Add asset bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100

.gitattributes

@@ -5933,4 +5933,5 @@ dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/affo
 dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/caa7c00f1a2f58fc9c551b273abde6cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/affordance/affordance_annot.json

@@ -0,0 +1,329 @@
+{
+    "affordances": [
+        {
+            "part_name": "main housing",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side and back of the housing to pick up and reposition the clock",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the housing to stabilize the clock while pressing front controls",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "provide main structural body",
+                "protect internal electronics",
+                "provide primary grasp surface"
+            ],
+            "semantic_description": "Large black plastic body with a matte smooth finish, forming the thick rounded sides and back of the clock.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front bezel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front perimeter together with the side housing to reorient the clock",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "steady the clock by holding the front frame during button presses",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "frame the display",
+                "protect the display edge",
+                "form the front face surround",
+                "provide front structural trim"
+            ],
+            "semantic_description": "Black front face panel with rounded corners and a smooth finish, surrounding the LCD and including the lower area with the two front buttons and brand marking.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.8851756453514099,
+                    "position": [
+                        0.06469761882908642,
+                        -0.027842673240229487,
+                        -0.15157264238223433
+                    ],
+                    "orientation": {
+                        "w": 0.9526950524408998,
+                        "xyz": [
+                            -0.04136490082351613,
+                            -0.25500941687044465,
+                            -0.16009771810331147
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.8795591592788696,
+                    "position": [
+                        0.0668041065800935,
+                        -0.01907329144887626,
+                        -0.1557742482982576
+                    ],
+                    "orientation": {
+                        "w": 0.9542144032944052,
+                        "xyz": [
+                            -0.08379147739488677,
+                            -0.2586287139709109,
+                            -0.12475996622008824
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8026798367500305,
+                    "position": [
+                        0.07758275722153485,
+                        0.008784573758020997,
+                        -0.14694918459281325
+                    ],
+                    "orientation": {
+                        "w": 0.9436843867067373,
+                        "xyz": [
+                            0.07749268988943368,
+                            -0.30440327137006606,
+                            -0.1038908546448232
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8002104163169861,
+                    "position": [
+                        0.06499240850098431,
+                        -0.046628285897895694,
+                        -0.14875171845778823
+                    ],
+                    "orientation": {
+                        "w": 0.9357848011601347,
+                        "xyz": [
+                            -0.17943743464989015,
+                            -0.27248178853867233,
+                            -0.13365136691676419
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.7719873785972595,
+                    "position": [
+                        0.0919656262267381,
+                        0.044940023915842175,
+                        -0.13984836405143142
+                    ],
+                    "orientation": {
+                        "w": 0.9184007750471199,
+                        "xyz": [
+                            0.17331361353572514,
+                            -0.3476691993808946,
+                            -0.07502356668332166
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.7567139267921448,
+                    "position": [
+                        0.09566565905697644,
+                        0.04400825058110058,
+                        -0.13670009141787887
+                    ],
+                    "orientation": {
+                        "w": 0.9077610265275016,
+                        "xyz": [
+                            0.18805219130616338,
+                            -0.3527781212407015,
+                            -0.12709795134685578
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.7361941337585449,
+                    "position": [
+                        0.08451426331885159,
+                        0.03474472765810788,
+                        -0.14728824561461806
+                    ],
+                    "orientation": {
+                        "w": 0.9475492818606662,
+                        "xyz": [
+                            0.08432527804313,
+                            -0.30821367771915587,
+                            -0.006628332755438807
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.716742992401123,
+                    "position": [
+                        0.03766500507481396,
+                        -0.11473038117401302,
+                        -0.13597166305407882
+                    ],
+                    "orientation": {
+                        "w": 0.8833028975066701,
+                        "xyz": [
+                            -0.3195069231024281,
+                            -0.24336045829590724,
+                            -0.2417995134071732
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.6970498561859131,
+                    "position": [
+                        0.08686580811627209,
+                        0.029217950301244855,
+                        -0.1406028694473207
+                    ],
+                    "orientation": {
+                        "w": 0.9159433830935969,
+                        "xyz": [
+                            0.19367741432370641,
+                            -0.340425082276517,
+                            -0.08745022301267256
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "LCD display",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "show time",
+                "show date and day",
+                "display status information",
+                "provide visual readout"
+            ],
+            "semantic_description": "Large light gray LCD panel with a flat smooth surface on the front, showing dark segmented numerals and smaller symbols/text.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom stand",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support and lift the clock from underneath near the bottom stand",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the lower stand area while setting the clock down on a tabletop",
+                    "confidence": 0.51
+                }
+            ],
+            "functional_labels": [
+                "support upright placement",
+                "stabilize on a flat surface",
+                "form the tabletop resting foot",
+                "set the viewing angle"
+            ],
+            "semantic_description": "Black plastic lower protruding section at the bottom rear and underside with a smooth matte finish, acting as the clock's stand or foot.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.6978374719619751,
+                    "position": [
+                        0.07323570852167904,
+                        -0.05720556969754398,
+                        -0.1476107961498201
+                    ],
+                    "orientation": {
+                        "w": 0.9253445416988951,
+                        "xyz": [
+                            -0.136006608633137,
+                            -0.3170996449394674,
+                            -0.15712255323612054
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.505211353302002,
+                    "position": [
+                        0.09318277542479336,
+                        -0.022929466096684337,
+                        -0.14037777250632644
+                    ],
+                    "orientation": {
+                        "w": 0.9176472185361851,
+                        "xyz": [
+                            -0.04309493690742063,
+                            -0.37260482401366624,
+                            -0.13127091775215544
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left front button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for clock control",
+                "adjust settings",
+                "trigger a front-panel function"
+            ],
+            "semantic_description": "Small dark oblong front button near the lower left area below the display, with a smooth slightly raised surface sized for fingertip pressing.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right front button",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for clock control",
+                "adjust settings",
+                "trigger a front-panel function"
+            ],
+            "semantic_description": "Small dark oblong front button near the lower right area below the display, with a smooth slightly raised surface sized for fingertip pressing.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "display separator line",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate LCD sections",
+                "organize the display layout",
+                "divide upper and lower readout areas"
+            ],
+            "semantic_description": "Thin dark horizontal line across the lower half of the LCD area, visually dividing the main time readout from lower information.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer side rim",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form outer perimeter edge",
+                "cover and finish the front-body boundary",
+                "protect the outer edge"
+            ],
+            "semantic_description": "Narrow black perimeter rim tracing the rounded outer edge of the clock body, visible as a thin border around the front and sides.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are over-segmented or misnamed; separator and outer rim are not meaningful physical parts, bezel description includes buttons, stand is really bottom/base area."
+    }
+}

dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da3f69b445e662b8852d80a5d1da4e6e963bbb5f6c54b403f6009b6e9bf1fb8
+size 3789132

dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.urdf

@@ -57,6 +57,7 @@
                <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>YES</PartSegChecker>