Datasets:

HorizonRobotics
/

EmbodiedGenData

@@ -7723,3 +7723,4 @@ dataset/livingroom_supplies/ornaments/7cacd12e2206577684be506647ccd1d4/affordanc
 dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/7e19df49f5b55e7683a5eedc789f502f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

 dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/7e19df49f5b55e7683a5eedc789f502f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7ebb2c53f622560b8f255e8675c4f9d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/7ebb2c53f622560b8f255e8675c4f9d7/affordance/affordance_annot.json ADDED Viewed

	@@ -0,0 +1,378 @@

+{
+    "affordances": [
+        {
+            "part_name": "watering can body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body from the sides to pick up the watering can when empty or lightly filled",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize the can while another gripper manipulates the handle or spout",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain water",
+                "support attached parts",
+                "provide main structure",
+                "display branding"
+            ],
+            "semantic_description": "Large cylindrical peach-pink metal can body with a matte worn finish, hard smooth surface, blue distressed edging, and a printed front logo, forming the central reservoir of the watering can.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_48": {
+                    "confidence": 0.3681793212890625,
+                    "position": [
+                        -0.1586622530594468,
+                        -0.0715810302644968,
+                        -0.09662869572639465
+                    ],
+                    "orientation": {
+                        "w": 0.06450150066713818,
+                        "xyz": [
+                            -0.7114623660616995,
+                            -0.057080968457487447,
+                            -0.6974257101150849
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.3159937560558319,
+                    "position": [
+                        -0.158214190043509,
+                        -0.06793011911213398,
+                        -0.08586375415325165
+                    ],
+                    "orientation": {
+                        "w": 0.6688770141501239,
+                        "xyz": [
+                            -0.07558591293287649,
+                            0.7327324023545875,
+                            -0.09996767601276582
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.31179079413414,
+                    "position": [
+                        -0.14556471351534128,
+                        -0.07998880930244923,
+                        -0.11888328939676285
+                    ],
+                    "orientation": {
+                        "w": 0.7529211159409744,
+                        "xyz": [
+                            -0.10084782056582685,
+                            0.6477817266039433,
+                            0.05760507733989329
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to lift and carry the watering can",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the side handle to control tilt while pouring through the spout",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "lift the can",
+                "control pouring angle",
+                "stabilize during carrying"
+            ],
+            "semantic_description": "Curved pale yellow metal handle with a matte slightly worn finish and hard smooth surface, mounted on the side of the can as a medium-sized loop for carrying and pouring control.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top carry handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift the watering can vertically",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "use the top handle to reposition or steady the can during transport",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide overhead grip",
+                "assist lifting",
+                "aid repositioning",
+                "support carrying"
+            ],
+            "semantic_description": "Short brown wooden top handle with a dull finish, hard subtly ridged texture, and rounded dumbbell-like shape, spanning the can opening area between two metal supports.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.8721132278442383,
+                    "position": [
+                        -0.015402180142700672,
+                        -0.031678738072514534,
+                        0.2501073256134987
+                    ],
+                    "orientation": {
+                        "w": 0.04861186668807999,
+                        "xyz": [
+                            0.014086569592694595,
+                            0.9961360101989198,
+                            -0.07177397968058154
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.868841290473938,
+                    "position": [
+                        -0.020702779293060303,
+                        -0.004585532005876303,
+                        0.24833188205957413
+                    ],
+                    "orientation": {
+                        "w": 0.10526082439615395,
+                        "xyz": [
+                            0.01734059762948163,
+                            0.9795762721449391,
+                            -0.17043998818328576
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.863579273223877,
+                    "position": [
+                        -0.01816605217754841,
+                        0.009547624737024307,
+                        0.24751053005456924
+                    ],
+                    "orientation": {
+                        "w": 0.08510198162837944,
+                        "xyz": [
+                            0.009294309410657241,
+                            0.9811179831064489,
+                            -0.17343232616970397
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8622096180915833,
+                    "position": [
+                        -0.01297577004879713,
+                        -0.05382711999118328,
+                        0.25734806805849075
+                    ],
+                    "orientation": {
+                        "w": 0.02890024786115511,
+                        "xyz": [
+                            -0.9985394406650958,
+                            -0.00232090713139773,
+                            -0.04558919279707587
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8585492372512817,
+                    "position": [
+                        -0.00963384727947414,
+                        0.006637022830545902,
+                        0.24849603325128555
+                    ],
+                    "orientation": {
+                        "w": 0.1839129032419955,
+                        "xyz": [
+                            0.9817456856564836,
+                            0.024949752960225502,
+                            0.04158079536523089
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.857903003692627,
+                    "position": [
+                        -0.018503877334296703,
+                        0.007984360679984093,
+                        0.2535884454846382
+                    ],
+                    "orientation": {
+                        "w": 0.16327783072221536,
+                        "xyz": [
+                            0.9844224530203828,
+                            0.017739603523219544,
+                            0.06275420663842982
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.8523954749107361,
+                    "position": [
+                        -0.003459018189460039,
+                        -0.009774589096195996,
+                        0.25229600816965103
+                    ],
+                    "orientation": {
+                        "w": 0.14792099809455422,
+                        "xyz": [
+                            0.9887540778691813,
+                            0.021869058678699982,
+                            -0.0025487432752919663
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top handle support",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount the top handle",
+                "connect handle to body",
+                "support load transfer"
+            ],
+            "semantic_description": "Small pale yellow metal brackets with a matte finish and hard smooth surface, positioned at the rim to hold the wooden top handle above the can opening.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout tube",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp the spout tube to orient the watering can during inspection or placement",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold the spout tube to stabilize the front while another gripper lifts the handle",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "channel water outward",
+                "set pouring direction",
+                "reach away from body"
+            ],
+            "semantic_description": "Long tapered peach-pink metal spout with a matte weathered finish and hard smooth surface, projecting diagonally from the front side of the can toward the sprinkler head.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_78": {
+                    "confidence": 0.8049211502075195,
+                    "position": [
+                        -0.0075052110478281975,
+                        0.16793606244027615,
+                        -0.08310898020863533
+                    ],
+                    "orientation": {
+                        "w": 0.9972355696850579,
+                        "xyz": [
+                            0.060031696411881365,
+                            0.007442578812884126,
+                            0.043151152956129556
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sprinkler head",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sprinkler head to orient the can front end delicately",
+                    "confidence": 0.26
+                },
+                {
+                    "scenario": "hold the sprinkler head for light stabilization during manipulation",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "disperse water",
+                "create shower pattern",
+                "spread flow over plants"
+            ],
+            "semantic_description": "Small round rose head in pale pink with a matte finish and hard smooth surface, mounted at the spout tip as a perforated face for distributing water.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_93": {
+                    "confidence": 0.49285760521888733,
+                    "position": [
+                        0.10027540381997824,
+                        0.23608638904988766,
+                        0.08148642629384995
+                    ],
+                    "orientation": {
+                        "w": 0.14120866538140536,
+                        "xyz": [
+                            -0.682129281453257,
+                            -0.39291322243367555,
+                            0.6003157134725451
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sprinkler collar",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect rose to spout",
+                "support water outlet",
+                "reinforce front joint"
+            ],
+            "semantic_description": "Narrow pale yellow to beige connector ring with a matte finish and hard smooth surface, sitting between the spout tube and sprinkler head at the tip.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout brace",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce spout",
+                "stabilize front assembly",
+                "connect spout to body"
+            ],
+            "semantic_description": "Thin pale yellow metal rod with a matte finish and hard smooth surface, running from the can body to the spout to brace the long outlet.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout base joint",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor spout to body",
+                "seal front connection",
+                "support pouring assembly"
+            ],
+            "semantic_description": "Small darker brownish collar at the spout root with a matte finish and hard smooth surface, fixed where the spout joins the can body.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/7ebb2c53f622560b8f255e8675c4f9d7/affordance/mesh_part_seg.glb ADDED Viewed

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

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+size 3791724