Add asset bedroom_supplies/storage/6e4307004a465daca0e93b4148582986

.gitattributes

@@ -8048,3 +8048,4 @@ dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/affordance/mes
 dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/affordance_annot.json

@@ -0,0 +1,290 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the jewelry box",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the lid to stabilize it while closing",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the compartment",
+                "open and close access",
+                "protect contents",
+                "provide top surface"
+            ],
+            "semantic_description": "Large white hard-shell top panel with a smooth matte finish, rounded rectangular shape, shallow ribbed grooves near the center, and a slightly domed profile covering the upper half of the box.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.5063505172729492,
+                    "position": [
+                        0.021467718353960663,
+                        0.17747967600007541,
+                        0.012251738517079502
+                    ],
+                    "orientation": {
+                        "w": 0.5014690465134595,
+                        "xyz": [
+                            0.4970825564575666,
+                            -0.5138600418091649,
+                            0.48722231566952656
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.4995105266571045,
+                    "position": [
+                        0.003582506498787552,
+                        0.18117699681897648,
+                        0.011927940940950066
+                    ],
+                    "orientation": {
+                        "w": 0.49907647466431637,
+                        "xyz": [
+                            0.49934480430587663,
+                            -0.5106270481292481,
+                            0.4907519297651043
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.4816100001335144,
+                    "position": [
+                        -0.0024854642688296735,
+                        0.1833553230680991,
+                        0.019379986508283764
+                    ],
+                    "orientation": {
+                        "w": 0.4869316384137528,
+                        "xyz": [
+                            0.5104733180127157,
+                            -0.5211704404327236,
+                            0.4803081751625188
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.4801517426967621,
+                    "position": [
+                        0.03434476355323568,
+                        0.17663519739289768,
+                        0.00940134288975969
+                    ],
+                    "orientation": {
+                        "w": 0.5337162779003576,
+                        "xyz": [
+                            0.46629610633289476,
+                            -0.5278687184210741,
+                            0.4680486000785207
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.4735846221446991,
+                    "position": [
+                        -0.14243190264096484,
+                        0.06319560020347126,
+                        0.029405761568341404
+                    ],
+                    "orientation": {
+                        "w": 0.05652865249023527,
+                        "xyz": [
+                            -0.7596080498926664,
+                            0.0022451784750653347,
+                            -0.6479159522341714
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.46423667669296265,
+                    "position": [
+                        -0.1330439773737453,
+                        0.02235067359288223,
+                        0.009612545429263264
+                    ],
+                    "orientation": {
+                        "w": 0.19528080062896627,
+                        "xyz": [
+                            -0.676503416801196,
+                            -0.19152412388159634,
+                            -0.6837594942181089
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.44005370140075684,
+                    "position": [
+                        0.03870856115827337,
+                        0.16943287014146335,
+                        0.01163165649631992
+                    ],
+                    "orientation": {
+                        "w": 0.5821926321204196,
+                        "xyz": [
+                            0.39371073143124224,
+                            -0.5945824754791649,
+                            0.3905320459496794
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.41997435688972473,
+                    "position": [
+                        0.0025862876209430397,
+                        0.1727947658218909,
+                        0.012639950087759644
+                    ],
+                    "orientation": {
+                        "w": 0.49217420152153785,
+                        "xyz": [
+                            0.5025734505568502,
+                            -0.5121294424280273,
+                            0.4928568923636715
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box base from the sides to pick up the jewelry box",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the base to stabilize the box while opening the lid",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the object",
+                "provide main grasp surface",
+                "stabilize during opening"
+            ],
+            "semantic_description": "Large white rigid lower case with a smooth matte surface, rounded rectangular form, and slightly tapered side walls forming the main storage body beneath the lid.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.4826231300830841,
+                    "position": [
+                        0.13638277078280225,
+                        -0.03125241489033215,
+                        -0.011343434394802898
+                    ],
+                    "orientation": {
+                        "w": 0.6998955388969397,
+                        "xyz": [
+                            0.1322642322479253,
+                            -0.6893644811908439,
+                            0.13201901216305156
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.44798189401626587,
+                    "position": [
+                        0.032377169525716454,
+                        -0.17834498823503964,
+                        -0.018507838190998882
+                    ],
+                    "orientation": {
+                        "w": 0.5251733519786671,
+                        "xyz": [
+                            -0.46948449959298383,
+                            -0.4903625609860387,
+                            -0.5131489197071649
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.42022210359573364,
+                    "position": [
+                        0.025828021636698395,
+                        -0.18446559549192898,
+                        -0.006730271445121616
+                    ],
+                    "orientation": {
+                        "w": 0.5142179775375368,
+                        "xyz": [
+                            -0.5245767778533308,
+                            -0.4939706308118921,
+                            -0.465179633700277
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.34825587272644043,
+                    "position": [
+                        0.022710257268045098,
+                        -0.16494078279356472,
+                        -0.007368656748440117
+                    ],
+                    "orientation": {
+                        "w": 0.376425743001411,
+                        "xyz": [
+                            -0.6201127122432153,
+                            0.35333047727008915,
+                            0.5906957405909491
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.30707305669784546,
+                    "position": [
+                        -0.031733411306049675,
+                        -0.17159966469625942,
+                        -0.013801366032566875
+                    ],
+                    "orientation": {
+                        "w": 0.5754216359343979,
+                        "xyz": [
+                            -0.49609127777842577,
+                            0.4869154581010301,
+                            0.43092542472336687
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "latch",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the latch to release and open the jewelry box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the latch area to pull the lid closed into place",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "secure the lid",
+                "release the closure",
+                "align front opening point",
+                "indicate front side"
+            ],
+            "semantic_description": "Small silver-toned metal clasp at the front center, with a reflective smooth finish and compact rectangular form that protrudes slightly from the box edge.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f855664102a129a443288eb81350ed67bcbebd189c3009d9793340d0f8f6fdc7
+size 3780576

dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/jewelry_box_035.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>