Add asset bedroom_supplies/storage/48e79061c057592bb559927a2544f94f

.gitattributes

@@ -6019,3 +6019,4 @@ dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/mes
 dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/47038991dc0459c5bf14ee062c7d73fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/482f103fe31e5abfaf759545e809c377/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/48e79061c057592bb559927a2544f94f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/48e79061c057592bb559927a2544f94f/affordance/affordance_annot.json

@@ -0,0 +1,223 @@
+{
+    "affordances": [
+        {
+            "part_name": "box base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box base from opposite side walls to pick up the jewelry box",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the base steady while opening or closing the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the lower body to reposition the box on a surface",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "support the jewelry box",
+                "contain stored items",
+                "provide main grasp surface",
+                "stabilize during opening",
+                "rest on a surface"
+            ],
+            "semantic_description": "Large white rigid body with a smooth matte-to-satin finish and hard surface, forming the lower tapered rectangular container at the bottom with subtle branding on one face.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7754625678062439,
+                    "position": [
+                        -0.02843759406823665,
+                        0.14967413595877588,
+                        -0.021009305492043495
+                    ],
+                    "orientation": {
+                        "w": 0.5744136655361854,
+                        "xyz": [
+                            0.43976253691837264,
+                            -0.48700385448046657,
+                            0.48937214641780463
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.6819623708724976,
+                    "position": [
+                        -0.04336465348023921,
+                        -0.1410819108132273,
+                        -0.009633239358663559
+                    ],
+                    "orientation": {
+                        "w": 0.5337628780504526,
+                        "xyz": [
+                            -0.510688078849375,
+                            0.4766774768836024,
+                            0.4765222546411815
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.6047621965408325,
+                    "position": [
+                        -0.027145713684149086,
+                        -0.1486691499594599,
+                        -0.01552405022084713
+                    ],
+                    "orientation": {
+                        "w": 0.5489822985033269,
+                        "xyz": [
+                            -0.433110264975862,
+                            -0.5542337578316756,
+                            -0.4515073376838107
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the jewelry box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the lid while closing and aligning it with the base",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp the top cover to stabilize the box during inspection",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "open for access",
+                "protect stored jewelry",
+                "align with the base"
+            ],
+            "semantic_description": "White hard top cover with a smooth satin finish, broad trapezoidal shape, and fine raised curved line decoration across the upper surface, positioned above the base.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.78465336561203,
+                    "position": [
+                        0.009176454856060445,
+                        0.031152268638834357,
+                        0.12826785817742348
+                    ],
+                    "orientation": {
+                        "w": 0.005904596370335412,
+                        "xyz": [
+                            0.6898738149177784,
+                            0.7229121321125512,
+                            0.03791179865134261
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7810007929801941,
+                    "position": [
+                        -0.0008420791709795594,
+                        0.05144603899680078,
+                        0.12821554765105247
+                    ],
+                    "orientation": {
+                        "w": 0.019411493748137686,
+                        "xyz": [
+                            0.7081970208443896,
+                            0.7052403984604003,
+                            0.026761052987746062
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.7803312540054321,
+                    "position": [
+                        -0.0018689351854845881,
+                        0.04474788508377969,
+                        0.13156890496611595
+                    ],
+                    "orientation": {
+                        "w": 0.002368404270183105,
+                        "xyz": [
+                            0.7098395949026712,
+                            0.70354851975025,
+                            0.033787875441597254
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.7766591310501099,
+                    "position": [
+                        -0.046377292019315064,
+                        -0.0007169530726969242,
+                        0.130389716476202
+                    ],
+                    "orientation": {
+                        "w": 0.02877632499436887,
+                        "xyz": [
+                            0.7175371564944539,
+                            0.6951256935728501,
+                            0.03335599353243794
+                        ]
+                    }
+                },
+                "grasp_43": {
+                    "confidence": 0.7766205668449402,
+                    "position": [
+                        -0.03470190067309886,
+                        -0.03325596475042403,
+                        0.13058065995573997
+                    ],
+                    "orientation": {
+                        "w": 0.019421622860595605,
+                        "xyz": [
+                            -0.7153778947348387,
+                            0.6983713680648806,
+                            -0.011606056927237518
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front clasp",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the clasp to unlatch or open the jewelry box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the clasp to pull the lid downward into a closed position",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "use the clasp as a small handle to orient the front of the box",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "latch the lid",
+                "assist opening",
+                "assist closing",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Small silver-toned metal clasp with a reflective finish and smooth hard surface, mounted at the front center seam as a compact rectangular protruding latch.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/48e79061c057592bb559927a2544f94f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdbde8a456a7459db77a89b122b9be8c5948cc37ad166c7a2c96d95ee2d18621
+size 3780320

dataset/bedroom_supplies/storage/48e79061c057592bb559927a2544f94f/jewelry_box_039.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>