Add asset bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c

.gitattributes

@@ -5925,3 +5925,4 @@ dataset/bedroom_supplies/small_electronics/8f4d6f59c0975583a670702dd9f521ef/affo
 dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/a996d19b564e516cae1c9adf8e781713/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/affordance/affordance_annot.json

@@ -0,0 +1,614 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side body to pick up and reposition the alarm clock",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body to stabilize the clock while adjusting controls",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "enclose clock mechanism",
+                "support attached parts",
+                "main grasp surface",
+                "provide structural housing"
+            ],
+            "semantic_description": "The main housing is a medium-sized rounded light peach-pink metal shell with a smooth semi-gloss finish, forming the central body between the bells and above the bottom pedestal.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_83": {
+                    "confidence": 0.0789966881275177,
+                    "position": [
+                        0.08868919464293867,
+                        0.004978362005203962,
+                        -0.0134407221339643
+                    ],
+                    "orientation": {
+                        "w": 0.5464707820197091,
+                        "xyz": [
+                            0.45751135863428355,
+                            -0.4510025089184978,
+                            -0.5372613684870706
+                        ]
+                    }
+                },
+                "grasp_93": {
+                    "confidence": 0.09015125036239624,
+                    "position": [
+                        -0.10966028121765703,
+                        0.004208236467093229,
+                        -0.0009650471620261669
+                    ],
+                    "orientation": {
+                        "w": 0.5235263722160087,
+                        "xyz": [
+                            0.48338195848896115,
+                            0.4859727916799711,
+                            0.5060557929205997
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom pedestal",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower pedestal from opposite sides to lift the clock",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the pedestal to stabilize the clock on a surface",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support on a table",
+                "stabilize the object",
+                "distribute weight",
+                "provide lower gripping area"
+            ],
+            "semantic_description": "The bottom pedestal is a large oval dark gray to black platform with a smooth slightly reflective hard finish, positioned underneath the clock as the stable support.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left bell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp a bell to reposition or orient the clock",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold a bell briefly during delicate maintenance",
+                    "confidence": 0.2
+                }
+            ],
+            "functional_labels": [
+                "produce alarm sound",
+                "cover bell cavity",
+                "top visual feature"
+            ],
+            "semantic_description": "The left top bell is a small dome-shaped peach-pink metal part with a smooth satin finish, mounted above the body and connected to the handle and striker.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8979735970497131,
+                    "position": [
+                        -0.01683780027087778,
+                        0.1318028485402465,
+                        0.10540710063651204
+                    ],
+                    "orientation": {
+                        "w": 0.05336938076757298,
+                        "xyz": [
+                            -0.007962860643826437,
+                            0.8574741038313444,
+                            -0.511689811610008
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8856081366539001,
+                    "position": [
+                        -0.002714156056754291,
+                        0.13107132073491812,
+                        0.10672491462901235
+                    ],
+                    "orientation": {
+                        "w": 0.542658989526161,
+                        "xyz": [
+                            0.8384337246639335,
+                            -0.032267344653533536,
+                            0.03884493405348218
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8761327862739563,
+                    "position": [
+                        -0.006263668998144567,
+                        0.1171025549992919,
+                        0.1326356348581612
+                    ],
+                    "orientation": {
+                        "w": 0.02440134412176138,
+                        "xyz": [
+                            0.011088322986203866,
+                            0.9107566026963265,
+                            -0.41207285052943116
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.8745905160903931,
+                    "position": [
+                        -0.0027634341968223453,
+                        0.14207260962575674,
+                        0.07279590191319585
+                    ],
+                    "orientation": {
+                        "w": 0.03186290253805543,
+                        "xyz": [
+                            0.020900471736251338,
+                            0.7239207931452806,
+                            -0.6888298853671789
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8722034096717834,
+                    "position": [
+                        -0.02431988378521055,
+                        0.13860573526471853,
+                        0.09037859411910176
+                    ],
+                    "orientation": {
+                        "w": 0.08259705791608096,
+                        "xyz": [
+                            -0.030249047186491105,
+                            0.8159525789013474,
+                            -0.5713878806486519
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8476653099060059,
+                    "position": [
+                        -0.0028436806751415133,
+                        0.11719065811485052,
+                        0.11955031426623464
+                    ],
+                    "orientation": {
+                        "w": 0.02521613008369505,
+                        "xyz": [
+                            0.025038496009457328,
+                            0.8768770138704954,
+                            -0.4793995442704861
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8401420712471008,
+                    "position": [
+                        -0.011816055863164365,
+                        0.11587065365165472,
+                        0.1189528745599091
+                    ],
+                    "orientation": {
+                        "w": 0.5008441430124727,
+                        "xyz": [
+                            0.8631703927711564,
+                            -0.01684115744008341,
+                            0.061712177643210984
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "right bell",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp a bell to reposition or orient the clock",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold a bell briefly during delicate maintenance",
+                    "confidence": 0.2
+                }
+            ],
+            "functional_labels": [
+                "produce alarm sound",
+                "cover bell cavity",
+                "top visual feature"
+            ],
+            "semantic_description": "The right top bell is a small dome-shaped peach-pink metal part with a smooth satin finish, mounted above the body and connected to the handle and striker.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.9161055088043213,
+                    "position": [
+                        0.01345326250884682,
+                        -0.12155209574848413,
+                        0.12320241006091237
+                    ],
+                    "orientation": {
+                        "w": 0.4171543850446882,
+                        "xyz": [
+                            -0.9068252458188024,
+                            -0.024050155009249397,
+                            0.05542366487059065
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.9149466753005981,
+                    "position": [
+                        -0.006862466572783887,
+                        -0.11474803928285837,
+                        0.13394458265975118
+                    ],
+                    "orientation": {
+                        "w": 0.37646108751730334,
+                        "xyz": [
+                            -0.9260770580364415,
+                            -0.010967041261336907,
+                            -0.02319603780456915
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.9071639180183411,
+                    "position": [
+                        0.002036126039456576,
+                        -0.10968748573213816,
+                        0.13882964523509145
+                    ],
+                    "orientation": {
+                        "w": 0.3414974259037283,
+                        "xyz": [
+                            -0.9396323174108926,
+                            -0.021361145540401305,
+                            0.003783865664219022
+                        ]
+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.8829059600830078,
+                    "position": [
+                        -0.016858451417647302,
+                        -0.10438688937574625,
+                        0.13918491872027516
+                    ],
+                    "orientation": {
+                        "w": 0.32329454460882506,
+                        "xyz": [
+                            -0.9436561892455699,
+                            -0.00145505742405877,
+                            -0.07065066689419273
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.8538792729377747,
+                    "position": [
+                        0.004786120844073594,
+                        -0.08730018232017756,
+                        0.15395722957327962
+                    ],
+                    "orientation": {
+                        "w": 0.24850150754020536,
+                        "xyz": [
+                            -0.9682268146063858,
+                            -0.026401578170468343,
+                            0.009316270580288742
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.8381220698356628,
+                    "position": [
+                        -0.007599879405461252,
+                        -0.09773718658834696,
+                        0.15095641883090138
+                    ],
+                    "orientation": {
+                        "w": 0.059136150059528166,
+                        "xyz": [
+                            -0.006862227508934208,
+                            0.9493611618562339,
+                            0.30849507281111527
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the alarm clock",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to reposition the clock precisely",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "carry the clock",
+                "provide top grip",
+                "connect the two bells"
+            ],
+            "semantic_description": "The top handle is a thin curved brass-gold metal bar with a smooth semi-gloss finish, arching over the bells as a carrying feature.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_62": {
+                    "confidence": 0.47697192430496216,
+                    "position": [
+                        0.032104687415994704,
+                        -0.04868531692773104,
+                        0.18658286007121205
+                    ],
+                    "orientation": {
+                        "w": 0.11516551067211835,
+                        "xyz": [
+                            -0.9775071239454878,
+                            -0.1020200672062718,
+                            0.14425197979466026
+                        ]
+                    }
+                },
+                "grasp_69": {
+                    "confidence": 0.7899267077445984,
+                    "position": [
+                        -0.014765300205908716,
+                        -0.04978057090193033,
+                        0.19081625016406178
+                    ],
+                    "orientation": {
+                        "w": 0.042180851179374854,
+                        "xyz": [
+                            -0.0041637992546607145,
+                            0.9796439714705292,
+                            0.19621704240712445
+                        ]
+                    }
+                },
+                "grasp_79": {
+                    "confidence": 0.6465920805931091,
+                    "position": [
+                        -0.05974905414041132,
+                        -0.013322706334292889,
+                        0.19218554766848683
+                    ],
+                    "orientation": {
+                        "w": 0.2478588486843363,
+                        "xyz": [
+                            -0.02877048280614255,
+                            0.9679705722375203,
+                            0.027770879174863455
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "alarm striker",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "strike the bells",
+                "generate alarm ringing",
+                "connect alarm mechanism"
+            ],
+            "semantic_description": "The central top striker assembly is a small brass-gold metal piece with a smooth hard finish, located between the bells as the hammer mechanism that hits them.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clock face bezel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the dial",
+                "protect the dial edge",
+                "provide front border"
+            ],
+            "semantic_description": "The front bezel is a narrow pale silver to light gray metallic ring with a glossy reflective finish, circling the dial opening at the front of the clock body.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clock face cover",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the dial",
+                "protect the hands",
+                "allow time reading"
+            ],
+            "semantic_description": "The front cover appears as a clear glass or transparent glossy panel, set within the bezel over the clock face.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "dial face",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display time information",
+                "provide visual reference",
+                "support decorative face graphics"
+            ],
+            "semantic_description": "The dial face is a circular ornate gold-and-black printed surface with decorative graphics, centered on the front of the clock.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hour and minute hands",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate current time",
+                "rotate around dial center",
+                "provide temporal reference"
+            ],
+            "semantic_description": "The clock hands are thin dark blue pointers mounted at the dial center and extending across the face to indicate time.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center hub",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the hands",
+                "cover hand pivot",
+                "mark dial center"
+            ],
+            "semantic_description": "The center hub is a small teal-green circular element near the dial center where the hands pivot.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feet",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide small contact points",
+                "help stabilize the clock",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "The feet are very small brass-gold metal posts with a smooth reflective finish, positioned low near the sides and bottom as small support contacts.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear winding knob",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small rear knob to wind or adjust the clock mechanism",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "adjust mechanism",
+                "provide small turning grip",
+                "set or wind the alarm clock"
+            ],
+            "semantic_description": "The knob is a tiny brass-gold cylindrical metal piece protruding near the top rear area as a control for adjustment.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_100": {
+                    "confidence": 0.37081748247146606,
+                    "position": [
+                        -0.006053192424587905,
+                        -0.07325006369501352,
+                        0.14727510185912251
+                    ],
+                    "orientation": {
+                        "w": 0.2027038370317439,
+                        "xyz": [
+                            -0.9787909502256246,
+                            -0.01051744875851704,
+                            -0.02772748601368385
+                        ]
+                    }
+                },
+                "grasp_102": {
+                    "confidence": 0.6363289952278137,
+                    "position": [
+                        0.02477222273591906,
+                        -0.07705932948738337,
+                        0.1394658056087792
+                    ],
+                    "orientation": {
+                        "w": 0.23093483929664468,
+                        "xyz": [
+                            -0.9680353828707691,
+                            -0.008555963101447295,
+                            0.09748534764098282
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear panel",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the back of the housing",
+                "protect internal mechanism",
+                "provide rear access surface"
+            ],
+            "semantic_description": "The rear panel is a large oval dark gray to black plate with a matte smooth hard surface, covering the back opening of the clock body.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side knob",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and turn the side knob to set time or alarm",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "adjust time or alarm",
+                "provide turning interface",
+                "enable manual control"
+            ],
+            "semantic_description": "The side knob is a small brass-gold rounded metal control protruding from the side of the body near the front face for manual adjustment.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bell top finial",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the bell top hardware",
+                "cover or secure attachment point",
+                "provide decorative detail"
+            ],
+            "semantic_description": "The finial is a tiny rounded brass-gold metal nub on top of a bell, with a smooth finish and small decorative fastening appearance.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several visual descriptions and part identities mismatch image colors/materials; rear panel/body/base colors are wrong and center hub color is mask color, not real appearance."
+    }
+}

dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e694b57bbbda6d5016aecd031aea60a72398af8c4748b937de2b8ae926b141
+size 3789764

dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/alarm_clock_038.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>22</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>