Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -8144,3 +8144,4 @@ dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d
 dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/electronic_accessories/e37dd0be37065bc18505c6edfd159982/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e5e26dafbd57524684b42bf423c078ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e769ea6364175420ba67a4e64f29eb60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,475 @@

+{
+    "affordances": [
+        {
+            "part_name": "front faceplate",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "present the user interface",
+                "surround and mount the buttons and display",
+                "provide the main interaction surface"
+            ],
+            "semantic_description": "Large black front faceplate with a smooth slightly glossy finish, flat rounded-rectangle shape, covering most of the front face around the buttons and display.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "remote housing",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the remote body from the sides to pick it up",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize the remote while pressing buttons",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the body to reposition or place the remote",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "enclose internal electronics",
+                "support all external components",
+                "protect the device"
+            ],
+            "semantic_description": "The main casing is a gray hard plastic shell with a matte smooth finish, rounded rectangular form, making up the sides and back of the remote.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9500025510787964,
+                    "position": [
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+                        0.0479409258114174
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.001308670500547393,
+                            -0.041742728071992835
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9475991129875183,
+                    "position": [
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+                        -0.12444427656009793,
+                        0.051569213275797665
+                    ],
+                    "orientation": {
+                        "w": 0.4738735078861165,
+                        "xyz": [
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+                            -0.0006446348369981703,
+                            -0.0250252483599009
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9440791010856628,
+                    "position": [
+                        -5.226308712735772e-05,
+                        -0.11997456150129437,
+                        0.05258075625170022
+                    ],
+                    "orientation": {
+                        "w": 0.4620433555396398,
+                        "xyz": [
+                            -0.8868108314834715,
+                            0.009028621089613165,
+                            -0.0009852748267667126
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9363368153572083,
+                    "position": [
+                        -0.0048389554140158,
+                        -0.11660776333883405,
+                        0.04875579581130296
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.009223450491472107,
+                            -0.0297271436762512
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9347754716873169,
+                    "position": [
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+                        0.12292310548946261,
+                        -0.051118149305693805
+                    ],
+                    "orientation": {
+                        "w": 0.018148575994133567,
+                        "xyz": [
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+                            -0.5089425818298364,
+                            0.8604613269883186
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.932928740978241,
+                    "position": [
+                        -0.001654289721045643,
+                        -0.1290081893093884,
+                        0.04831959039438516
+                    ],
+                    "orientation": {
+                        "w": 0.49041230769558974,
+                        "xyz": [
+                            -0.8712558449755254,
+                            -0.0097135451404613,
+                            -0.017738886590572954
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9281947016716003,
+                    "position": [
+                        0.006918157625477761,
+                        0.1404736484400928,
+                        0.0002429931191727519
+                    ],
+                    "orientation": {
+                        "w": 0.701094936342438,
+                        "xyz": [
+                            0.7123737258770354,
+                            -0.031266059540641766,
+                            0.00346387584423261
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9279926419258118,
+                    "position": [
+                        -2.7862261049449444e-05,
+                        -0.12934237765148282,
+                        0.043049675528891385
+                    ],
+                    "orientation": {
+                        "w": 0.5124554309804903,
+                        "xyz": [
+                            -0.85815234205924,
+                            -0.011330394914107145,
+                            -0.028906940826226166
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9279534220695496,
+                    "position": [
+                        -0.006948955182451755,
+                        -0.1306416098959744,
+                        0.04275618970859796
+                    ],
+                    "orientation": {
+                        "w": 0.5058267505248016,
+                        "xyz": [
+                            -0.8615792497514819,
+                            -0.016387613062755824,
+                            -0.03939468224644946
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9253258109092712,
+                    "position": [
+                        0.011133460036944598,
+                        0.13375949813053012,
+                        -0.0003890679217875004
+                    ],
+                    "orientation": {
+                        "w": 0.058386789238264215,
+                        "xyz": [
+                            0.009307128132379057,
+                            -0.7046324022446072,
+                            0.7071050402276651
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9246882200241089,
+                    "position": [
+                        0.0006295668235907215,
+                        0.13817751361057162,
+                        0.005242806510068476
+                    ],
+                    "orientation": {
+                        "w": 0.6883672078315485,
+                        "xyz": [
+                            0.7244847017981819,
+                            -0.030353970998783786,
+                            0.018738742946160705
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9226651787757874,
+                    "position": [
+                        -0.005330175918061286,
+                        -0.13141751335933805,
+                        0.044144646381028
+                    ],
+                    "orientation": {
+                        "w": 0.5017648055657291,
+                        "xyz": [
+                            -0.8638704832602535,
+                            -0.021045222305313915,
+                            -0.0389482562562422
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9187363982200623,
+                    "position": [
+                        -0.0009993441053666174,
+                        -0.13119784044101834,
+                        0.04668991744983941
+                    ],
+                    "orientation": {
+                        "w": 0.493796778846233,
+                        "xyz": [
+                            -0.8691116444344161,
+                            -0.015331262683964342,
+                            -0.023971714459020427
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.917761504650116,
+                    "position": [
+                        -0.008947318710852414,
+                        -0.12035787897184491,
+                        0.04845116019714624
+                    ],
+                    "orientation": {
+                        "w": 0.06542413124338192,
+                        "xyz": [
+                            0.012999935095943924,
+                            0.8759103121953706,
+                            0.47784077863694163
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9171644449234009,
+                    "position": [
+                        -0.007231901690829545,
+                        -0.12349870102480054,
+                        0.04857641190756112
+                    ],
+                    "orientation": {
+                        "w": 0.05055639770279334,
+                        "xyz": [
+                            0.013254087972826898,
+                            0.8790756366340177,
+                            0.47380840524395823
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9154143333435059,
+                    "position": [
+                        0.0027351434691809118,
+                        0.13517126394435763,
+                        0.001645237090997398
+                    ],
+                    "orientation": {
+                        "w": 0.6936416829662371,
+                        "xyz": [
+                            0.7201486866620571,
+                            -0.012943195383223749,
+                            0.008919554022048621
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "display screen",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "show settings",
+                "display status information",
+                "provide visual feedback"
+            ],
+            "semantic_description": "Small rectangular display window with a pale gray inactive screen and smooth glossy surface, inset into the front face near one end of the remote.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper left function button",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide discrete input",
+                "trigger a specific device function",
+                "support user control"
+            ],
+            "semantic_description": "A small dark front button with a white icon, smooth plastic surface, and compact rounded-square shape near the upper control area.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "power button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "turn the unit on or off",
+                "issue a primary control command",
+                "provide quick access control"
+            ],
+            "semantic_description": "A small dark front button with a white power symbol, smooth plastic surface, and compact rounded-square shape near the upper control area.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper right function button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide discrete input",
+                "trigger a specific device function",
+                "support user control"
+            ],
+            "semantic_description": "A compact dark button on the front panel with a smooth slightly glossy surface and rounded-square shape, one of the upper control keys.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle left navigation button",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide directional or adjustment input",
+                "adjust settings",
+                "support navigation"
+            ],
+            "semantic_description": "Small dark plastic button with a smooth surface and rounded-square form, located in the middle-left portion of the front button cluster.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "confirm or select input",
+                "provide discrete input",
+                "support menu interaction"
+            ],
+            "semantic_description": "Small dark front control button with a hard smooth plastic finish and compact rounded-square shape, placed near the center of the control layout.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle right navigation button",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide directional or adjustment input",
+                "adjust settings",
+                "support navigation"
+            ],
+            "semantic_description": "A compact dark plastic button with a smooth finish and rounded-square shape, positioned in the middle-right front button group.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower left navigation button",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide directional or adjustment input",
+                "adjust settings",
+                "support navigation"
+            ],
+            "semantic_description": "Small dark front-panel button with a smooth slightly glossy plastic surface and rounded-square shape, located near the lower left of the control layout.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower center navigation button",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide directional or adjustment input",
+                "adjust settings",
+                "support navigation"
+            ],
+            "semantic_description": "A very small dark front button in the lower center of the button cluster, flush to slightly raised with a smooth plastic surface.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower right navigation button",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide directional or adjustment input",
+                "adjust settings",
+                "support navigation"
+            ],
+            "semantic_description": "Small dark front button with a smooth plastic finish and rounded-square shape, positioned on the lower right of the button cluster.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "charging port",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide electrical connection",
+                "support charging",
+                "enable cable attachment"
+            ],
+            "semantic_description": "A small recessed rectangular port on the end edge of the remote, appearing as a dark opening within the gray plastic housing.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "indicator or IR window",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "emit or pass infrared signal",
+                "indicate front orientation",
+                "provide a small optical window"
+            ],
+            "semantic_description": "A very small red translucent window or indicator near one end of the front face, flush with the surface and contrasting against the black faceplate.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities are mismatched; indicator and charging port colors are swapped, and one side strip is mislabeled as IR window."
+    }
+}

dataset/desktop_supplies/electronic_accessories/e82e99536cd75478a0c623a26ecfd704/affordance/mesh_part_seg.glb ADDED Viewed

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

+version https://git-lfs.github.com/spec/v1
+oid sha256:6954e37ede151f06a044485238a30c343052711956f0d7c3c1fca25d8c7384fc
+size 3818060