Add asset bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c

.gitattributes

@@ -5952,4 +5952,4 @@ dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mes
 dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/affordance/affordance_annot.json

@@ -0,0 +1,415 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage box body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the box when the handle is not used",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "pinch the upper sidewall to stabilize the box on a surface",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "support the dividers",
+                "provide side support"
+            ],
+            "semantic_description": "Large light gray to off-white fabric body with a matte woven finish, rectangular open-top shape, and printed label patches or logo graphics on some outer sides, forming the main container walls and base.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim of storage box",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top rim to reposition the empty or lightly loaded box",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the rim to stabilize the box while placing or removing contents",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "define the top edge",
+                "support opening shape",
+                "provide a light repositioning grip"
+            ],
+            "semantic_description": "Thin gray bound fabric rim with darker gray trim, matte finish, sewn texture, and a rectangular outline running around the top opening.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_120": {
+                    "confidence": 0.6913173794746399,
+                    "position": [
+                        0.11785551276989281,
+                        -0.24499722989276052,
+                        0.06957689020782709
+                    ],
+                    "orientation": {
+                        "w": 0.6833708830649369,
+                        "xyz": [
+                            -0.7274500764507317,
+                            -0.05014895760339322,
+                            0.03613453337413287
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle grip pad",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the padded handle area to lift and carry the box",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the padded grip to pull the box closer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "improve handhold comfort",
+                "distribute lifting force",
+                "join the two handle straps"
+            ],
+            "semantic_description": "Short cylindrical gray padded fabric grip with a matte woven surface and soft cushioned shape, mounted across the top between the two handle straps.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_80": {
+                    "confidence": 0.883467435836792,
+                    "position": [
+                        -0.015923597617074847,
+                        -0.05342585640028119,
+                        0.28135197702795267
+                    ],
+                    "orientation": {
+                        "w": 0.14463449734402253,
+                        "xyz": [
+                            -0.0030431107046096787,
+                            0.987869674003692,
+                            -0.056436768503530306
+                        ]
+                    }
+                },
+                "grasp_83": {
+                    "confidence": 0.8619396686553955,
+                    "position": [
+                        -0.008396069286391139,
+                        -0.05244650738313794,
+                        0.2951650256291032
+                    ],
+                    "orientation": {
+                        "w": 0.024924037612089594,
+                        "xyz": [
+                            0.04637647844137116,
+                            -0.9984388104111929,
+                            -0.018653591106542244
+                        ]
+                    }
+                },
+                "grasp_84": {
+                    "confidence": 0.8611747026443481,
+                    "position": [
+                        0.014674123609438539,
+                        -0.048354089725762606,
+                        0.2951650256291032
+                    ],
+                    "orientation": {
+                        "w": 0.06340844739128926,
+                        "xyz": [
+                            -0.997853988163111,
+                            -0.016320245888738358,
+                            0.0006608180771436025
+                        ]
+                    }
+                },
+                "grasp_87": {
+                    "confidence": 0.858969509601593,
+                    "position": [
+                        -0.038918624399229884,
+                        0.0411461996845901,
+                        0.28138782922178507
+                    ],
+                    "orientation": {
+                        "w": 0.1985564892102988,
+                        "xyz": [
+                            0.9592236352608964,
+                            0.02822238478266298,
+                            0.19917036713961875
+                        ]
+                    }
+                },
+                "grasp_88": {
+                    "confidence": 0.8586512804031372,
+                    "position": [
+                        -0.06385212275199592,
+                        0.08182489452883601,
+                        0.2695212000980973
+                    ],
+                    "orientation": {
+                        "w": 0.3284132628049166,
+                        "xyz": [
+                            -0.005544347493470687,
+                            0.9414586837894776,
+                            -0.07595746008184258
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "left handle strap",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the strap to lift one side of the box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "pull the strap to drag or reorient the box",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support lifting",
+                "connect grip to box body",
+                "transfer carrying load",
+                "provide a pulling point"
+            ],
+            "semantic_description": "Narrow gray fabric strap with a matte finish and flexible texture, arching from one side wall up to the padded top grip.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right handle strap",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the strap to lift one side of the box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "pull the strap to drag or reorient the box",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support lifting",
+                "connect grip to box body",
+                "transfer carrying load",
+                "provide a pulling point"
+            ],
+            "semantic_description": "Narrow gray fabric strap with a matte finish and flexible texture, arching from the opposite side wall up to the padded top grip.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel to steady or reposition the box",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "form the side wall",
+                "provide structural support",
+                "enclose contents"
+            ],
+            "semantic_description": "Flat light gray fabric side wall panel with a matte woven finish and rectangular shape on the exterior of the box; some views show printed label patches attached to this side.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear divider panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the divider lightly while arranging the interior compartments",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold the divider to stabilize the insert during setup",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "separate compartments",
+                "organize contents",
+                "support internal structure",
+                "partition storage space"
+            ],
+            "semantic_description": "Thin light gray fabric divider panel with a matte soft surface, straight rectangular form, and vertical placement inside the box to separate rear compartments.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front-right divider panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the divider lightly while arranging the interior compartments",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold the divider to stabilize the insert during setup",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "separate compartments",
+                "organize contents",
+                "support internal structure",
+                "partition storage space"
+            ],
+            "semantic_description": "Thin light gray fabric divider panel with a matte soft surface, straight rectangular form, and vertical placement inside the box to separate the front-right compartment.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_45": {
+                    "confidence": 0.049638766795396805,
+                    "position": [
+                        -0.0799615669529885,
+                        0.1881971093825996,
+                        -0.1222067242488265
+                    ],
+                    "orientation": {
+                        "w": 0.05156013561779885,
+                        "xyz": [
+                            0.01938564305722853,
+                            0.3062010454242635,
+                            -0.9503718582951727
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "center horizontal divider strip",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the divider lightly while arranging the interior compartments",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold the divider to stabilize the insert during setup",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "separate compartments",
+                "organize contents",
+                "support internal structure",
+                "partition storage space"
+            ],
+            "semantic_description": "Thin light gray fabric divider strip with a matte soft surface, running horizontally across the middle of the box interior to intersect the vertical dividers.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.027227969840168953,
+                    "position": [
+                        0.012252593645825982,
+                        -0.12779925437644124,
+                        -0.16380683239549398
+                    ],
+                    "orientation": {
+                        "w": 0.9976034259293685,
+                        "xyz": [
+                            0.004650127751096444,
+                            0.031068522981677726,
+                            -0.06164842062552901
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.17323420941829681,
+                    "position": [
+                        -0.0760359379928559,
+                        -0.23558202059939504,
+                        0.015122988261282444
+                    ],
+                    "orientation": {
+                        "w": 0.0054674630342489115,
+                        "xyz": [
+                            -0.006401062067061507,
+                            0.7129242570715693,
+                            0.7011905140055267
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear-left divider panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the divider lightly while arranging the interior compartments",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold the divider to stabilize the insert during setup",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "separate compartments",
+                "organize contents",
+                "support internal structure",
+                "partition storage space"
+            ],
+            "semantic_description": "Thin light gray fabric divider panel with a matte soft surface, straight rectangular form, and vertical placement inside the box to separate the rear-left compartment.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front-left divider panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the divider lightly while arranging the interior compartments",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "hold the divider to stabilize the insert during setup",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "separate compartments",
+                "organize contents",
+                "support internal structure",
+                "partition storage space"
+            ],
+            "semantic_description": "Thin light gray fabric divider panel with a matte soft surface, straight rectangular form, and vertical placement inside the box to separate the front-left compartment.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several divider and side-wall part names are incorrect relative to mask positions; one cyan part is a rim, but teal is an exterior side panel only."
+    }
+}

dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/affordance/mesh_part_seg.glb

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+size 3792696