Add asset bedroom_supplies/storage/186ea184901b52a19381198502bb9404

.gitattributes

@@ -5971,4 +5971,4 @@ dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mes
 dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/affordance_annot.json

@@ -0,0 +1,286 @@
+{
+    "affordances": [
+        {
+            "part_name": "case shell",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the closed case body to pick up and carry the glasses case",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the case body to stabilize it while opening the flap",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the open lower shell to reposition the case on a surface",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain eyeglasses",
+                "protect contents",
+                "provide main grasp surface",
+                "support opening and closing",
+                "rest on a surface"
+            ],
+            "semantic_description": "Large light gray hard case body with a smooth matte finish and rounded rectangular shape, forming the outer shell and lower tray around the glasses.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9421937465667725,
+                    "position": [
+                        0.029758273623883724,
+                        0.15154380566673353,
+                        -0.010083427332574502
+                    ],
+                    "orientation": {
+                        "w": 0.5106973082757438,
+                        "xyz": [
+                            0.49109593587269523,
+                            0.5052825750872425,
+                            -0.4926485160867096
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9348538517951965,
+                    "position": [
+                        0.10201501194387674,
+                        0.05374979443149641,
+                        -0.07746855416917242
+                    ],
+                    "orientation": {
+                        "w": 0.14466102686014284,
+                        "xyz": [
+                            0.43680638963890406,
+                            0.13739147440073318,
+                            -0.8771527506884921
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9320167303085327,
+                    "position": [
+                        0.03349229786545038,
+                        0.14992375142173842,
+                        -0.01477263928973116
+                    ],
+                    "orientation": {
+                        "w": 0.46441883561793273,
+                        "xyz": [
+                            0.472786666793041,
+                            0.5295794559472695,
+                            -0.5294653082729819
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9286368489265442,
+                    "position": [
+                        0.08654455188661814,
+                        0.13547796971397474,
+                        -0.02816191190504469
+                    ],
+                    "orientation": {
+                        "w": 0.3429001514011212,
+                        "xyz": [
+                            0.5668177816949175,
+                            0.35154707473982605,
+                            -0.6614769404638474
+                        ]
+                    }
+                },
+                "grasp_20": {
+                    "confidence": 0.9237880706787109,
+                    "position": [
+                        0.0901350611820817,
+                        0.13386929995613173,
+                        -0.014955823920900002
+                    ],
+                    "orientation": {
+                        "w": 0.6345703438676935,
+                        "xyz": [
+                            0.33224558914098595,
+                            -0.6176755442743427,
+                            0.32466947683050185
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or press the front latch tab to open the case",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the front tab area while guiding the case shut",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "secure the case closed",
+                "enable opening",
+                "provide front closure interface"
+            ],
+            "semantic_description": "Small light gray tab-like latch piece centered on the front edge of the case, with a smooth hard surface and slight protrusion.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "snap fastener",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the closure mechanism",
+                "provide snap hardware for the lid closure",
+                "retain the case in the closed position"
+            ],
+            "semantic_description": "Small round light gray snap hardware near the top center of the case opening, with a smooth slightly domed hard surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "eyeglass frame front",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the frame front to lift the glasses out of the case",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold one side of the frame front to reorient the glasses",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "hold the lenses",
+                "provide the main eyeglass structure",
+                "support wearing on the face",
+                "enable removal from case"
+            ],
+            "semantic_description": "Thin light-colored eyeglass frame front, likely white or silver-toned, with a smooth finish, narrow rims and bridge, and a rectangular shape lying inside the case.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.03034329041838646,
+                    "position": [
+                        -0.03280631359666586,
+                        -0.0035662336158566177,
+                        -0.08638215312385
+                    ],
+                    "orientation": {
+                        "w": 0.6634398680712178,
+                        "xyz": [
+                            0.17566425857283738,
+                            0.16922187294656743,
+                            0.7073567469319546
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left lens",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide vision correction or viewing",
+                "transmit light",
+                "fill the left eyewire opening"
+            ],
+            "semantic_description": "Rectangular translucent lens with a bright green reflective tint and glossy smooth surface, mounted on the left side of the frame.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right lens",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide vision correction or viewing",
+                "transmit light",
+                "fill the right eyewire opening"
+            ],
+            "semantic_description": "Rectangular translucent lens with a faint brownish or clear reflective appearance and glossy smooth surface, mounted on the right side of the frame.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "temple arms",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a folded temple arm to pull the glasses out of the case",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "grasp a temple arm to unfold or orient the glasses",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "support glasses on the ears",
+                "fold for storage",
+                "help orient the glasses",
+                "assist removal from case"
+            ],
+            "semantic_description": "Slender light-colored temple arms with a smooth finish and narrow elongated shape, folded along the sides of the frame inside the case.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "nose pads",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cushion contact on the nose",
+                "stabilize glasses on the face",
+                "improve fit"
+            ],
+            "semantic_description": "Tiny clear to beige nose pad elements near the bridge, with smooth slightly glossy surfaces and small rounded shapes.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior lining",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press against the lined lower tray to stabilize the case while placing or removing the glasses",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the open case by the lined inner rim during repositioning",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "cushion stored glasses",
+                "reduce scratching",
+                "line the storage cavity",
+                "provide gentle support"
+            ],
+            "semantic_description": "Dark gray interior lining with a soft matte appearance and lightly padded texture, covering the inside surfaces of the case around the glasses.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Interior lining mask/color mismatch and graspability overstated; latch and frame masks/part names also misassigned."
+    }
+}

dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52787eefd697fa2ee72e5ff8141fead42d12578aebb682231d184b6266704c1c
+size 111593540

dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.urdf

@@ -58,6 +58,7 @@
                <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>YES</PartSegChecker>