Add asset bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa

.gitattributes

@@ -5959,3 +5959,4 @@ dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/affordance/mes
 dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0de08fd102fb5eb8b0c4fe5274645d55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/affordance/affordance_annot.json

@@ -0,0 +1,164 @@
+{
+    "affordances": [
+        {
+            "part_name": "case lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the glasses case",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the lid to stabilize the case while placing glasses inside",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect stored glasses",
+                "open for access",
+                "provide top enclosure"
+            ],
+            "semantic_description": "Large rounded light gray shell forming the top half of the case, with a smooth matte hard exterior and a soft gray fabric-lined interior visible when opened.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "case base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base to pick up and carry the glasses case",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the base steady while opening or closing the lid",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the base to reposition the open case on a surface",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the case",
+                "contain the glasses",
+                "protect stored glasses",
+                "provide main grasp surface"
+            ],
+            "semantic_description": "Large rounded light gray bottom shell with a smooth matte hard exterior and softly padded gray interior cavity, forming the main lower body of the case.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.9257699251174927,
+                    "position": [
+                        -0.02921825717203319,
+                        0.15112560539273545,
+                        -0.0304157170758117
+                    ],
+                    "orientation": {
+                        "w": 0.5709285672552994,
+                        "xyz": [
+                            0.48463386672210573,
+                            0.4416736361779726,
+                            -0.49405969823809637
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9177061915397644,
+                    "position": [
+                        -0.026046481681987643,
+                        0.15305871813325211,
+                        -0.019866412068950012
+                    ],
+                    "orientation": {
+                        "w": 0.5300452033553061,
+                        "xyz": [
+                            0.507643419825928,
+                            0.466358529934514,
+                            -0.49382179201083054
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9161221385002136,
+                    "position": [
+                        -0.1114006347488612,
+                        0.1074812292936258,
+                        -0.021967038075672463
+                    ],
+                    "orientation": {
+                        "w": 0.7037771856723181,
+                        "xyz": [
+                            0.20532537570292642,
+                            0.6443267562506312,
+                            -0.2176745143537563
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9070718884468079,
+                    "position": [
+                        -0.08179583470337093,
+                        0.1377338424208574,
+                        -0.02127248191391118
+                    ],
+                    "orientation": {
+                        "w": 0.6362137064566621,
+                        "xyz": [
+                            0.3354087991802621,
+                            0.5959367143831361,
+                            -0.3572009092924644
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "hinge seam",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to base",
+                "enable opening and closing",
+                "guide rotation",
+                "align the two halves"
+            ],
+            "semantic_description": "Thin dark seam running along the back edge between the two shells, appearing as a narrow flexible connection with a slightly textured trim-like finish.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "sunglasses",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the folded sunglasses by the frame to remove them from the case",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the sunglasses by one temple or frame edge while placing them into the case",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "wear for eye protection",
+                "shade the eyes from sunlight",
+                "store inside the case",
+                "be removed from the case for use"
+            ],
+            "semantic_description": "Folded dark sunglasses resting inside the base, with black or very dark gray glossy frames and dark tinted lenses, sized to fit within the case interior.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:209b47f92315271ded6e421be89445e3d65f8b3601fa37500232abe96646c269
+size 111322276

dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/glasses_case_016.urdf

@@ -58,6 +58,7 @@
                <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>