Add asset bedroom_supplies/storage/2a403c213198553f8643e2f260693788

.gitattributes

@@ -5985,4 +5985,4 @@ dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/affordance/mes
 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/29cb17731ccf5455b4c891b48f89e931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/affordance/affordance_annot.json

@@ -0,0 +1,311 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open or close the jewelry box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the lid while positioning the box during access",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "cover the box",
+                "protect stored jewelry",
+                "support opening and closing",
+                "provide top enclosure"
+            ],
+            "semantic_description": "Large dark brown wooden top section with a smooth satin to semi-gloss finish, visible wood grain, rounded rectangular shape, and hinged connection at the back.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_11": {
+                    "confidence": 0.8690958619117737,
+                    "position": [
+                        -0.06774663715623319,
+                        0.067882172355894,
+                        0.1757974028296303
+                    ],
+                    "orientation": {
+                        "w": 0.07149594727692063,
+                        "xyz": [
+                            0.009528293559210234,
+                            0.9609573682434711,
+                            -0.267130076111633
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.8598741292953491,
+                    "position": [
+                        -0.03622909798286855,
+                        -0.052465893735643476,
+                        0.18969121572445147
+                    ],
+                    "orientation": {
+                        "w": 0.012498009454595315,
+                        "xyz": [
+                            -0.0017550443622178767,
+                            -0.9999128011369426,
+                            -0.0038871199405873485
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box base from the sides to pick up the jewelry box",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the base to stabilize the box while opening the lid",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain jewelry",
+                "support the whole box",
+                "provide main grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Dark brown wooden lower body with rounded corners, visible wood grain, smooth semi-gloss finish, and thick walls forming the main container.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9538459777832031,
+                    "position": [
+                        0.16205661953426898,
+                        0.06060816306853667,
+                        -0.020437978237168863
+                    ],
+                    "orientation": {
+                        "w": 0.19695437624256062,
+                        "xyz": [
+                            0.7003500923927275,
+                            0.16818201892629236,
+                            -0.6651567712008037
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9515663981437683,
+                    "position": [
+                        0.16177276731468737,
+                        0.06360708136344329,
+                        -0.03644467893172987
+                    ],
+                    "orientation": {
+                        "w": 0.18039341069457362,
+                        "xyz": [
+                            0.6697633652107329,
+                            0.18263347760964455,
+                            -0.6967928421387379
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9344337582588196,
+                    "position": [
+                        0.12289370060898364,
+                        0.1200146820046939,
+                        -0.017690181761281565
+                    ],
+                    "orientation": {
+                        "w": 0.37690422832789766,
+                        "xyz": [
+                            0.6297259497603881,
+                            0.3488778880824037,
+                            -0.5828144216421647
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9332616925239563,
+                    "position": [
+                        0.14620790840126574,
+                        0.1017782311537303,
+                        -0.042114783107535914
+                    ],
+                    "orientation": {
+                        "w": 0.19947518759485325,
+                        "xyz": [
+                            0.641242114493531,
+                            0.18908714408651428,
+                            -0.7164246311197502
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9284517765045166,
+                    "position": [
+                        0.1607927775476128,
+                        -0.05760536011075601,
+                        -0.041788268863456324
+                    ],
+                    "orientation": {
+                        "w": 0.19363987270790983,
+                        "xyz": [
+                            -0.6739290038898161,
+                            0.17446511844245605,
+                            0.6912924271685639
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9246498346328735,
+                    "position": [
+                        0.1459914541337639,
+                        0.09739323664689437,
+                        -0.04305701333214529
+                    ],
+                    "orientation": {
+                        "w": 0.71156612686766,
+                        "xyz": [
+                            0.17585761900528277,
+                            -0.6562406495854909,
+                            0.17915343916308837
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9143484234809875,
+                    "position": [
+                        0.1619410163257271,
+                        -0.06788990687346086,
+                        -0.04531933370162733
+                    ],
+                    "orientation": {
+                        "w": 0.7149919447169862,
+                        "xyz": [
+                            -0.1707361949110132,
+                            -0.6566734980087967,
+                            -0.1685692372588242
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner lid lining",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cushion the lid interior",
+                "protect jewelry from abrasion",
+                "provide decorative interior surface"
+            ],
+            "semantic_description": "Cream-white padded fabric panel inside the lid, with a soft matte texture, rectangular shape, and centered gold logo and text.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "ring pad",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold rings upright",
+                "cushion jewelry",
+                "organize small items",
+                "present stored jewelry"
+            ],
+            "semantic_description": "White cushioned interior insert with a soft matte fabric surface, rectangular form, and raised slotted sections positioned in the rear portion of the lower compartment.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front compartment pad",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support jewelry",
+                "separate stored items",
+                "cushion contents",
+                "organize the front compartment"
+            ],
+            "semantic_description": "White padded front interior section with a soft matte fabric surface, low rectangular shape, and a small centered notch along its upper edge.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clasp",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the front clasp to unlatch the jewelry box",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "press or guide the clasp while securing the box closed",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "latch the box closed",
+                "secure contents",
+                "guide front-side opening"
+            ],
+            "semantic_description": "Small gold-toned metal latch at the front center, with a reflective glossy finish, hard smooth surface, and compact protruding hardware shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge hardware",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to base",
+                "enable lid rotation",
+                "support repeated opening and closing"
+            ],
+            "semantic_description": "Small gold-toned metal hinge pieces mounted along the back edge, with a reflective finish and compact mechanical shape joining the lid and base.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "jewelry display post",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support or display a necklace or pendant",
+                "provide a small raised anchoring point",
+                "help organize the interior presentation"
+            ],
+            "semantic_description": "Small white raised padded post near the center of the lower compartment, with a soft matte fabric finish and compact upright rectangular shape.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner rim lining",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "soften contact at the compartment edge",
+                "protect jewelry from hard wood edges",
+                "frame the storage area"
+            ],
+            "semantic_description": "Narrow white padded border around the inner compartment, with a soft matte finish and thin raised rectangular rim shape.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part is misidentified; it is a ring/necklace holder pad, not a display post."
+    }
+}

dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:912b5e20e31fc9ea53470dcc4772998d4322579a6409c7fb45533df04018c5e6
+size 3784468