Add asset bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419

.gitattributes

@@ -5888,3 +5888,4 @@ dataset/bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157/affo
 dataset/bedroom_supplies/lighting_fixtures/0a4489b1a2875c82a580f8b62d346e08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/7c90c8a94a9a5811be2c1eecd9afa7b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/8cd95dbecb515a27babac094c0136b3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/affordance/affordance_annot.json

@@ -0,0 +1,213 @@
+{
+    "affordances": [
+        {
+            "part_name": "lampshade",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lampshade body to reposition the lamp on a table",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the lampshade to stabilize the head while adjusting its aim",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "direct light",
+                "cover the bulb",
+                "reduce glare",
+                "house the light source"
+            ],
+            "semantic_description": "Cylindrical black metal shade with a matte to satin finish, smooth hard surface, medium size, mounted at the top and open at the front with a white reflective interior.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base to lift and relocate the entire lamp",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the base to stabilize the lamp while adjusting the head",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the lamp",
+                "stabilize on a surface",
+                "provide weight",
+                "serve as the placement surface"
+            ],
+            "semantic_description": "Round black metal base with a matte smooth hard surface, broad and heavy-looking, located at the bottom and forming the stable support platform of the lamp.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_58": {
+                    "confidence": 0.9729344844818115,
+                    "position": [
+                        0.09147729887627065,
+                        -0.11560804722830653,
+                        -0.1444954052567482
+                    ],
+                    "orientation": {
+                        "w": 0.6450198613623579,
+                        "xyz": [
+                            -0.3095671750473107,
+                            -0.6175266116961142,
+                            -0.32676968407186985
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front support rod",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rod to steady the lamp during adjustment",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "lightly hold the rod while repositioning the lamp",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "connect base to shade assembly",
+                "support the head structure",
+                "provide structural linkage"
+            ],
+            "semantic_description": "Slim black metal rod with a glossy smooth hard surface, rising from the base to the shade area as a narrow front structural support.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.2585248649120331,
+                    "position": [
+                        -0.08421287522651255,
+                        0.09230646165087819,
+                        -0.060217902064323425
+                    ],
+                    "orientation": {
+                        "w": 0.5793711007036,
+                        "xyz": [
+                            0.6193485851449854,
+                            0.4466273462486612,
+                            0.2850622236131657
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.1952185481786728,
+                    "position": [
+                        0.09547670348547399,
+                        0.058222093153744936,
+                        -0.0733787789940834
+                    ],
+                    "orientation": {
+                        "w": 0.5336448908423292,
+                        "xyz": [
+                            0.5713504794267732,
+                            -0.5020413748837966,
+                            -0.369778606792581
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.19307756423950195,
+                    "position": [
+                        -0.09817824349738657,
+                        0.05637007998302579,
+                        -0.0327901765704155
+                    ],
+                    "orientation": {
+                        "w": 0.49064066584787996,
+                        "xyz": [
+                            0.5893380392510765,
+                            0.4488766017551248,
+                            0.45876160356422224
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base pivot joint",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the support structure to the base",
+                "provide a pivot point",
+                "allow head assembly movement",
+                "transfer load into the base"
+            ],
+            "semantic_description": "Small black metal joint with a glossy hard surface at the top of the base, compact and rounded, linking the support rods to the base.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear support rod",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear support rod to help aim or tilt the lamp head",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "use the rod as a careful manipulation point while repositioning the lamp",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "support the head assembly",
+                "connect the upper structure to the base region",
+                "provide structural linkage",
+                "help position the head by moving the frame"
+            ],
+            "semantic_description": "Thin black metal rod with a glossy smooth hard finish, extending upward behind the shade as the taller rear support member of the lamp frame.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper connector link",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the shade to the rear support rod",
+                "support head articulation",
+                "help maintain head position"
+            ],
+            "semantic_description": "Short curved black metal link with a glossy hard surface, small and narrow, located near the top rear of the shade between the lampshade and the rear support rod.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower connector brace",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the support structure",
+                "connect the lower rods",
+                "help maintain alignment",
+                "support adjustment geometry"
+            ],
+            "semantic_description": "Very thin black metal brace with a glossy smooth hard surface, small and angled, running low between the front support rod and rear support rod near the base.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front/rear support rods are swapped relative to mask and views; some grasp labels are too permissive for thin frame rods."
+    }
+}

dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a6d71d96af58221b0d821d9eede01921e3c8243929453070cb7be74e629ae6
+size 1676416