Add asset bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377

.gitattributes

@@ -6018,3 +6018,4 @@ dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/affordance/mes
 dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/47038991dc0459c5bf14ee062c7d73fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/affordance/affordance_annot.json

@@ -0,0 +1,168 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open or close the jewelry box",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid while repositioning the open box lightly",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "cover the box",
+                "protect contents",
+                "open for access",
+                "support interior mirror"
+            ],
+            "semantic_description": "Large dark reddish-brown wooden top panel with a glossy polished finish, forming the hinged upper cover of the jewelry box.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9725608825683594,
+                    "position": [
+                        -0.061815342865884304,
+                        -0.02557863009860739,
+                        0.19305388256907463
+                    ],
+                    "orientation": {
+                        "w": 0.01762819207376075,
+                        "xyz": [
+                            0.05650846680104978,
+                            -0.9946970000634103,
+                            0.08410658766622657
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "outer box body",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up and reposition the jewelry box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the box body to stabilize it while opening drawers",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "support structure",
+                "provide main grasp surface",
+                "mount lid and drawers"
+            ],
+            "semantic_description": "Main dark reddish-brown wooden case with a glossy polished finish, smooth hard surfaces, rounded rectangular shape, and gold branding on the front.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawers and drawer fronts",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front or knob to pull open a drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold an opened drawer to remove or reinsert it",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "store jewelry",
+                "slide out for access",
+                "organize small items",
+                "provide drawer pull surface"
+            ],
+            "semantic_description": "Two shallow reddish-brown wooden drawers with glossy finish and small round gold-colored knobs at the lower front; their interiors appear pink fabric-lined when opened.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "large compartment tray",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold larger jewelry items",
+                "separate contents",
+                "provide cushioned storage"
+            ],
+            "semantic_description": "Rectangular pink fabric-lined tray area with a soft matte texture, occupying one side of the upper interior for larger accessories.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior dividers",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate compartments",
+                "organize jewelry",
+                "retain item placement",
+                "structure the tray layout"
+            ],
+            "semantic_description": "Thin pink fabric-covered partition walls with a matte soft texture, arranged inside the upper compartment to divide storage spaces.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small accessory compartments",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store small items",
+                "separate accessories",
+                "organize jewelry"
+            ],
+            "semantic_description": "Compact pink fabric-lined interior compartment sections with a matte soft surface, located among the upper tray sections for small accessories or earrings.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "ring rolls",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold rings in slots",
+                "cushion delicate jewelry",
+                "organize by insertion"
+            ],
+            "semantic_description": "Series of closely spaced pink padded rolls with a matte fabric finish and ribbed texture, arranged in one upper compartment to secure rings upright.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner lid mirror",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide reflection for viewing jewelry or face",
+                "assist dressing or accessory placement",
+                "decorate the lid interior"
+            ],
+            "semantic_description": "Rectangular reflective mirror inset on the inside of the lid, mounted within the pink inner lid panel.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "White mask is inner lid panel, not mirror; mirror not visibly segmented. Drawer/front grouping and descriptions also overstate masked parts."
+    }
+}

dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b7c874f5d3a159717cd1586a0e888c6b1d7faf81c03f2e065fe962df6d5d6e
+size 3815756

dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/jewelry_box_038.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>14</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>