Add asset bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e

.gitattributes

@@ -5911,3 +5911,4 @@ dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/affo
 dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/597b170c410c5cd8a481635c6ff20dbf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/affordance/affordance_annot.json

@@ -0,0 +1,307 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock housing",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body from the sides to pick up and reposition the clock",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the body to stabilize the clock while pressing the front control area",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the body to place the clock onto or remove it from a surface",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "enclose internal electronics",
+                "provide main grasp surface",
+                "support front display and controls",
+                "protect internal components"
+            ],
+            "semantic_description": "Large white plastic outer shell with a smooth matte finish and rounded triangular shape, forming the main body around the front interface and tapering toward the back.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9383360743522644,
+                    "position": [
+                        -0.019234358333051205,
+                        0.10363940009847283,
+                        0.08053426444530487
+                    ],
+                    "orientation": {
+                        "w": 0.09119869742839297,
+                        "xyz": [
+                            0.028601136769788996,
+                            0.8969732340425145,
+                            -0.43162922743270415
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9371390342712402,
+                    "position": [
+                        -0.02449758816510439,
+                        0.09490351984277368,
+                        0.09208407253026962
+                    ],
+                    "orientation": {
+                        "w": 0.10346289328594481,
+                        "xyz": [
+                            0.02263513423129888,
+                            0.9207350345390917,
+                            -0.37553971372350275
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9328283071517944,
+                    "position": [
+                        -0.01852420624345541,
+                        0.09525541821494699,
+                        0.08917814493179321
+                    ],
+                    "orientation": {
+                        "w": 0.07849045927794084,
+                        "xyz": [
+                            0.02294350341977562,
+                            0.9214995583181141,
+                            -0.37967276366982816
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9281972646713257,
+                    "position": [
+                        -0.02456491906195879,
+                        0.10215654829517007,
+                        0.07797632366418839
+                    ],
+                    "orientation": {
+                        "w": 0.11109115006658712,
+                        "xyz": [
+                            0.03212272238190916,
+                            0.8912562271657685,
+                            -0.4385079527464664
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.926891565322876,
+                    "position": [
+                        -0.013140258379280567,
+                        0.12715943017974496,
+                        0.02482730522751808
+                    ],
+                    "orientation": {
+                        "w": 0.1132898249672717,
+                        "xyz": [
+                            0.0430708075362837,
+                            0.7469676535019262,
+                            -0.6537198526271665
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.926324725151062,
+                    "position": [
+                        -0.0207730894908309,
+                        0.11031988123431802,
+                        0.07312849164009094
+                    ],
+                    "orientation": {
+                        "w": 0.10642857362363106,
+                        "xyz": [
+                            0.03371708172238467,
+                            0.8657295424550795,
+                            -0.4879021176804667
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9247216582298279,
+                    "position": [
+                        -0.026738007552921772,
+                        0.09819701919332147,
+                        0.09157255291938782
+                    ],
+                    "orientation": {
+                        "w": 0.11715240735121564,
+                        "xyz": [
+                            0.023517707448519144,
+                            0.9076609831099187,
+                            -0.40233539569383725
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9244241118431091,
+                    "position": [
+                        -0.029092141427099705,
+                        0.08180266479030252,
+                        0.10206348448991776
+                    ],
+                    "orientation": {
+                        "w": 0.11849790569414921,
+                        "xyz": [
+                            0.01828981601593624,
+                            0.942887642513739,
+                            -0.3107838840272901
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9238846302032471,
+                    "position": [
+                        -0.017868357710540295,
+                        0.08119442919269204,
+                        0.10595720261335373
+                    ],
+                    "orientation": {
+                        "w": 0.07712251875077768,
+                        "xyz": [
+                            0.02273383231631896,
+                            0.9524407590103733,
+                            -0.2939249743480357
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.923743486404419,
+                    "position": [
+                        -0.02321979310363531,
+                        0.10051653394475579,
+                        0.08482153713703156
+                    ],
+                    "orientation": {
+                        "w": 0.1119437427387576,
+                        "xyz": [
+                            0.03728609264365288,
+                            0.8867401497529773,
+                            -0.44695665625771225
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9229676127433777,
+                    "position": [
+                        -0.023096411488950253,
+                        -0.014794606249779463,
+                        0.1346222683787346
+                    ],
+                    "orientation": {
+                        "w": 0.0889088488034041,
+                        "xyz": [
+                            -0.023090507340246917,
+                            0.9931507719348123,
+                            0.07220518873674972
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9229488968849182,
+                    "position": [
+                        -0.03300726693123579,
+                        0.0886175544001162,
+                        0.09452387690544128
+                    ],
+                    "orientation": {
+                        "w": 0.13797987482146043,
+                        "xyz": [
+                            0.017598514604410583,
+                            0.9265087652388422,
+                            -0.3496188701480068
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9228249788284302,
+                    "position": [
+                        -0.02460839133709669,
+                        0.09852444240823388,
+                        0.08374112099409103
+                    ],
+                    "orientation": {
+                        "w": 0.11613100642455754,
+                        "xyz": [
+                            0.0390683122347008,
+                            0.8909364127312569,
+                            -0.43728659343216814
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9227678775787354,
+                    "position": [
+                        -0.029014441184699535,
+                        0.08295924821868539,
+                        0.10025813430547714
+                    ],
+                    "orientation": {
+                        "w": 0.11997620088115249,
+                        "xyz": [
+                            0.012857499354278927,
+                            0.9445935382043678,
+                            -0.3052596329602625
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9212063550949097,
+                    "position": [
+                        -0.011080563068389893,
+                        0.12847995618358254,
+                        0.016835398972034454
+                    ],
+                    "orientation": {
+                        "w": 0.11651770783704107,
+                        "xyz": [
+                            0.06155986285212681,
+                            0.7114790647636813,
+                            -0.6902402099624643
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom pad",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support on a surface",
+                "improve friction with tabletop",
+                "stabilize the clock base",
+                "reduce sliding"
+            ],
+            "semantic_description": "Oval gray bottom pad, likely rubber or textured fabric-like material, with a dull rough surface that contacts the supporting surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front interface area",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display time",
+                "show brand/logo and printed markings",
+                "allow button pressing",
+                "provide user interaction interface"
+            ],
+            "semantic_description": "Front interface region including a glossy black oval display window with white digital numerals, a small light-gray/white front button below, and small dark logo/text markings above the display on the white front face.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07e3b885bd2b7681b9fb2ef5c4836fa33dc4261656d257fa930bd9d91a11233d
+size 3779952

dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/alarm_clock_010.urdf

@@ -54,6 +54,7 @@
                <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>NO: {"summary":"Display, front button, bottom pad, and tiny text/noise are incorrectly merged or fragmented; main controls are not functionally segmented.","merge_groups":[{"colors":["Red","Purple"],"target_part":"non-body detail parts","reason":"Both mark small non-body features, reducing fragmentation."}]}</PartSegChecker>