Add asset bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8

.gitattributes

@@ -5916,3 +5916,4 @@ dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/affo
 dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/affordance/affordance_annot.json

@@ -0,0 +1,503 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body from the sides to pick up the alarm clock",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the clock while adjusting controls",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "main enclosure",
+                "support internal mechanism",
+                "provide main grasp surface",
+                "mount other parts"
+            ],
+            "semantic_description": "Large rounded pale pink metal body with a smooth semi-gloss finish, forming the central housing behind the clock face and below the bells.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_88": {
+                    "confidence": 0.02831391617655754,
+                    "position": [
+                        0.12390561494976282,
+                        0.015595224220305681,
+                        0.04510276252403855
+                    ],
+                    "orientation": {
+                        "w": 0.49646860676067806,
+                        "xyz": [
+                            -0.5180448855278735,
+                            -0.4877058672890807,
+                            0.4972840295960947
+                        ]
+                    }
+                },
+                "grasp_92": {
+                    "confidence": 0.026426753029227257,
+                    "position": [
+                        0.12374984566122293,
+                        0.016279364470392466,
+                        0.03696534829214215
+                    ],
+                    "orientation": {
+                        "w": 0.47734791550650046,
+                        "xyz": [
+                            0.5051826114020025,
+                            -0.49995486552244073,
+                            -0.5166958768357746
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back cover",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear cover edge to reorient the clock from behind",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the back side to stabilize the clock during adjustment",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "cover rear opening",
+                "protect internal mechanism",
+                "provide rear support surface"
+            ],
+            "semantic_description": "Large circular black rear panel with a smooth finish and hard surface, positioned on the back of the clock body.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left bell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the bell lightly to reposition the clock delicately",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold one bell lightly while stabilizing the top during maintenance",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "produce alarm sound",
+                "resonate when struck",
+                "top housing"
+            ],
+            "semantic_description": "Small dome-shaped pale pink metal bell with a smooth finish, mounted on the top left of the clock.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right bell",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the bell lightly to reposition the clock delicately",
+                    "confidence": 0.33
+                },
+                {
+                    "scenario": "hold one bell lightly while stabilizing the top during maintenance",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "produce alarm sound",
+                "resonate when struck",
+                "top housing"
+            ],
+            "semantic_description": "Small dome-shaped pale pink metal bell with a smooth finish, mounted on the top right of the clock.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.8896539807319641,
+                    "position": [
+                        -0.005812866613268852,
+                        0.13259218400344253,
+                        0.10166693711653352
+                    ],
+                    "orientation": {
+                        "w": 0.04945043478880207,
+                        "xyz": [
+                            0.0056879286117157,
+                            0.8579941137272135,
+                            -0.5112420197682888
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.889610230922699,
+                    "position": [
+                        0.0034876693971455097,
+                        0.12833331292495131,
+                        0.11130220675840974
+                    ],
+                    "orientation": {
+                        "w": 0.5082277744573698,
+                        "xyz": [
+                            0.8605121154680023,
+                            -0.025727150336253723,
+                            0.023696880353076894
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8739240169525146,
+                    "position": [
+                        0.010489093139767647,
+                        0.10159785812720656,
+                        0.1460211300291121
+                    ],
+                    "orientation": {
+                        "w": 0.3030579752735278,
+                        "xyz": [
+                            0.9525440479762014,
+                            -0.028246724927866673,
+                            -0.004221708075108893
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.8736096620559692,
+                    "position": [
+                        0.012814199086278677,
+                        0.12448554998263717,
+                        0.12110801273956895
+                    ],
+                    "orientation": {
+                        "w": 0.03656687737886685,
+                        "xyz": [
+                            -0.021764780140721314,
+                            -0.8804777592048839,
+                            0.4721737745467566
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8729536533355713,
+                    "position": [
+                        0.00938971946015954,
+                        0.10757091408595443,
+                        0.13829465443268418
+                    ],
+                    "orientation": {
+                        "w": 0.34559792677063933,
+                        "xyz": [
+                            0.937615611353251,
+                            -0.03757008848605775,
+                            0.005246599818481223
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8654297590255737,
+                    "position": [
+                        0.010568415280431509,
+                        0.10345193510875106,
+                        0.14428197080269456
+                    ],
+                    "orientation": {
+                        "w": 0.009213392560197002,
+                        "xyz": [
+                            -0.04877783352611438,
+                            -0.9519239782428356,
+                            0.30228558682207185
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.8644524216651917,
+                    "position": [
+                        0.0109131527133286,
+                        0.13225877052173018,
+                        0.1036649071611464
+                    ],
+                    "orientation": {
+                        "w": 0.5124552579237406,
+                        "xyz": [
+                            0.858047320355667,
+                            -0.03367727677390908,
+                            0.0032008882931085954
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.8620285987854004,
+                    "position": [
+                        0.012114402372390032,
+                        0.13190203672274947,
+                        0.10190130257979035
+                    ],
+                    "orientation": {
+                        "w": 0.5188290781084212,
+                        "xyz": [
+                            0.8522054984500076,
+                            -0.06736130226280634,
+                            0.004962970703000037
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to carry or lift the alarm clock",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the handle to reposition the clock on a surface",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "carry the clock",
+                "lift the object",
+                "connect the two bell mounts"
+            ],
+            "semantic_description": "Thin arched brass-toned metal handle with a smooth slightly reflective finish, spanning between the two top bell mounts.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_70": {
+                    "confidence": 0.03652610629796982,
+                    "position": [
+                        0.0902440408244729,
+                        0.0071181366220116615,
+                        0.13546483451500535
+                    ],
+                    "orientation": {
+                        "w": 0.16793884198443665,
+                        "xyz": [
+                            0.7517759106535679,
+                            -0.451277391257664,
+                            -0.45053106624693745
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "alarm hammer",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "strike the bells",
+                "generate alarm ringing",
+                "connect to alarm mechanism"
+            ],
+            "semantic_description": "Tiny pale metal striker with a smooth finish located between the top bells, shaped as a small central hammer linked to the alarm mechanism.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clock face bezel",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the dial",
+                "protect dial edge",
+                "provide front border"
+            ],
+            "semantic_description": "Circular front rim with a pale pink to warm metallic tone, smooth reflective finish, surrounding the clock face opening.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hour hand",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate hour",
+                "display time",
+                "rotate around dial center"
+            ],
+            "semantic_description": "Short dark metallic clock hand mounted near the dial center for hour indication against the light face.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "minute hand",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate minute",
+                "display time",
+                "rotate around dial center"
+            ],
+            "semantic_description": "Long dark metallic clock hand mounted at the dial center and extending farther across the face for minute indication.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "second hand",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate seconds",
+                "provide precise time reading",
+                "rotate continuously"
+            ],
+            "semantic_description": "Very thin dark hand near the center of the dial, finer than the main hands and used for second indication.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center hub",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join clock hands",
+                "cover axle",
+                "transmit hand rotation"
+            ],
+            "semantic_description": "Small round center cap on the dial, metallic and smooth, positioned at the pivot where the clock hands meet.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left front foot",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support standing",
+                "stabilize the clock",
+                "elevate front edge"
+            ],
+            "semantic_description": "Small angled brass-toned metal foot with a smooth reflective finish, attached near the lower left front of the clock.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right front foot",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support standing",
+                "stabilize the clock",
+                "elevate front edge"
+            ],
+            "semantic_description": "Small angled brass-toned metal foot with a smooth reflective finish, attached near the lower right front of the clock.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side setting knob",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and turn the side knob to adjust time or alarm settings",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the knob lightly to help reorient the clock during setup",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "adjust time or alarm",
+                "provide turning control",
+                "manual setting interface"
+            ],
+            "semantic_description": "Small cylindrical brass-toned knob with a smooth slightly reflective finish, protruding from the side of the clock body for manual adjustment.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_43": {
+                    "confidence": 0.3943217396736145,
+                    "position": [
+                        0.033152022399008274,
+                        -0.015269907657057047,
+                        0.17006202274933457
+                    ],
+                    "orientation": {
+                        "w": 0.12653948823928388,
+                        "xyz": [
+                            -0.0627322699463179,
+                            -0.9877010875598611,
+                            -0.06707445010277789
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.5250639915466309,
+                    "position": [
+                        0.007224709261208773,
+                        -0.01098061678931117,
+                        0.1717770122922957
+                    ],
+                    "orientation": {
+                        "w": 0.0857853990752048,
+                        "xyz": [
+                            -0.9962774297922837,
+                            -0.0007327752450911607,
+                            0.008462342017973358
+                        ]
+                    }
+                },
+                "grasp_50": {
+                    "confidence": 0.4982486665248871,
+                    "position": [
+                        -0.02224747370928526,
+                        -0.0002357824705541134,
+                        0.16609136993065476
+                    ],
+                    "orientation": {
+                        "w": 0.10268955217013509,
+                        "xyz": [
+                            -0.09814030696828854,
+                            0.9896420748916863,
+                            -0.02078219495976069
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.3354411721229553,
+                    "position": [
+                        0.011339693330228329,
+                        -0.001689600758254528,
+                        0.1652106218971312
+                    ],
+                    "orientation": {
+                        "w": 0.012467615299717448,
+                        "xyz": [
+                            -0.010827411626351724,
+                            -0.9995450337373358,
+                            0.02523987435071361
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities mismatch; back cover color and feet/knob hand colors are incorrect."
+    }
+}

dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd9568146a81cf5b7a684961efcc7ef250f11c756fc62cbb871749415575c70
+size 3803872

dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>22</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>