Add asset bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630

.gitattributes

@@ -6016,3 +6016,4 @@ dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/affordance/mes
 dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/affordance/affordance_annot.json

@@ -0,0 +1,192 @@
+{
+    "affordances": [
+        {
+            "part_name": "base tray",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base tray from opposite sides to lift and relocate the stand",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the base tray to stabilize the stand while placing or removing a phone or remote",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the whole stand",
+                "provide a stable footprint",
+                "stabilize on a tabletop"
+            ],
+            "semantic_description": "Broad light wood base with a matte smooth hard finish, rounded-rectangle shape, and visible wood grain, forming the large bottom platform of the stand.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9528960585594177,
+                    "position": [
+                        -0.15752702741883695,
+                        0.03384191635996103,
+                        -0.08829197194427252
+                    ],
+                    "orientation": {
+                        "w": 0.7911246498344873,
+                        "xyz": [
+                            0.0032386369846114024,
+                            0.6115941145830518,
+                            -0.007996165463177548
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.9497315287590027,
+                    "position": [
+                        -0.15677660494111478,
+                        -0.0007296268595382571,
+                        -0.08920691814273596
+                    ],
+                    "orientation": {
+                        "w": 0.7966843581442516,
+                        "xyz": [
+                            -0.005095865393559223,
+                            0.6043738482216381,
+                            -0.0005632316940960703
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.948946475982666,
+                    "position": [
+                        0.17367875785566866,
+                        -0.030872981064021587,
+                        -0.07229412999004126
+                    ],
+                    "orientation": {
+                        "w": 0.05360674901417789,
+                        "xyz": [
+                            -0.6721778536158508,
+                            0.026659047597336727,
+                            0.7379651378959042
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9449295997619629,
+                    "position": [
+                        0.1710628590080887,
+                        -0.01560549158602953,
+                        -0.08087607380002737
+                    ],
+                    "orientation": {
+                        "w": 0.7753044308725138,
+                        "xyz": [
+                            -0.024183321816958345,
+                            -0.6304805342505807,
+                            -0.028504426786848888
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9432383179664612,
+                    "position": [
+                        0.17013442725874484,
+                        0.01958163920789957,
+                        -0.08488570805639029
+                    ],
+                    "orientation": {
+                        "w": 0.7915289454539002,
+                        "xyz": [
+                            0.019783561648232882,
+                            -0.6105753372587269,
+                            0.016979302946222217
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "arched support",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the curved support carefully to reposition the stand",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "hold the curved support as a temporary stabilizing point during setup",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "brace the angled panel",
+                "help maintain the viewing angle",
+                "connect the base to the upper support structure",
+                "reinforce the stand body"
+            ],
+            "semantic_description": "Curved light wood support piece with a matte smooth hard surface and rounded edges, medium-sized and mounted between the base and the angled panel near the center.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.18739035725593567,
+                    "position": [
+                        -0.1188301497604698,
+                        0.002128248568624258,
+                        0.010868915356695652
+                    ],
+                    "orientation": {
+                        "w": 0.47807684293337244,
+                        "xyz": [
+                            0.5516121265371615,
+                            0.5241286085173427,
+                            0.4386978411636929
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back panel near its sides to lift the empty stand",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the back panel to steady the stand while placing a device into it",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support the device from behind",
+                "keep the device upright at an angle",
+                "provide the main leaning surface",
+                "define the stand angle"
+            ],
+            "semantic_description": "Tall narrow light wood panel with a matte smooth hard finish, flat rounded-rectangle shape, positioned upright at a backward angle behind the device resting area, with visible engraved markings on the rear.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front retaining lip",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stop the device from sliding forward",
+                "retain the lower edge of the device",
+                "provide front containment",
+                "support the bottom edge during placement"
+            ],
+            "semantic_description": "Short horizontal light wood ledge with a matte smooth hard finish and rounded top edge, positioned at the front of the base below the angled back panel where the device's bottom edge rests.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front and back panel mask colors are swapped, and orange part is not a retaining lip but the padded front resting surface."
+    }
+}

dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4009a6306639730ff83ebaad4b2f4c3432a13f24f1484076ff0d81d78aa75c24
+size 3783808

dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/remote_holder_030.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>