Add asset bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95

.gitattributes

@@ -5924,3 +5924,4 @@ dataset/bedroom_supplies/small_electronics/8a3b6d37ae4d5018ac94f2adf66f3171/affo
 dataset/bedroom_supplies/small_electronics/8f4d6f59c0975583a670702dd9f521ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/affordance/affordance_annot.json

@@ -0,0 +1,358 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock housing",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wooden housing from the sides to pick up the clock",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the housing to reposition the clock on a table or shelf",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the housing while interacting with the rear or side areas",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "enclose internal mechanism",
+                "main grasp surface",
+                "protect internal components",
+                "provide overall structure",
+                "support tabletop placement"
+            ],
+            "semantic_description": "Large light wood-toned body with a smooth matte finish and rounded rectangular block shape, forming the outer shell around the recessed front clock opening and the side surfaces.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9517098069190979,
+                    "position": [
+                        -0.011126009281724691,
+                        -0.12478987587383017,
+                        0.06368674233090132
+                    ],
+                    "orientation": {
+                        "w": 0.03456185531262444,
+                        "xyz": [
+                            0.04530210403384945,
+                            0.8546688549510525,
+                            0.5160371555461029
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9486833214759827,
+                    "position": [
+                        0.0009453254751861095,
+                        -0.12881238473346457,
+                        0.026990515063516796
+                    ],
+                    "orientation": {
+                        "w": 0.7167228820936832,
+                        "xyz": [
+                            -0.6972698969125476,
+                            0.00951197815213356,
+                            -0.005702930345270619
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9479820728302002,
+                    "position": [
+                        -0.003695596009492874,
+                        -0.13140837562968954,
+                        0.024743622983805835
+                    ],
+                    "orientation": {
+                        "w": 0.7174797902561226,
+                        "xyz": [
+                            -0.6964721055787795,
+                            0.01217655610163948,
+                            0.0010431712205313734
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9461348056793213,
+                    "position": [
+                        -0.00042578112334012985,
+                        -0.13203325582435355,
+                        0.034807960386388004
+                    ],
+                    "orientation": {
+                        "w": 0.6882683754478341,
+                        "xyz": [
+                            -0.7254436542100228,
+                            0.0012193108029546762,
+                            -0.004081814054329437
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9454361200332642,
+                    "position": [
+                        -0.001038894522935152,
+                        -0.13187791121890768,
+                        0.02585369802545756
+                    ],
+                    "orientation": {
+                        "w": 0.7149531952320234,
+                        "xyz": [
+                            -0.6990828092236122,
+                            0.008557150880641573,
+                            -0.007206222613065198
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9441435933113098,
+                    "position": [
+                        -0.0038792123086750507,
+                        -0.13228665007045493,
+                        0.027055793325416744
+                    ],
+                    "orientation": {
+                        "w": 0.7057969377176757,
+                        "xyz": [
+                            -0.7079801438429572,
+                            0.02358130697106886,
+                            -0.007662936381923086
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9422633647918701,
+                    "position": [
+                        0.004699880722910166,
+                        0.11693163501331583,
+                        0.08274112164508551
+                    ],
+                    "orientation": {
+                        "w": 0.032847169165624426,
+                        "xyz": [
+                            -0.01467247444911307,
+                            -0.8682742381745081,
+                            0.4947783638093145
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9419652819633484,
+                    "position": [
+                        -0.005937478970736265,
+                        -0.13282575918128714,
+                        0.023129078443162143
+                    ],
+                    "orientation": {
+                        "w": 0.7188208738221736,
+                        "xyz": [
+                            -0.6950524031006802,
+                            0.013494550390930948,
+                            -0.004074973772004529
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9419208765029907,
+                    "position": [
+                        0.000652301125228405,
+                        -0.11615904135396704,
+                        0.08321505307685584
+                    ],
+                    "orientation": {
+                        "w": 0.47632526511496487,
+                        "xyz": [
+                            -0.8792330531380554,
+                            0.0047857557271471785,
+                            -0.006369978399650389
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9409708976745605,
+                    "position": [
+                        -0.00825936021283269,
+                        -0.1305680544464849,
+                        0.022474770317785442
+                    ],
+                    "orientation": {
+                        "w": 0.060588257276013587,
+                        "xyz": [
+                            -0.004423622114574093,
+                            0.7008823679751413,
+                            0.7106851630006088
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9387941360473633,
+                    "position": [
+                        -0.009730515535920858,
+                        -0.13203952921321616,
+                        0.027381601626984775
+                    ],
+                    "orientation": {
+                        "w": 0.7098866712968195,
+                        "xyz": [
+                            -0.7037045272217918,
+                            0.02141286588569835,
+                            -0.02005845101789458
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clock face",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display time",
+                "provide dial background",
+                "support visual reading of hands"
+            ],
+            "semantic_description": "Recessed circular white dial with a smooth matte surface inside the front opening, marked with simple hour ticks and small printed text.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hour and minute hands",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate current time",
+                "show hour and minute positions",
+                "enable analog time reading"
+            ],
+            "semantic_description": "Two brown slender hands with a smooth hard finish mounted at the dial center, extending across the white face in different lengths.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "second hand",
+            "mask_color": "Lilac",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate seconds",
+                "show continuous time progression",
+                "aid precise time reading"
+            ],
+            "semantic_description": "Thin light-colored hand with a smooth hard finish, longer and narrower than the other hands, pivoting from the center across the dial.",
+            "id": null
+        },
+        {
+            "part_name": "center hub",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect clock hands",
+                "cover hand axle",
+                "support hand rotation"
+            ],
+            "semantic_description": "Small round center cap at the middle of the dial with a smooth hard surface, joining the clock hands to the mechanism.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side port",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide side opening",
+                "serve as charging or connector port",
+                "allow cable connection"
+            ],
+            "semantic_description": "Small metallic-looking recessed port on one side of the wooden body, rectangular with rounded corners and a reflective inner edge.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side port",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide side opening",
+                "serve as charging or connector port",
+                "allow cable connection"
+            ],
+            "semantic_description": "Small metallic-looking recessed port on the opposite side of the wooden body, rectangular with rounded corners and a reflective inner edge.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "control knob",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small side knob to rotate or adjust a setting",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "adjust settings",
+                "provide manual control",
+                "enable fine manipulation"
+            ],
+            "semantic_description": "Small brown cylindrical knob with a matte smooth finish protruding from the lower side area near the front opening, sized for fingertip turning.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support base",
+                "stabilize on surface",
+                "elevate the housing"
+            ],
+            "semantic_description": "Short rounded brown peg-like foot under the base, with a matte smooth finish and small size for tabletop support.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support base",
+                "stabilize on surface",
+                "elevate the housing"
+            ],
+            "semantic_description": "Short rounded brown peg-like foot under the base, with a matte smooth finish and small size for tabletop support.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support base",
+                "stabilize on surface",
+                "elevate the housing"
+            ],
+            "semantic_description": "Short rounded brown peg-like foot under the base, with a matte smooth finish and small size for tabletop support.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Control knob and feet counts/identity mismatch mask; object has four feet and no clear separate knob part."
+    }
+}

dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a4908fa043eb6805dffa9016cec1f2f7d90c56bdcbf37e3009fad1a99d6a415
+size 3784564

dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.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>