Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -6574,3 +6574,4 @@ dataset/desktop_supplies/office_tools/48f5501684ae566483372aa8f2c3b756/affordanc
 dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,430 @@

+{
+    "affordances": [
+        {
+            "part_name": "outer tape side wall",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer cylindrical side wall to pick up and move the tape roll",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the side wall to stabilize the roll while applying or positioning the tape",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the side wall to reorient the roll on a work surface",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "main grasp surface",
+                "support tape winding",
+                "provide outer structure",
+                "display printed pattern"
+            ],
+            "semantic_description": "The main outer ring is mint green tape with a smooth slightly glossy surface and a short wide cylindrical shape forming most of the roll body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8561384677886963,
+                    "position": [
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+                        0.034373739472357556,
+                        0.08473833500465844
+                    ],
+                    "orientation": {
+                        "w": 0.12968833387904372,
+                        "xyz": [
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+                            -0.7912390620766194,
+                            0.27961487796597856
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.7999332547187805,
+                    "position": [
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+                        0.017437232396332547,
+                        0.08476234822592232
+                    ],
+                    "orientation": {
+                        "w": 0.14794069260667464,
+                        "xyz": [
+                            -0.574217514052262,
+                            -0.7782996276177543,
+                            0.2064884686290321
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.7877994775772095,
+                    "position": [
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+                        0.04413213368388824,
+                        0.04663291423639748
+                    ],
+                    "orientation": {
+                        "w": 0.25891512954440393,
+                        "xyz": [
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+                            -0.7514123591930176,
+                            0.4416053903141963
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.7813284397125244,
+                    "position": [
+                        -0.06661543095833622,
+                        -0.0009614395967219025,
+                        -0.08528048695006873
+                    ],
+                    "orientation": {
+                        "w": 0.6537552892313859,
+                        "xyz": [
+                            -0.19624069369546687,
+                            0.19847345645171577,
+                            -0.7033504809296836
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7679572105407715,
+                    "position": [
+                        -0.03883869419223629,
+                        -0.026679462083848193,
+                        -0.0871237233368447
+                    ],
+                    "orientation": {
+                        "w": 0.47842077477425676,
+                        "xyz": [
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+                            0.22944464832360645,
+                            0.8377999036884629
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.752419114112854,
+                    "position": [
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+                        0.028153894207207486,
+                        0.06831841020903084
+                    ],
+                    "orientation": {
+                        "w": 0.19689104299614651,
+                        "xyz": [
+                            -0.5280594051637062,
+                            -0.7557791190460896,
+                            0.33344430572429684
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.7296088933944702,
+                    "position": [
+                        0.02139826086931862,
+                        0.034013608208624646,
+                        -0.0931587234226754
+                    ],
+                    "orientation": {
+                        "w": 0.6060649273884579,
+                        "xyz": [
+                            -0.011310568657439277,
+                            -0.21065257169658014,
+                            0.7669308110018052
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8178991079330444,
+                    "position": [
+                        0.07614901816123165,
+                        0.052457293233601376,
+                        -0.05496964008489158
+                    ],
+                    "orientation": {
+                        "w": 0.44790325525966873,
+                        "xyz": [
+                            -0.20677837278504962,
+                            -0.4697651996200831,
+                            0.7320833529742785
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7626463770866394,
+                    "position": [
+                        0.034300813131267205,
+                        0.029036404303042218,
+                        -0.093804405638366
+                    ],
+                    "orientation": {
+                        "w": 0.7609837164308842,
+                        "xyz": [
+                            0.21462289901145482,
+                            -0.06416911693333649,
+                            -0.6088703630321927
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9641263484954834,
+                    "position": [
+                        -0.0607834740949329,
+                        0.09815787311526947,
+                        0.0006424007442547008
+                    ],
+                    "orientation": {
+                        "w": 0.6170191602579663,
+                        "xyz": [
+                            0.3457707995041638,
+                            0.6188065569697744,
+                            -0.34177237327791554
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9634782075881958,
+                    "position": [
+                        -0.045699028618400916,
+                        0.10600308116408996,
+                        -0.0008682685293024406
+                    ],
+                    "orientation": {
+                        "w": 0.5762380755920766,
+                        "xyz": [
+                            0.3913294859777398,
+                            0.5938471027106585,
+                            -0.4026866427440754
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner cardboard core",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert slim parallel gripper jaws into the center hole to contact the inner core and lift the roll",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "grasp the inner core edge to stabilize the roll during placement",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "maintain center opening",
+                "support rolled tape",
+                "provide spindle interface",
+                "help alignment during mounting"
+            ],
+            "semantic_description": "The inner core is a light brown cardboard ring with a matte slightly fibrous surface and a hollow cylindrical shape lining the center opening.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.8443433046340942,
+                    "position": [
+                        -0.09856314802891575,
+                        0.006563329341588542,
+                        -0.0032812504650792107
+                    ],
+                    "orientation": {
+                        "w": 0.046397188050697445,
+                        "xyz": [
+                            -0.6960806731862639,
+                            -0.019075323496509644,
+                            -0.7162088587772769
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7022320628166199,
+                    "position": [
+                        0.06351286327117123,
+                        -0.06879887942341156,
+                        0.038884057095856406
+                    ],
+                    "orientation": {
+                        "w": 0.1579909449999396,
+                        "xyz": [
+                            -0.6534064970122503,
+                            0.5171392567260388,
+                            0.5297790106384421
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8742188215255737,
+                    "position": [
+                        0.10322189485304989,
+                        -0.0019006789952982217,
+                        -0.0013329568173503503
+                    ],
+                    "orientation": {
+                        "w": 0.07376468858790924,
+                        "xyz": [
+                            -0.7088220518924224,
+                            0.04193226121418514,
+                            0.7002654888954691
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.7714788913726807,
+                    "position": [
+                        0.09754019384854473,
+                        -0.023172816523583606,
+                        0.0027987040957668796
+                    ],
+                    "orientation": {
+                        "w": 0.2454305031411778,
+                        "xyz": [
+                            -0.7055634343413134,
+                            -0.0015561303121752745,
+                            0.6647869483577508
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top tape surface",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide tape material",
+                "allow dispensing from roll",
+                "form top winding surface",
+                "protect adhesive layers in the roll"
+            ],
+            "semantic_description": "The exposed top annular face appears dark green and semi-glossy, with a smooth tape surface forming the upper circular face of the wound roll.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom tape surface",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide tape material",
+                "allow dispensing from roll",
+                "form bottom winding surface",
+                "protect adhesive layers in the roll"
+            ],
+            "semantic_description": "The exposed bottom annular face appears dark green and semi-glossy, with a smooth tape surface forming the lower circular face of the wound roll.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cat face print",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tape",
+                "provide visual identification",
+                "contribute to pattern orientation"
+            ],
+            "semantic_description": "This small light blue cartoon cat face graphic is printed on the mint green outer tape surface, appearing flat and smooth as a decorative side pattern element.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bear print",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tape",
+                "provide visual identification",
+                "contribute to pattern orientation"
+            ],
+            "semantic_description": "This small pink cartoon bear graphic is printed on the outer tape surface, flat and smooth, as a decorative side pattern element.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "yellow fruit print",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tape",
+                "provide visual identification",
+                "contribute to pattern orientation"
+            ],
+            "semantic_description": "This small yellow pear- or fruit-like graphic is printed on the tape side wall with a flat smooth finish, serving as a bright decorative motif.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "striped candy print",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tape",
+                "provide visual identification",
+                "contribute to pattern orientation"
+            ],
+            "semantic_description": "This small pink oval candy-like graphic with pale stripes is printed on the outer tape, appearing flat, smooth, and decorative on the side surface.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "purple candy print",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tape",
+                "provide visual identification",
+                "contribute to pattern orientation"
+            ],
+            "semantic_description": "This small purple wrapped-candy-like graphic is printed on the side of the tape roll as a flat smooth motif with no mechanical function.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small black accent print",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tape",
+                "provide visual detail",
+                "contribute to facial features of the pattern"
+            ],
+            "semantic_description": "This tiny dark printed accent on the outer tape surface appears as a flat smooth decorative mark, likely part of the cartoon face details.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small pink accent print",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the tape",
+                "provide visual detail",
+                "contribute to facial features of the pattern"
+            ],
+            "semantic_description": "This tiny pink printed accent on the outer tape surface is a flat smooth decorative mark that contributes to the patterned design.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several printed-part identities and colors do not match the images; one segmented print is mislabeled as cat face instead of bear/animal head."
+    }
+}

dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/affordance/mesh_part_seg.glb ADDED Viewed

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

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