Add asset bedroom_supplies/storage/28ac391236fc5dffad66e45383072974

.gitattributes

@@ -5984,3 +5984,4 @@ dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/affordance/mes
 dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2305b995ecf755e8af38c23bb6454f51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/affordance/affordance_annot.json

@@ -0,0 +1,307 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the lid to open or close the container",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the lid while positioning it during closing",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "protect contents",
+                "provide opening and closing access"
+            ],
+            "semantic_description": "Large light gray plastic lid with a smooth matte finish and rounded rectangular shape, mounted on top and spanning nearly the full opening.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9686877131462097,
+                    "position": [
+                        0.035556146409362555,
+                        0.02950496628182009,
+                        0.16530725173652172
+                    ],
+                    "orientation": {
+                        "w": 0.22105172885246938,
+                        "xyz": [
+                            0.9398065485929592,
+                            0.11672223904017448,
+                            -0.23297146457575546
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9655642509460449,
+                    "position": [
+                        0.04640316730365157,
+                        -0.007854559167753905,
+                        0.16982327215373516
+                    ],
+                    "orientation": {
+                        "w": 0.2638488777720386,
+                        "xyz": [
+                            0.003664087294275874,
+                            -0.9642866929640883,
+                            0.022836767177467545
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up and carry the box",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while opening the lid",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "support the lid",
+                "provide main grasp surface",
+                "form the container walls"
+            ],
+            "semantic_description": "Main light gray outer plastic body with a smooth matte finish and rounded rectangular tub shape; the interior appears dark, and one outer side has small white printed markings.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.4994887709617615,
+                    "position": [
+                        -0.03410832257941365,
+                        0.15102842665510252,
+                        0.0518659595400095
+                    ],
+                    "orientation": {
+                        "w": 0.5884415845300432,
+                        "xyz": [
+                            0.7878327873255009,
+                            -0.10115061589003715,
+                            0.15107797230493336
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.41763195395469666,
+                    "position": [
+                        -0.039610660169273615,
+                        0.1524349323590286,
+                        0.011047686915844679
+                    ],
+                    "orientation": {
+                        "w": 0.7110490821856955,
+                        "xyz": [
+                            0.6467497535360217,
+                            -0.1465370723956123,
+                            0.23377520278613517
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.3582211434841156,
+                    "position": [
+                        -0.04301943862810731,
+                        -0.1467305698315613,
+                        0.02492911648005247
+                    ],
+                    "orientation": {
+                        "w": 0.6844639220900327,
+                        "xyz": [
+                            -0.7020162492237035,
+                            -0.05596450344461734,
+                            -0.18854787067800566
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.345297247171402,
+                    "position": [
+                        -0.03519370825961232,
+                        0.1463082156260498,
+                        0.014319210313260555
+                    ],
+                    "orientation": {
+                        "w": 0.6847210085459567,
+                        "xyz": [
+                            0.6564586147691412,
+                            -0.16837206326730303,
+                            0.2680859486476309
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.3441483676433563,
+                    "position": [
+                        -0.032912416849285364,
+                        -0.152425495616626,
+                        0.015048568486236036
+                    ],
+                    "orientation": {
+                        "w": 0.7113816099671432,
+                        "xyz": [
+                            -0.6855718532925639,
+                            -0.05763083172828243,
+                            -0.14354834101396172
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.32721710205078125,
+                    "position": [
+                        -0.0568720200099051,
+                        0.15149030304746702,
+                        0.028282901272177696
+                    ],
+                    "orientation": {
+                        "w": 0.6297246606856245,
+                        "xyz": [
+                            0.7069331574953566,
+                            -0.1288833908913095,
+                            0.29509563553258256
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the bottom from underneath while lifting the box",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the underside to reposition the box on a surface",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support stored contents",
+                "provide a stable bottom",
+                "rest on surfaces",
+                "form the underside"
+            ],
+            "semantic_description": "Broad bottom underside of the box, dark gray to black plastic with a matte finish and dense vent-like grid pattern across the footprint.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.02963932231068611,
+                    "position": [
+                        0.009760146494954824,
+                        0.03943162626819685,
+                        -0.11499111540615559
+                    ],
+                    "orientation": {
+                        "w": 0.9984161710755948,
+                        "xyz": [
+                            0.03042990929687719,
+                            0.04518686778424108,
+                            0.014046954644387991
+                        ]
+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.04690185561776161,
+                    "position": [
+                        -0.005393992585595697,
+                        -0.003318619157653302,
+                        -0.10872581042349339
+                    ],
+                    "orientation": {
+                        "w": 0.9789619096527405,
+                        "xyz": [
+                            0.1788484004740645,
+                            0.05844895854621257,
+                            0.07893382254642853
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper rim with front pull notch",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the upper rim to steady the box while opening or closing the lid",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "use the front notch area as a light pull point while accessing the container",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "define the container mouth",
+                "support lid seating edge",
+                "provide a front pull area"
+            ],
+            "semantic_description": "Narrow dark gray to black plastic lip tracing the top perimeter of the opening, including a small centered front notch/protrusion; smooth finish and slightly raised above the light gray sidewalls.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left hinge",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to body",
+                "enable lid rotation",
+                "guide opening motion"
+            ],
+            "semantic_description": "Small hinge element at the rear left side beneath the lid, compact and rectangular, linking the lid to the box body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right hinge",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to body",
+                "enable lid rotation",
+                "guide opening motion"
+            ],
+            "semantic_description": "Small hinge element at the rear right side beneath the lid, compact and rectangular, linking the lid to the box body.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear center hinge cover",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover or reinforce the central rear hinge area",
+                "help connect lid to body"
+            ],
+            "semantic_description": "Small central rear rectangular hinge-cover piece beneath the lid line, positioned between the two side hinges at the back edge.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Hinge colors and identities are swapped; rear center hinge cover is actually the front latch/tab."
+    }
+}

dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3784400