Add asset bedroom_supplies/storage/8e791ff86212505598749780ba150747

.gitattributes

@@ -8081,3 +8081,4 @@ dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/affordance/mes
 dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/8e791ff86212505598749780ba150747/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/8e791ff86212505598749780ba150747/affordance/affordance_annot.json

@@ -0,0 +1,310 @@
+{
+    "affordances": [
+        {
+            "part_name": "side carry loops",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one side loop to lift or carry the pill organizer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hook a finger or tool through a side loop to pull the organizer from a bag or shelf",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold a side loop lightly to stabilize the organizer during handling",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "carry the organizer",
+                "provide external grip points",
+                "pull from storage",
+                "serve as hanging loops"
+            ],
+            "semantic_description": "Two small mint-green plastic loops with smooth slightly glossy hard surfaces, mounted on the left and right sides near the upper rim as thin rounded hanging handles.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.16905757784843445,
+                    "position": [
+                        0.0839351003523916,
+                        0.02085381280630827,
+                        0.06495150784030557
+                    ],
+                    "orientation": {
+                        "w": 0.2860308700650503,
+                        "xyz": [
+                            -0.5927022619281457,
+                            -0.6532544404857609,
+                            0.3743648034480879
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.09520535916090012,
+                    "position": [
+                        0.06368431798182428,
+                        0.00662543810904026,
+                        0.08420038828626275
+                    ],
+                    "orientation": {
+                        "w": 0.25234495916012567,
+                        "xyz": [
+                            0.6763293265823754,
+                            -0.6560073766228839,
+                            -0.22035195802957364
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the pill organizer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the lid to keep it open during access",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "pinch the closed lid to reposition the organizer lightly",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "cover the compartments",
+                "protect contents",
+                "open for access",
+                "help keep pills clean"
+            ],
+            "semantic_description": "Rounded mint-green plastic top with a smooth matte-to-satin hard finish, broad and slightly domed, attached at the back and covering the organizer opening.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_37": {
+                    "confidence": 0.9365256428718567,
+                    "position": [
+                        -0.02362117008306086,
+                        -0.11647393833845854,
+                        0.044537695590406656
+                    ],
+                    "orientation": {
+                        "w": 0.10674800298293098,
+                        "xyz": [
+                            0.009984205264006046,
+                            0.7647325277906213,
+                            0.6353655171972818
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "body of pill organizer",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up the pill organizer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the body while opening or closing the lid",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp the body to pour out pills from a compartment",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain pills",
+                "support all other parts",
+                "provide main grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Main mint-green plastic container with a smooth slightly glossy hard surface, rounded-square and medium sized, forming the lower shell; white printed labeling is visible on one side in some views.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.9318318963050842,
+                    "position": [
+                        0.0255095639731735,
+                        0.10102316457778215,
+                        -0.06078610708937049
+                    ],
+                    "orientation": {
+                        "w": 0.06555783183013095,
+                        "xyz": [
+                            0.15482276912849585,
+                            0.45281247759353516,
+                            -0.8756100393329901
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.927333414554596,
+                    "position": [
+                        0.0007967785932123661,
+                        0.11958389449864626,
+                        0.019771082792431116
+                    ],
+                    "orientation": {
+                        "w": 0.6500469145260455,
+                        "xyz": [
+                            0.7431763776132849,
+                            -0.11690202879401401,
+                            0.10705977926657347
+                        ]
+                    }
+                },
+                "grasp_50": {
+                    "confidence": 0.9176262617111206,
+                    "position": [
+                        0.004239645088091493,
+                        0.1247497322037816,
+                        -0.009345720987766981
+                    ],
+                    "orientation": {
+                        "w": 0.717072728059534,
+                        "xyz": [
+                            0.6966582773830773,
+                            -0.020531091407607005,
+                            0.007240270196164699
+                        ]
+                    }
+                },
+                "grasp_51": {
+                    "confidence": 0.9167129397392273,
+                    "position": [
+                        0.09453290305100381,
+                        0.08570358622819185,
+                        -0.011821295600384474
+                    ],
+                    "orientation": {
+                        "w": 0.23784396938208485,
+                        "xyz": [
+                            0.6494942053057057,
+                            0.23408957155596977,
+                            -0.6832200201923436
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.9116858839988708,
+                    "position": [
+                        -0.00702315173111856,
+                        0.12114779371768236,
+                        -0.02412580093368888
+                    ],
+                    "orientation": {
+                        "w": 0.7896916859646217,
+                        "xyz": [
+                            0.6114328072934084,
+                            -0.0005973629732254349,
+                            0.050364734101683406
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "internal divider walls",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate compartments",
+                "organize doses",
+                "prevent mixing",
+                "structure the interior"
+            ],
+            "semantic_description": "Thin mint-green plastic partition walls with a smooth hard finish inside the container, forming several small compartments beneath the lid.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front tab to unlatch and open the lid",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the tab while closing and securing the lid",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "secure the lid",
+                "release the closure",
+                "provide a pinch point",
+                "indicate front opening side"
+            ],
+            "semantic_description": "Small mint-green plastic tab at the front rim with a smooth hard surface, protruding slightly as the closure catch for the lid.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_61": {
+                    "confidence": 0.13181108236312866,
+                    "position": [
+                        -0.11054984875954688,
+                        0.035032411105930805,
+                        0.0021094547118991613
+                    ],
+                    "orientation": {
+                        "w": 0.43919213271245,
+                        "xyz": [
+                            -0.4299928760437963,
+                            0.5029533364327161,
+                            -0.6076630139199464
+                        ]
+                    }
+                },
+                "grasp_63": {
+                    "confidence": 0.28033578395843506,
+                    "position": [
+                        -0.10408865311183035,
+                        -0.0070594120770692825,
+                        0.0010358663275837898
+                    ],
+                    "orientation": {
+                        "w": 0.4735316862794931,
+                        "xyz": [
+                            0.48967215535851505,
+                            0.46679808561906244,
+                            0.5639933240901218
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear hinge bracket",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to body",
+                "enable lid rotation",
+                "support repeated opening",
+                "align the top"
+            ],
+            "semantic_description": "Small mint-green plastic hinge piece with a smooth hard finish, located at the rear top center where the lid pivots against the container body.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/8e791ff86212505598749780ba150747/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52119ac1ee6e47846ac4c845727acb66a5a5c07aebdd8522b53eee339e123370
+size 3786180

dataset/bedroom_supplies/storage/8e791ff86212505598749780ba150747/pill_organizer_027.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>