Add asset bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30

.gitattributes

@@ -8062,3 +8062,4 @@ dataset/bedroom_supplies/storage/77eba2a6528852efae99817aceece568/affordance/mes
 dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/affordance/affordance_annot.json

@@ -0,0 +1,173 @@
+{
+    "affordances": [
+        {
+            "part_name": "holder base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wooden base from the sides to pick up and relocate the holder",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the base to stabilize the holder while placing or removing a remote",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the whole holder",
+                "rest on a tabletop",
+                "provide the main mass and stability",
+                "form the lower body of the holder"
+            ],
+            "semantic_description": "Large light wood body with a matte smooth hard finish and visible fine wood grain, forming the lower rounded wedge-like base of the holder.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9005441069602966,
+                    "position": [
+                        0.1746272798627615,
+                        -0.021376332035288215,
+                        -0.0811586081981659
+                    ],
+                    "orientation": {
+                        "w": 0.7832903541381278,
+                        "xyz": [
+                            -0.01235270141553067,
+                            -0.6193778660617474,
+                            -0.0517174140372576
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.8941444754600525,
+                    "position": [
+                        0.17205297015607357,
+                        -0.040378877660259604,
+                        -0.07773624360561371
+                    ],
+                    "orientation": {
+                        "w": 0.7856303553917278,
+                        "xyz": [
+                            -0.052036411010710125,
+                            -0.6125138895985737,
+                            -0.0700277920901284
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8861399292945862,
+                    "position": [
+                        0.17243984900414944,
+                        -0.04374243109486997,
+                        -0.08031671494245529
+                    ],
+                    "orientation": {
+                        "w": 0.7774446110820764,
+                        "xyz": [
+                            -0.12994912333881242,
+                            -0.6031158524310491,
+                            -0.12224717006655998
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top support panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper support panel from the sides to lightly reposition the holder",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "pinch the panel edge to steady the holder during setup",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "support the front insert assembly",
+                "form the upper angled support structure",
+                "connect the front pad assembly to the base through the hinge area",
+                "help define the viewing angle"
+            ],
+            "semantic_description": "Medium-sized light wood panel with a matte smooth hard surface and subtle wood grain, forming the angled top support behind the white front rim and gray pad.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "logo badge",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand identification",
+                "visual labeling",
+                "mark the rear face of the upper panel"
+            ],
+            "semantic_description": "Small square badge area centered on the exposed rear of the upper wood panel, appearing as a darker printed or engraved mark on the wood with a flat smooth finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front rim frame",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front rim to make a light adjustment to the holder orientation",
+                    "confidence": 0.39
+                },
+                {
+                    "scenario": "use the rim edge as a secondary stabilizing contact while moving the holder",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "surround the front pad",
+                "form a raised lip",
+                "help keep the remote from sliding forward",
+                "define the front contact area"
+            ],
+            "semantic_description": "Thin white plastic border with a smooth slightly glossy hard surface, wrapping around the rounded rectangular front pad on the slanted top face of the holder.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pad",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide contact surface for the remote",
+                "cushion the front resting area",
+                "increase friction for retention",
+                "protect the remote face"
+            ],
+            "semantic_description": "Rounded rectangular gray insert with a smooth matte appearance, likely rubber or silicone, set inside the front frame as the main contact pad for the remote.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge spring",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide spring force at the hinge",
+                "support the angled top panel",
+                "help maintain or resist the storage angle",
+                "reinforce the moving joint area"
+            ],
+            "semantic_description": "Small metallic spring-like component visible inside the holder cavity near the hinge, appearing silver-gray with a smooth reflective finish.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part is misidentified; it is the full top tray/support, not only a panel behind the rim."
+    }
+}

dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85427f4f07511646863dffbc9c02214ddba85bb9ad0ab4d493f8dfd2174bdb20
+size 3784668

dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/remote_holder_021.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>