Add asset bedroom_supplies/small_electronics/8667256591e55a7bad5bc271ca8a44f0

.gitattributes

@@ -5919,3 +5919,4 @@ dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/affo
 dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/8667256591e55a7bad5bc271ca8a44f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/small_electronics/8667256591e55a7bad5bc271ca8a44f0/affordance/affordance_annot.json

@@ -0,0 +1,263 @@
+{
+    "affordances": [
+        {
+            "part_name": "clock body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body from the sides to pick up the clock",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body to reposition the clock on a surface",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "stabilize the body while adjusting top controls or viewing the front opening",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "main enclosure",
+                "support internal mechanism",
+                "provide primary grasp surface",
+                "support attached parts",
+                "form the clock housing"
+            ],
+            "semantic_description": "Large rounded pink plastic housing with a smooth matte-to-satin finish, forming most of the clock body including the cylindrical sides, top bell-like protrusions, and rear surface.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.8212459087371826,
+                    "position": [
+                        -0.02199900703271851,
+                        -0.11901476595085114,
+                        0.10510412091389298
+                    ],
+                    "orientation": {
+                        "w": 0.47487354680513916,
+                        "xyz": [
+                            -0.8766123010593858,
+                            0.011651188350418618,
+                            -0.07687807220592253
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8070496320724487,
+                    "position": [
+                        -0.018675310479011387,
+                        -0.1189884803025052,
+                        0.10897951805964112
+                    ],
+                    "orientation": {
+                        "w": 0.06304129046831213,
+                        "xyz": [
+                            0.03468700187892405,
+                            0.874164632423941,
+                            0.48026951081227076
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.7839000225067139,
+                    "position": [
+                        -0.02467745722969994,
+                        -0.10789735231082886,
+                        0.12557430798187852
+                    ],
+                    "orientation": {
+                        "w": 0.0737472202593397,
+                        "xyz": [
+                            0.03984277090126441,
+                            0.9115518675301244,
+                            0.40255073458294993
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7797524333000183,
+                    "position": [
+                        -0.021626511530485004,
+                        -0.09152032795827836,
+                        0.13314819568768144
+                    ],
+                    "orientation": {
+                        "w": 0.2718417100031316,
+                        "xyz": [
+                            -0.9585055241019323,
+                            0.002194421316383699,
+                            -0.08581625419312752
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.7765364646911621,
+                    "position": [
+                        -0.003880918666254729,
+                        -0.11160936567466706,
+                        0.11234516883268952
+                    ],
+                    "orientation": {
+                        "w": 0.42406244758144407,
+                        "xyz": [
+                            -0.905324606264543,
+                            -0.0036055952924594625,
+                            -0.023353747574475704
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.7692838907241821,
+                    "position": [
+                        0.0007429622928611934,
+                        -0.12475468579214066,
+                        0.09566834801808
+                    ],
+                    "orientation": {
+                        "w": 0.4817003169908253,
+                        "xyz": [
+                            -0.87622250259135,
+                            -0.010266000415139365,
+                            -0.00967159753950268
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.7679555416107178,
+                    "position": [
+                        -0.015780028828885406,
+                        -0.08885533723514527,
+                        0.13747030729427934
+                    ],
+                    "orientation": {
+                        "w": 0.06422739393029162,
+                        "xyz": [
+                            -0.002265362528040771,
+                            0.9604478208648255,
+                            0.2709422325838985
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "carrying handle",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the clock",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the handle to reposition the clock briefly",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "carry the clock",
+                "provide a top grip",
+                "connect the two top attachment points",
+                "aid repositioning"
+            ],
+            "semantic_description": "Thin arched white strap-like handle across the top with small gold-colored end caps, smooth and slightly glossy.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_33": {
+                    "confidence": 0.42853695154190063,
+                    "position": [
+                        -0.03532837884267792,
+                        -0.054256625357083976,
+                        0.18057686323300004
+                    ],
+                    "orientation": {
+                        "w": 0.11677119097894643,
+                        "xyz": [
+                            0.010374334085365687,
+                            0.9728256159554339,
+                            0.1996676816377008
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.3243257999420166,
+                    "position": [
+                        -0.04007889883359894,
+                        -0.00090967578580603,
+                        0.18758334452286363
+                    ],
+                    "orientation": {
+                        "w": 0.14401401378701498,
+                        "xyz": [
+                            0.1155034599581902,
+                            0.9799397302522926,
+                            0.07508022138822079
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front bezel",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the front opening",
+                "protect the front edge",
+                "visually define the display opening"
+            ],
+            "semantic_description": "Cream to off-white rounded rim around the large front opening, with a smooth hard finish and broad ring shape at the front of the clock.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top switch",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "press control",
+                "toggle or activate a function",
+                "provide user input"
+            ],
+            "semantic_description": "Small orange rectangular control on the top front between the two rounded top bell-like protrusions, made of smooth hard plastic and slightly raised.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the clock on a surface",
+                "stabilize the object",
+                "elevate the body slightly from the table"
+            ],
+            "semantic_description": "Small round gold-colored foot protruding near the lower side/base of the pink body, with a smooth slightly glossy finish matching the other feet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front face details",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the front",
+                "depict facial features",
+                "provide visual character styling"
+            ],
+            "semantic_description": "Small dark eyes and a tiny nose-mouth facial graphic on the pale pink front panel, appearing as printed decorative accents rather than structural parts.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-part mismatches: foot color inconsistent, front face details incomplete, bezel description inaccurate, body description includes separate parts."
+    }
+}

dataset/bedroom_supplies/small_electronics/8667256591e55a7bad5bc271ca8a44f0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4c1ee3e3f4c75d2f858eca7fb6dfb339dfc1ba8ed7bc6898461e442bff18c25
+size 3798564

dataset/bedroom_supplies/small_electronics/8667256591e55a7bad5bc271ca8a44f0/alarm_clock_016.urdf

@@ -51,16 +51,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>8</part_count>
+         <part_count>6</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>NO: {"summary":"Several distinct functional parts are split inconsistently and repeated feet use different colors.","merge_groups":[{"colors":["Blue","Cyan"],"target_part":"top bells and handle hardware","reason":"same top ringing assembly split arbitrarily"},{"colors":["Pink","Purple"],"target_part":"clock body","reason":"pink patches are body surface fragments"},{"colors":["Maroon","Olive"],"target_part":"feet","reason":"same support legs use two colors"}]}</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Main body is mostly correct, but feet and front face details are split inconsistently and some decorative fragments are mislabeled.","merge_groups":[{"colors":["Green","Maroon"],"target_part":"feet/buttons","reason":"same small protruding supports are split by view/side"},{"colors":["Teal","Purple"],"target_part":"front face/main body","reason":"small front details are not distinct functional parts"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>