
+                    "position": [
+                        0.08550755504984409,
+                        -0.01163674850249663,
+                        9.575441072229296e-05
+                    ],
+                    "orientation": {
+                        "w": 0.1799494964870165,
+                        "xyz": [
+                            -0.6801757429972012,
+                            0.20070230151494017,
+                            0.6816874089484708
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9599905610084534,
+                    "position": [
+                        0.10131470684427768,
+                        0.03575218509649858,
+                        0.002035082390648313
+                    ],
+                    "orientation": {
+                        "w": 0.006097235787692741,
+                        "xyz": [
+                            -0.713272767746692,
+                            0.013939918171597121,
+                            0.7007213862785209
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9306467771530151,
+                    "position": [
+                        0.08658962522167712,
+                        -0.021866101364139467,
+                        0.00027493263769429177
+                    ],
+                    "orientation": {
+                        "w": 0.2133540687422014,
+                        "xyz": [
+                            -0.6753635797861391,
+                            0.19776290221195236,
+                            0.6776827509670768
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8941972851753235,
+                    "position": [
+                        0.08474999491591007,
+                        -0.017885867098812014,
+                        0.0064599081670166925
+                    ],
+                    "orientation": {
+                        "w": 0.655756367426373,
+                        "xyz": [
+                            -0.2147428267173091,
+                            -0.6899834393696836,
+                            -0.21861371948898628
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.8192693591117859,
+                    "position": [
+                        -0.1012958901701495,
+                        0.022526864369865507,
+                        0.0010921965149464086
+                    ],
+                    "orientation": {
+                        "w": 0.6927121228121113,
+                        "xyz": [
+                            -0.036344558592163796,
+                            0.7197513455152047,
+                            0.028053317075390737
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7709727883338928,
+                    "position": [
+                        -0.10243532981257886,
+                        0.03268901671981439,
+                        0.002911019211751409
+                    ],
+                    "orientation": {
+                        "w": 0.6931768503457302,
+                        "xyz": [
+                            -0.030516234093579276,
+                            0.7194525174904627,
+                            0.031027224789762525
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7225168943405151,
+                    "position": [
+                        -0.10233167733531445,
+                        0.03723747323965654,
+                        5.4404648835770786e-05
+                    ],
+                    "orientation": {
+                        "w": 0.6944674425747843,
+                        "xyz": [
+                            -0.010654463907102832,
+                            0.7194031376608279,
+                            0.007783259358857072
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.6447382569313049,
+                    "position": [
+                        -0.10186276759486645,
+                        0.044077292492147535,
+                        -0.000599369392148219
+                    ],
+                    "orientation": {
+                        "w": 0.702661150235066,
+                        "xyz": [
+                            0.022531886344901577,
+                            0.711034412609862,
+                            -0.01377265887993816
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8923237323760986,
+                    "position": [
+                        0.08241632406134158,
+                        -0.02768681530142203,
+                        -0.0009974581626011059
+                    ],
+                    "orientation": {
+                        "w": 0.20862522785224186,
+                        "xyz": [
+                            -0.6455004311598952,
+                            0.24406732321955693,
+                            0.6929905117766263
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8656693696975708,
+                    "position": [
+                        0.0804173928918317,
+                        -0.028201095352414995,
+                        0.0016247342136921361
+                    ],
+                    "orientation": {
+                        "w": 0.2409884556788287,
+                        "xyz": [
+                            -0.6781814875207568,
+                            0.21917922074723084,
+                            0.65875253578738
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.6950453519821167,
+                    "position": [
+                        -0.10012462909799069,
+                        0.029037164931651205,
+                        -0.002328707298147492
+                    ],
+                    "orientation": {
+                        "w": 0.05517547400390503,
+                        "xyz": [
+                            -0.6969472881494341,
+                            -0.052943080000790066,
+                            -0.7130337824322384
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "movable jaw",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "move to change jaw width",
+                "form adjustable gripping opening",
+                "press against fastener flats",
+                "enable wrench versatility"
+            ],
+            "semantic_description": "Small silver metal jaw segment at the head beside the fixed jaw, shaped as the adjustable clamping piece that slides with the worm screw.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "jaw gripping edge",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contact fastener flats",
+                "apply turning force at the jaw interface",
+                "define gripping boundary"
+            ],
+            "semantic_description": "Narrow silver metal inner edge at the jaw opening, visible as a thin angled contact region where the wrench bears against a fastener.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle markings",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "identify manufacturer or model",
+                "show tool specification",
+                "provide visual labeling"
+            ],
+            "semantic_description": "Engraved or stamped dark markings along the silver handle, appearing as small text or symbols on the smooth reflective metal surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "additional handle marking",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide identification",
+                "show specification detail",
+                "provide visual labeling"
+            ],
+            "semantic_description": "Small engraved dark text or symbol on the silver handle, visible as a separate marking on the smooth reflective metal surface.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "faint handle marking",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide identification",
+                "show specification detail",
+                "offer visual reference"
+            ],
+            "semantic_description": "Faint engraved or stamped marking on the silver handle, darker than the surrounding metal and visible as a small label-like feature.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color identities are wrong: movable jaw and markings colors do not match segmented parts."
+    }
+}

dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/mesh_part_seg.glb ADDED Viewed

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

+version https://git-lfs.github.com/spec/v1
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+size 111341920