Add asset bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe

.gitattributes

@@ -8052,3 +8052,4 @@ dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/mes
 dataset/bedroom_supplies/storage/709fd558307f548aa95a737a4fc364d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/70a4da9adf73595aa8fd8c07a2665ccb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/70b2e8bc787a5fd0835e1fbaeaaa1d87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/affordance/affordance_annot.json

@@ -0,0 +1,191 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the box",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the lid while closing it gently",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect contents",
+                "open and close access",
+                "provide top surface"
+            ],
+            "semantic_description": "Large light gray hard-shell lid with a smooth slightly glossy finish, broad gently curved rectangular shape, and shallow ridged lines across the top.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.6335358023643494,
+                    "position": [
+                        0.04266997356899083,
+                        0.1695117349154316,
+                        0.004198510490823537
+                    ],
+                    "orientation": {
+                        "w": 0.527682388617566,
+                        "xyz": [
+                            0.49210112824051394,
+                            0.4769245106400424,
+                            -0.5019270738643508
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.6147019863128662,
+                    "position": [
+                        -0.16079732845537364,
+                        0.054021533054765314,
+                        0.003249215253163129
+                    ],
+                    "orientation": {
+                        "w": 0.7129514073762917,
+                        "xyz": [
+                            0.006407895705063401,
+                            0.7007614899871937,
+                            -0.024342632226733604
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box body from the sides to lift and move the box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the body steady while opening the lid",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "support the lid",
+                "provide main structure",
+                "stabilize the box on a surface"
+            ],
+            "semantic_description": "Large light gray hard body with a smooth slightly glossy finish, tapered rectangular form, flat base, and plain side panels forming the main storage compartment.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_28": {
+                    "confidence": 0.6824013590812683,
+                    "position": [
+                        0.05010237474925816,
+                        0.17029370315140113,
+                        -0.022306707862298936
+                    ],
+                    "orientation": {
+                        "w": 0.5788112670875503,
+                        "xyz": [
+                            0.3931083884964966,
+                            -0.5586242828578605,
+                            0.44540119284498203
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top button",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press the top button as a control input",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide control input",
+                "serve as a pressable top feature",
+                "possibly actuate a mechanism"
+            ],
+            "semantic_description": "Small silver-toned rounded rectangular button centered on the top of the lid, with a glossy metallic look, smooth hard surface, and slightly raised profile for pressing.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front clasp tab",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the front clasp tab to open the box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the clasp tab while aligning the lid closed",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "provide a pull tab",
+                "assist opening",
+                "align front closure"
+            ],
+            "semantic_description": "Small silver or light gray clasp tab at the front center on the lid-body seam, with a smooth slightly glossy hard surface and short protruding rectangular shape.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clasp base",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the front clasp",
+                "support front closure hardware",
+                "reinforce latch connection"
+            ],
+            "semantic_description": "Small light gray base piece directly behind and below the front clasp tab at the front center of the box body, compact and blocky with a smooth hard surface.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side emblem badge A",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the box",
+                "provide branding or identification",
+                "provide visual accent"
+            ],
+            "semantic_description": "Small metallic diamond-shaped badge on one side of the body, with a reflective silver finish, hard smooth surface, and raised geometric detailing.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side emblem badge B",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the box",
+                "provide branding or identification",
+                "provide visual accent"
+            ],
+            "semantic_description": "Small metallic diamond-shaped badge on the opposite side of the body, with a reflective silver finish, hard smooth surface, and raised geometric detailing.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Top feature is a handle, not a button; side badges are branding on front-side panels, not opposite sides."
+    }
+}

dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db9246b2ca50a351a6636e2323571ed0760b22e2e0fa5fcf30db7026717623c
+size 3781796

dataset/bedroom_supplies/storage/70b3b9417e76510889df5c2cd28cecbe/jewelry_box_032.urdf

@@ -57,6 +57,7 @@
                <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>