Add asset bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe

.gitattributes

@@ -5905,4 +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/4cb7a603e6f355218aa964f64cbb05fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe/affordance/affordance_annot.json

@@ -0,0 +1,315 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cylindrical body from the sides to pick up the alarm clock",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the clock while setting or moving it",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main enclosure",
+                "support internal mechanism",
+                "main grasp surface",
+                "mount other parts"
+            ],
+            "semantic_description": "Large white painted metal cylindrical housing with a glossy smooth hard surface, forming the main body around the dial and positioned centrally.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_42": {
+                    "confidence": 0.013226760551333427,
+                    "position": [
+                        0.10443603666499257,
+                        0.03413520404137671,
+                        0.05644700303673744
+                    ],
+                    "orientation": {
+                        "w": 0.5000568883021571,
+                        "xyz": [
+                            0.5348377760206974,
+                            -0.5486844106829459,
+                            -0.4035307662078652
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.8048419952392578,
+                    "position": [
+                        0.039856106508523226,
+                        -0.12671328685246408,
+                        0.03944382816553116
+                    ],
+                    "orientation": {
+                        "w": 0.13680286034445613,
+                        "xyz": [
+                            0.11159868091172158,
+                            -0.6950752325911604,
+                            -0.6969226161193824
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.5576691031455994,
+                    "position": [
+                        0.048726693261414766,
+                        -0.1330861037131399,
+                        0.045370280742645264
+                    ],
+                    "orientation": {
+                        "w": 0.13103785628763953,
+                        "xyz": [
+                            0.19867258452651523,
+                            -0.7719875617160973,
+                            -0.5894009576958024
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bells and rear cover",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch one bell to slightly reposition or steady the clock",
+                    "confidence": 0.39
+                },
+                {
+                    "scenario": "grasp the broad rear cover area from behind to manipulate the clock",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "produce alarm sound",
+                "cover rear opening",
+                "protect internal parts",
+                "provide top structure"
+            ],
+            "semantic_description": "White painted metal twin bells at the top and a matching white circular rear cover, all with smooth hard surfaces; the bells are dome-shaped and the rear cover spans most of the back.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9281203746795654,
+                    "position": [
+                        -0.005508704110980034,
+                        0.12436149665154517,
+                        0.10237061232328415
+                    ],
+                    "orientation": {
+                        "w": 0.04827798313317054,
+                        "xyz": [
+                            0.04732724866466747,
+                            0.8580303361222715,
+                            -0.5091299541102725
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9072315692901611,
+                    "position": [
+                        -0.004657837096601725,
+                        -0.1138980349060148,
+                        0.11508572101593018
+                    ],
+                    "orientation": {
+                        "w": 0.04159330497921647,
+                        "xyz": [
+                            -0.027598393540052654,
+                            0.8871873135088666,
+                            0.45870142402638686
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8796787858009338,
+                    "position": [
+                        -0.024024813901633024,
+                        -0.12464496842585504,
+                        0.09649784117937088
+                    ],
+                    "orientation": {
+                        "w": 0.49438689637001215,
+                        "xyz": [
+                            -0.8598855894706366,
+                            0.003522755490068308,
+                            -0.1271454281998367
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8760735988616943,
+                    "position": [
+                        -0.01719276374205947,
+                        0.13027995475567877,
+                        0.08847692608833313
+                    ],
+                    "orientation": {
+                        "w": 0.5250582481956497,
+                        "xyz": [
+                            0.8434088294768828,
+                            -0.03646144292545295,
+                            0.10791638217594271
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clock face and front glass",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display time",
+                "provide visual reference",
+                "show hand positions",
+                "protect dial under front cover"
+            ],
+            "semantic_description": "Round front dial area with a white clock face beneath a clear smooth cover, front-facing with dark hands and simple hour ticks for reading time.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clock hands",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate current time",
+                "show hour and minute positions",
+                "enable time reading"
+            ],
+            "semantic_description": "Thin dark hands centered on the dial, small pointed indicators contrasting against the light face.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs and side knob",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side knob to adjust or orient the clock",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "delicately grasp a leg to steady the clock during placement",
+                    "confidence": 0.22
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "provide table contact",
+                "adjust or wind mechanism",
+                "aid fine manipulation"
+            ],
+            "semantic_description": "Small gold-tone metal feet and a side knob with a glossy smooth hard finish; the feet angle downward at the base while the knob protrudes from the side.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle and bell supports",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the alarm clock",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the top handle to reposition the clock on a surface",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide carrying grip",
+                "connect bells",
+                "support top assembly",
+                "aid repositioning"
+            ],
+            "semantic_description": "Arched gold-tone metal handle and small support struts with a glossy smooth hard finish, spanning the top between the bells as a slender elevated carrying structure.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_63": {
+                    "confidence": 0.5104504227638245,
+                    "position": [
+                        0.04397858725860715,
+                        0.004980319878086448,
+                        0.15775573998689651
+                    ],
+                    "orientation": {
+                        "w": 0.21475502526756735,
+                        "xyz": [
+                            0.005287759151743912,
+                            -0.9766525852202098,
+                            -0.0014305621833388335
+                        ]
+                    }
+                },
+                "grasp_68": {
+                    "confidence": 0.8703071475028992,
+                    "position": [
+                        -0.012211280409246683,
+                        -0.008802370401099324,
+                        0.1711152419447899
+                    ],
+                    "orientation": {
+                        "w": 0.04359146564786406,
+                        "xyz": [
+                            -0.0018417766308381003,
+                            0.9988912802799124,
+                            0.01768055887892687
+                        ]
+                    }
+                },
+                "grasp_74": {
+                    "confidence": 0.8169229626655579,
+                    "position": [
+                        -0.020520546939224005,
+                        -0.0021877532126381993,
+                        0.16635391861200333
+                    ],
+                    "orientation": {
+                        "w": 0.09654535616568145,
+                        "xyz": [
+                            -0.07493341794190214,
+                            0.992308652444694,
+                            0.019685409870797112
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear winding stem",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small rear stem to wind or adjust the clock",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "wind mechanism",
+                "fine adjustment control",
+                "provide rotational input"
+            ],
+            "semantic_description": "Tiny gold-tone metal stem protruding from the rear center, short and narrow for fingertip-style turning rather than whole-object lifting.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Rear cover color/part assignment and rear stem identity are incorrect; mask groups back with bells, not a rear winding stem."
+    }
+}

dataset/bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:527aca3f5592b0b823eb18e0d748c533001c40f26c0b5bb8540cc2e43a90e11e
+size 3790532

dataset/bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe/alarm_clock_017.urdf

@@ -51,16 +51,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>12</part_count>
+         <part_count>7</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
                <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>
+         <PartSegChecker>NO: {"summary":"Functional parts are overly merged and misassigned; only small fixes by merging same body surfaces are supported.","merge_groups":[{"colors":["Green","Pink"],"target_part":"bell assembly","reason":"handle and bells are one top metal assembly"},{"colors":["Magenta","Yellow"],"target_part":"clock body","reason":"rim and shell are same outer housing surface"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>