Add asset bedroom_supplies/small_electronics/49a7b1776ab051daba3ba218ecab6972

.gitattributes

@@ -5905,3 +5905,4 @@ dataset/bedroom_supplies/small_electronics/32334b3d67e85787971772b0132e2118/affo
 dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/46bb9dfc7ce85efab4247571da179c72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/49a7b1776ab051daba3ba218ecab6972/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/49a7b1776ab051daba3ba218ecab6972/affordance/affordance_annot.json

@@ -0,0 +1,353 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main housing from the sides to pick up the alarm clock",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to reposition the clock on a table",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "stabilize the body while pressing the top button",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "enclose internal mechanism",
+                "support all other parts",
+                "provide main grasp surface",
+                "protect the clock internals",
+                "rest on a flat surface"
+            ],
+            "semantic_description": "Large rounded rectangular black plastic housing with a matte smooth hard surface, forming the back, top, sides, and outer rim around the front.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9589815735816956,
+                    "position": [
+                        -0.003304003388620913,
+                        0.11929838769719936,
+                        0.09734386624768376
+                    ],
+                    "orientation": {
+                        "w": 0.5042078734848477,
+                        "xyz": [
+                            0.8634370950963853,
+                            0.005781153910386472,
+                            0.014743859293542607
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9572724103927612,
+                    "position": [
+                        -0.004417344578541815,
+                        0.11824427955434658,
+                        0.09599255444481969
+                    ],
+                    "orientation": {
+                        "w": 0.5030129430967051,
+                        "xyz": [
+                            0.8641479460977914,
+                            0.003262288131994806,
+                            0.014685496529012744
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9553124308586121,
+                    "position": [
+                        0.00046928797382861376,
+                        0.11827588491723873,
+                        0.10163395525887609
+                    ],
+                    "orientation": {
+                        "w": 0.49144074870923266,
+                        "xyz": [
+                            0.8708851787291673,
+                            0.003503893335742747,
+                            0.005720027051254811
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9540830254554749,
+                    "position": [
+                        -0.0009316069772467017,
+                        0.12404200845048763,
+                        0.09733160259202123
+                    ],
+                    "orientation": {
+                        "w": 0.503102890749955,
+                        "xyz": [
+                            0.8642256734112435,
+                            0.0010508735352537935,
+                            0.0006019972876370341
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9528532028198242,
+                    "position": [
+                        -0.0009748769225552678,
+                        0.12559541725204326,
+                        0.09668030263856053
+                    ],
+                    "orientation": {
+                        "w": 0.5030891262215141,
+                        "xyz": [
+                            0.864225775682023,
+                            0.0033229991459712283,
+                            0.002024203832437944
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9518161416053772,
+                    "position": [
+                        0.0034262066474184394,
+                        0.13246121667907573,
+                        0.06755455257371068
+                    ],
+                    "orientation": {
+                        "w": 0.03570472337886139,
+                        "xyz": [
+                            0.001509023572681823,
+                            -0.7542549403590599,
+                            0.6556084048578447
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9504945874214172,
+                    "position": [
+                        -0.008049564552493393,
+                        0.11571970247314312,
+                        0.09791840286925435
+                    ],
+                    "orientation": {
+                        "w": 0.49769865608437414,
+                        "xyz": [
+                            0.8672338665873576,
+                            0.006663547038698814,
+                            0.012532578210882018
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9503337144851685,
+                    "position": [
+                        -0.0019214301137253642,
+                        0.1280924644379411,
+                        0.0952763450331986
+                    ],
+                    "orientation": {
+                        "w": 0.503003123881817,
+                        "xyz": [
+                            0.8642187448807264,
+                            -0.002491434059690878,
+                            0.01037357789010218
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9493167400360107,
+                    "position": [
+                        0.01698147866409272,
+                        0.11898798160837032,
+                        0.1013236534781754
+                    ],
+                    "orientation": {
+                        "w": 0.03909718843123382,
+                        "xyz": [
+                            -0.04261811218660888,
+                            -0.8714905365061688,
+                            0.486990093483032
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9481379389762878,
+                    "position": [
+                        -0.007162604597397149,
+                        0.14089437984512188,
+                        0.06438173772767186
+                    ],
+                    "orientation": {
+                        "w": 0.04792006062075955,
+                        "xyz": [
+                            0.006764636059360039,
+                            0.7832009927117469,
+                            -0.6198823376290221
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9467859864234924,
+                    "position": [
+                        -0.003062022035010159,
+                        -0.13394052124931477,
+                        -0.04998276708647609
+                    ],
+                    "orientation": {
+                        "w": 0.02897770482224305,
+                        "xyz": [
+                            0.008710893626075649,
+                            0.6971566360499538,
+                            0.7162799995581213
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9461491703987122,
+                    "position": [
+                        0.0024207477690652013,
+                        0.11437953673885204,
+                        0.09898185404017568
+                    ],
+                    "orientation": {
+                        "w": 0.02680119439995821,
+                        "xyz": [
+                            0.004913425260304277,
+                            -0.8594032375274775,
+                            0.5105718652239245
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9419454336166382,
+                    "position": [
+                        0.01722845423500985,
+                        0.10605960004613735,
+                        0.1148817059583962
+                    ],
+                    "orientation": {
+                        "w": 0.41402297954459777,
+                        "xyz": [
+                            0.908464711498499,
+                            0.011321676156415383,
+                            -0.05611292204093109
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9413822293281555,
+                    "position": [
+                        -0.003956481930799782,
+                        -0.11421078778221272,
+                        0.10140780033543706
+                    ],
+                    "orientation": {
+                        "w": 0.4848495284432802,
+                        "xyz": [
+                            -0.8742724744495713,
+                            0.006936565817598828,
+                            -0.022813575844447605
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9387158751487732,
+                    "position": [
+                        -0.00108281837310642,
+                        0.11555749588296749,
+                        0.0962230903096497
+                    ],
+                    "orientation": {
+                        "w": 0.5028448108288872,
+                        "xyz": [
+                            0.8642597155823609,
+                            0.00601400893417281,
+                            0.012886890257044216
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9373993873596191,
+                    "position": [
+                        0.0021918316488154233,
+                        0.13511889838264324,
+                        0.048304055351763964
+                    ],
+                    "orientation": {
+                        "w": 0.7048639961545722,
+                        "xyz": [
+                            0.7090888166015809,
+                            0.016923527497343493,
+                            -0.008566872978143259
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9369667172431946,
+                    "position": [
+                        -0.006229008198715746,
+                        0.09536463432596065,
+                        0.11541879596188664
+                    ],
+                    "orientation": {
+                        "w": 0.01214434185114412,
+                        "xyz": [
+                            -0.0047838012120597845,
+                            -0.9120936142542437,
+                            0.4097741683459279
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press to control alarm",
+                "provide top user input",
+                "enable snooze or setting interaction"
+            ],
+            "semantic_description": "Small circular black button on the top center, likely plastic or rubber, with a matte slightly soft-looking surface and low raised profile.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front face assembly",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display time",
+                "provide visual readout",
+                "show clock hands and numerals",
+                "cover the front opening"
+            ],
+            "semantic_description": "Large glossy black front panel on the clock face, showing white numerals and hands, a red second hand, and white CASIO branding near the top; the same segmented part also includes the matching dark front-bottom feet/base elements visible in side and bottom views.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side label panel",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide product information",
+                "show safety or specification markings",
+                "identify model or usage details"
+            ],
+            "semantic_description": "Small narrow rectangular black side label area with printed white icons and text, flat and slightly reflective, visible on one side of the housing.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/small_electronics/49a7b1776ab051daba3ba218ecab6972/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe814900e75e2d7c6fe76c894a97bc34b64f9ee7155e5f40d7252e7b67de672b
+size 3830120

dataset/bedroom_supplies/small_electronics/49a7b1776ab051daba3ba218ecab6972/alarm_clock_007.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":"front face and bottom feet/support are merged; side label colors inconsistent","merge_groups":[{"colors":["Teal","Navy"],"target_part":"side label panel","reason":"same side sticker appears different colors across views"}]}</PartSegChecker>