Add asset bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157

.gitattributes

@@ -5884,3 +5884,4 @@ dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/afforda
 dataset/bathroom_supplies/personal_care/fdf4cee888a75e61abf71331e86c05f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/ff6daa8099b75a00917d64f3a2d54454/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157/affordance/affordance_annot.json

@@ -0,0 +1,211 @@
+{
+    "affordances": [
+        {
+            "part_name": "lampshade",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lampshade sides gently to lift and reposition the lamp carefully",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the lampshade to stabilize the lamp while adjusting the base or cord",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "diffuse light",
+                "shield the bulb",
+                "reduce glare",
+                "define light direction",
+                "decorative cover"
+            ],
+            "semantic_description": "Large white tapered lampshade made of thin opaque material with a matte smooth surface and frustum shape covering the upper lamp.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base of lamp",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from the sides to pick up and move the lamp",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the base to stabilize the lamp during bulb replacement or shade adjustment",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the lamp",
+                "provide stability",
+                "rest on a table",
+                "anchor upper parts"
+            ],
+            "semantic_description": "Wide round gray base, likely metal, with a smooth slightly reflective finish and hard surface, positioned at the bottom as the main support element.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lamp stem",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrow stem lightly to steady the lamp while positioning it on a surface",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the stem briefly while aligning the shade or accessing the bulb",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "connect base to shade",
+                "support upper structure",
+                "route support to the bulb socket",
+                "provide a narrow handling point"
+            ],
+            "semantic_description": "Slim curved light gray to silver stem, likely metal, with a smooth reflective surface, rising from the base to the shade center.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "light bulb",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bulb to unscrew or replace it during maintenance",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "emit light",
+                "illuminate the area",
+                "serve as the light source"
+            ],
+            "semantic_description": "Small white to frosted bulb-shaped element with a smooth slightly glossy surface, mounted beneath the shade near the top center of the lamp.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.2807476222515106,
+                    "position": [
+                        -0.061934994999319315,
+                        0.06774700642563403,
+                        0.0853552483022213
+                    ],
+                    "orientation": {
+                        "w": 0.21515713913310341,
+                        "xyz": [
+                            -0.20075605405495825,
+                            0.7696022221062058,
+                            -0.5666717144604373
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.09645986557006836,
+                    "position": [
+                        0.0023071644827723503,
+                        0.11494010896421969,
+                        0.08214356563985348
+                    ],
+                    "orientation": {
+                        "w": 0.7009384084528886,
+                        "xyz": [
+                            0.5997317380877035,
+                            0.35925537509031,
+                            -0.141218856228744
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.21640096604824066,
+                    "position": [
+                        -0.08064184570685029,
+                        -0.03662549867294729,
+                        0.04474915284663439
+                    ],
+                    "orientation": {
+                        "w": 0.6876873541480337,
+                        "xyz": [
+                            -0.20631572140090068,
+                            0.6952084247792591,
+                            -0.034715589634100714
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.2856001853942871,
+                    "position": [
+                        -0.08355543250218034,
+                        -0.04938732250593603,
+                        0.017749473452568054
+                    ],
+                    "orientation": {
+                        "w": 0.42589667485910293,
+                        "xyz": [
+                            0.31127210958901275,
+                            0.4297689487796149,
+                            0.732816721152588
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.20459392666816711,
+                    "position": [
+                        0.07672989135608077,
+                        -0.07393665402196348,
+                        0.05922139063477516
+                    ],
+                    "orientation": {
+                        "w": 0.30673021392641286,
+                        "xyz": [
+                            0.2567489684216952,
+                            -0.6382983832756293,
+                            -0.6577018450534945
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.15606006979942322,
+                    "position": [
+                        0.09508633380755782,
+                        0.05329576344229281,
+                        0.07336970418691635
+                    ],
+                    "orientation": {
+                        "w": 0.6083702527140393,
+                        "xyz": [
+                            0.6385227800024115,
+                            -0.35741345411979086,
+                            -0.3072945132032258
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bulb socket",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold the light bulb",
+                "connect the bulb to lamp wiring",
+                "mount the bulb beneath the shade"
+            ],
+            "semantic_description": "Small circular light gray to silver socket or mounting collar with a smooth finish, located directly below the bulb at the top end of the stem inside the shade.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Bulb socket description mismatches mask; stem function overstated; graspability/confidence for shade and bulb need adjustment."
+    }
+}

dataset/bedroom_supplies/lighting_fixtures/03f09dca16db5598a67f0715cf3fb157/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1302428e0fc0e3fa25ec602efb7a97661ef14d68bceb00a71d1b332c6d96391
+size 1994924