Add asset bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f

.gitattributes

@@ -8105,4 +8105,4 @@ dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/affordance/mes
 dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ada96d9c6e24519885deeff757b2d92c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/affordance/affordance_annot.json

@@ -0,0 +1,280 @@
+{
+    "affordances": [
+        {
+            "part_name": "jewelry box main body and lid shell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box from opposite exterior side walls to lift and relocate it",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the outer body to stabilize the box while opening the lid or drawers",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "support the lower exterior shell from both sides to reposition it on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain jewelry",
+                "support attached hardware and drawers",
+                "provide main structural shell",
+                "protect contents",
+                "stabilize the box on a surface"
+            ],
+            "semantic_description": "Large brown leather-covered exterior shell including most outer body surfaces and the lid, with a semi-matte smooth finish, visible stitched edges, tapered rectangular form, and gold logo markings on the side panels.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9673454761505127,
+                    "position": [
+                        0.024492350639775395,
+                        0.013903884100727737,
+                        0.17387238144874573
+                    ],
+                    "orientation": {
+                        "w": 0.11142748738182308,
+                        "xyz": [
+                            0.9680295766441267,
+                            0.03430074674177741,
+                            -0.22209482787972123
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9636824727058411,
+                    "position": [
+                        0.03400370408780873,
+                        -0.001427495968528092,
+                        0.17468999326229095
+                    ],
+                    "orientation": {
+                        "w": 0.2655458856604721,
+                        "xyz": [
+                            0.015888445867926714,
+                            -0.9635761154701632,
+                            0.027459235097281917
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9619303345680237,
+                    "position": [
+                        0.02763158199377358,
+                        0.002791385049931705,
+                        0.17338012158870697
+                    ],
+                    "orientation": {
+                        "w": 0.2359202455101755,
+                        "xyz": [
+                            0.01836661869337068,
+                            -0.9715609735786218,
+                            0.008577860756116334
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9619020223617554,
+                    "position": [
+                        0.02433500741608441,
+                        0.02965477097313851,
+                        0.178193598985672
+                    ],
+                    "orientation": {
+                        "w": 0.2130577381512237,
+                        "xyz": [
+                            0.029885238147672483,
+                            -0.9765654841912137,
+                            0.005755679032236593
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9615105986595154,
+                    "position": [
+                        0.01989963394589722,
+                        0.025233048829250038,
+                        0.17893698811531067
+                    ],
+                    "orientation": {
+                        "w": 0.1978515462349303,
+                        "xyz": [
+                            0.001511681888105504,
+                            -0.9802092411628593,
+                            0.006505690528071608
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9588683247566223,
+                    "position": [
+                        0.022860408993437886,
+                        -0.011835189652629197,
+                        0.17493358254432678
+                    ],
+                    "orientation": {
+                        "w": 0.0527169136589303,
+                        "xyz": [
+                            0.9772397513117257,
+                            0.009922466258829005,
+                            -0.2052436116760174
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9584965109825134,
+                    "position": [
+                        0.02605241653509438,
+                        0.0028955229790881276,
+                        0.173121377825737
+                    ],
+                    "orientation": {
+                        "w": 0.12414666595828358,
+                        "xyz": [
+                            -0.9673033006161007,
+                            0.02975335214878816,
+                            0.2191498756206589
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9584240317344666,
+                    "position": [
+                        0.030202715890482068,
+                        0.035338027286343277,
+                        0.17470195889472961
+                    ],
+                    "orientation": {
+                        "w": 0.2369213055324576,
+                        "xyz": [
+                            -0.011044364891328835,
+                            -0.9710714040183087,
+                            0.027688360132987897
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front clasp",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front clasp to unlatch or latch the top lid",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "use the clasp area to start lifting the lid after unlatching",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "lock the lid closed",
+                "release the lid",
+                "secure contents",
+                "mark the front opening side"
+            ],
+            "semantic_description": "Small gold-toned metal clasp with a reflective smooth finish mounted near the front top edge, slightly protruding for latching the lid.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small compartment tray",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store small jewelry items",
+                "organize contents",
+                "separate items within the upper compartment"
+            ],
+            "semantic_description": "Small brown padded compartment area in the upper interior on the right side, rectangular and recessed beside narrow divider walls.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid support strap",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "limit lid opening angle",
+                "connect lid to body",
+                "support the open lid",
+                "prevent overextension"
+            ],
+            "semantic_description": "Thin light beige strap inside the box, flexible and narrow, running between the lid and side wall to restrain lid travel.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior divider wall",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate compartments",
+                "organize contents",
+                "help prevent items from shifting"
+            ],
+            "semantic_description": "Slim vertical divider wall inside the upper compartment, brown and padded-looking, straight and narrow, separating adjacent storage sections.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull tab",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front pull tab to open a drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the pull tab to guide the drawer closed",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "pull drawer open",
+                "help push drawer closed",
+                "provide drawer grip"
+            ],
+            "semantic_description": "Small brown pull tab on the drawer front, smooth and slightly protruding, centered on the front face and sized for fingertip or gripper pinching.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer assembly",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer front or sides to slide the drawer out",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the drawer body while removing it farther from the box",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "store jewelry",
+                "slide in and out",
+                "organize accessories",
+                "provide accessible compartment"
+            ],
+            "semantic_description": "Pull-out drawer section visible as dark blue masked bands in the middle area, with brown exterior surfaces and lined interior, rectangular and medium-sized within the jewelry box.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities/colors mismatch: red not lid shell only, green is logo+clasp, brown mask is side logo not drawer pull."
+    }
+}

dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0030abfe8b4fed73fa06d392f7c5a5cf3edc312f2f8f31a740d0fab3da6dc766
+size 3790116

dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.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>NO: {"summary":"Key functional parts are merged into one body color; drawers and lid are not separated, not fixable by merging.","merge_groups":[{"colors":["Yellow","Teal"],"target_part":"interior organizer compartment","reason":"small divider patches on same organizer area"},{"colors":["Green","Brown"],"target_part":"hardware accents","reason":"small latch/logo fragments, not separate functions"}]}</PartSegChecker>