Add asset bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7

.gitattributes

@@ -5937,3 +5937,4 @@ dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/affo
 dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/dcae01195ce651659426d641183dfcb0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/dc9c8b200e3c5bdbb13fa0a46a49ac3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/affordance/affordance_annot.json

@@ -0,0 +1,562 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sides of the wooden body to pick up and relocate the clock",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to stabilize the clock while operating controls",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "enclose internal mechanism",
+                "support all other parts",
+                "main grasp surface",
+                "protect internal components"
+            ],
+            "semantic_description": "Large light wood-toned housing with a smooth matte to satin finish, shaped as a rounded rectangular block forming nearly the entire clock body.",
+            "id": 4,
+            "grasp_group": {
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+                    "confidence": 0.9050438404083252,
+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.8594591899067937,
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+                        ]
+                    }
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+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                        ]
+                    }
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+                "grasp_20": {
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+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.5005913462893564,
+                            0.8652316184207719
+                        ]
+                    }
+                },
+                "grasp_21": {
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+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -8.211055877849205e-05,
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+                        ]
+                    }
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+                    "orientation": {
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+                        "xyz": [
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+                            0.704843205258659
+                        ]
+                    }
+                },
+                "grasp_23": {
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+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                    }
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+                "grasp_24": {
+                    "confidence": 0.899744987487793,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            0.024511475560175057
+                        ]
+                    }
+                },
+                "grasp_25": {
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+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.8690753984204352,
+                            0.49464877986708145
+                        ]
+                    }
+                },
+                "grasp_26": {
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+                    "position": [
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+                        -0.029158326098695397
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+                    "orientation": {
+                        "w": 0.0015927111925315705,
+                        "xyz": [
+                            0.006441050111255306,
+                            -0.6893097808224399,
+                            0.7244363341295366
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.8975238800048828,
+                    "position": [
+                        -0.004404258914291859,
+                        0.1162101105437614,
+                        0.07932340330444276
+                    ],
+                    "orientation": {
+                        "w": 0.013600721384780062,
+                        "xyz": [
+                            -0.01125446699968607,
+                            0.8649034543299664,
+                            -0.5016277225577328
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8969935178756714,
+                    "position": [
+                        -0.001816602423787117,
+                        0.11761944001773372,
+                        0.07482279813848436
+                    ],
+                    "orientation": {
+                        "w": 0.010033991315105517,
+                        "xyz": [
+                            -0.01700689016968163,
+                            0.8613178342779196,
+                            -0.5076826499495904
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.8969494104385376,
+                    "position": [
+                        0.0013944944366812706,
+                        0.1315691769705154,
+                        0.0226870474871248
+                    ],
+                    "orientation": {
+                        "w": 0.714806192872795,
+                        "xyz": [
+                            0.6992289645170364,
+                            0.007603294890087597,
+                            0.00855287775828371
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.8965269327163696,
+                    "position": [
+                        -0.00011101597920060158,
+                        0.13026705390075222,
+                        0.034399050986394286
+                    ],
+                    "orientation": {
+                        "w": 0.022768751414085076,
+                        "xyz": [
+                            0.003387455680527964,
+                            0.7257556004827301,
+                            -0.687567391221404
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8963426351547241,
+                    "position": [
+                        -0.0019905599765479565,
+                        0.12876456981757656,
+                        -0.029481427976861596
+                    ],
+                    "orientation": {
+                        "w": 0.7185200611647165,
+                        "xyz": [
+                            0.6954250211301244,
+                            -0.001236741921014417,
+                            0.010556143208515575
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.8950048089027405,
+                    "position": [
+                        -0.004413136281073093,
+                        0.1254080385551788,
+                        0.040107257431373
+                    ],
+                    "orientation": {
+                        "w": 0.020326123551540964,
+                        "xyz": [
+                            -0.011947109650094387,
+                            0.7307732847802121,
+                            -0.6822129590706367
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.8945572972297668,
+                    "position": [
+                        -0.005821205675601959,
+                        0.12997905915835872,
+                        -0.027670089388266206
+                    ],
+                    "orientation": {
+                        "w": 0.7113057977630171,
+                        "xyz": [
+                            0.7021304438400333,
+                            -0.006865455246363172,
+                            0.031776837885091086
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.892772376537323,
+                    "position": [
+                        -0.00015913741663098335,
+                        0.1101404950604774,
+                        0.08476499444805086
+                    ],
+                    "orientation": {
+                        "w": 0.005606458532279495,
+                        "xyz": [
+                            -0.008847274481853622,
+                            0.8672484232285352,
+                            -0.4977654726521196
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.8914310932159424,
+                    "position": [
+                        -0.0037837852723896503,
+                        0.12974263733485714,
+                        0.028469731798395514
+                    ],
+                    "orientation": {
+                        "w": 0.7077104672777876,
+                        "xyz": [
+                            0.7059764693644855,
+                            0.016874086982343273,
+                            0.021409913536111193
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.8910010457038879,
+                    "position": [
+                        0.00030755670741200447,
+                        0.12762869900325313,
+                        -0.028577747056260705
+                    ],
+                    "orientation": {
+                        "w": 0.7159518435432622,
+                        "xyz": [
+                            0.6980916334334866,
+                            -0.007702139647938311,
+                            0.004658980791377099
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "clock face",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display the time background",
+                "provide dial markings",
+                "support visual reading of the hands"
+            ],
+            "semantic_description": "Circular off-white to pale cream clock face recessed on the front, with small hour ticks and printed markings.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clock bezel",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the dial",
+                "protect the dial edge",
+                "border the front face opening"
+            ],
+            "semantic_description": "Thin white circular bezel around the dial, with a smooth slightly glossy hard surface forming a narrow raised rim.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clock hands",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate time",
+                "show hour and minute positions",
+                "provide visual readout"
+            ],
+            "semantic_description": "Slender clock hands centered on the dial, mainly black with a gold-toned center and a lighter thin secondary hand.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle bar",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the clock",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the handle to reposition the clock on a surface",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "carry the clock",
+                "provide a top grip",
+                "assist repositioning"
+            ],
+            "semantic_description": "Short silver metallic cylindrical bar recessed into the top, with a reflective smooth hard finish and compact horizontal shape.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left handle mount",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the handle",
+                "connect handle to body",
+                "support carrying load"
+            ],
+            "semantic_description": "Small metallic end piece at one end of the top handle recess, silver and reflective with a hard smooth finish.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle mount",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the handle",
+                "connect handle to body",
+                "support carrying load"
+            ],
+            "semantic_description": "Small metallic end piece at the opposite end of the top handle recess, silver and reflective with a hard smooth finish.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front button",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press for control",
+                "operate clock function",
+                "user input"
+            ],
+            "semantic_description": "Small oval button on the lower front face below the dial, with a dark teal to blue-green appearance and smooth hard finish.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side knob",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and twist the side knob to adjust a clock setting",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "pinch the knob to manipulate a control",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "adjust settings",
+                "provide rotary control",
+                "enable manual input"
+            ],
+            "semantic_description": "Small round brown knob protruding from one lower side near the front, with a smooth hard surface and short cylindrical form.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side knob",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and twist the side knob to adjust a clock setting",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "pinch the knob to manipulate a control",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "adjust settings",
+                "provide rotary control",
+                "enable manual input"
+            ],
+            "semantic_description": "Small round brown knob protruding from the opposite lower side near the front, with a smooth hard surface and short cylindrical form.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left foot",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the clock",
+                "stabilize on a flat surface",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "Short rounded brown foot at the front-left bottom corner, with a matte hard surface and stubby cylindrical form contacting the table.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right foot",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the clock",
+                "stabilize on a flat surface",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "Short rounded brown foot at the front-right bottom corner, with a matte hard surface and stubby cylindrical form contacting the table.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left foot",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the clock",
+                "stabilize on a flat surface",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "Short rounded brown rear-left foot with a matte hard finish and compact peg-like shape positioned at the underside corner.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right foot",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the clock",
+                "stabilize on a flat surface",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "Short rounded brown rear-right foot with a matte hard finish and compact peg-like shape positioned at the underside corner.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities are mismatched; front button color and foot/knob assignments are incorrect."
+    }
+}

dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2abfac3dd299cfc5d755079fd8e7124e18be41558db73bff4d01935d2264f4c
+size 3791844

dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.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>