Add asset bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706

.gitattributes

@@ -5958,3 +5958,4 @@ dataset/bedroom_supplies/storage/0aa06ee6f4345435a9701fb8080158a0/affordance/mes
 dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/0e2f2c5606105a40bb937ea9f14be706/affordance/affordance_annot.json

@@ -0,0 +1,173 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the case around the lid edges while lifting it from a table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the lid half to stabilize the case while the other hand operates the zipper",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "protect stored contents",
+                "form the upper half of the case",
+                "provide a surface for stabilizing during opening"
+            ],
+            "semantic_description": "Large white hard-shell top half with a smooth slightly glossy surface, rounded-rectangle shape, shallow recessed border, and a circular embossed area near the center.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.46106183528900146,
+                    "position": [
+                        0.12267204656382091,
+                        -0.032663827296346426,
+                        0.04051172028994188
+                    ],
+                    "orientation": {
+                        "w": 0.030379347045183896,
+                        "xyz": [
+                            0.7833176195693589,
+                            0.018844826087488165,
+                            -0.6205928413017938
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base to pick up or reposition the case",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the bottom half to stabilize it while opening or closing the zipper",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "support the case",
+                "contain stored items",
+                "form the lower half of the case",
+                "provide a stable holding surface"
+            ],
+            "semantic_description": "Large white hard-shell bottom half with a smooth slightly glossy surface and rounded rectangular tub-like form making up the main container body.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "zipper slider and pull tab",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the zipper tab/slider to open the case",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "pinch and pull the zipper tab/slider to close the case",
+                    "confidence": 0.97
+                }
+            ],
+            "functional_labels": [
+                "pull the zipper slider",
+                "open the case",
+                "close the case",
+                "provide access to the contents"
+            ],
+            "semantic_description": "Small silver-gray metal zipper slider assembly with a dangling pull tab at the case edge, reflective and smooth, attached to the perimeter zipper.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.13918213546276093,
+                    "position": [
+                        -0.00029582533898064867,
+                        -0.030047235544770956,
+                        0.12290399562334642
+                    ],
+                    "orientation": {
+                        "w": 0.058087725745985135,
+                        "xyz": [
+                            -0.9981239634880646,
+                            -0.01149369675214263,
+                            -0.015564850256457293
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.5586497187614441,
+                    "position": [
+                        0.1348209632851649,
+                        0.04056511679664254,
+                        -0.004356956167612225
+                    ],
+                    "orientation": {
+                        "w": 0.16889967125817332,
+                        "xyz": [
+                            0.6738005754463441,
+                            0.16958593836973446,
+                            -0.6990753143147835
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "zipper track",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join the lid and base around the perimeter",
+                "guide zipper slider motion",
+                "secure the case when zipped",
+                "define the opening seam"
+            ],
+            "semantic_description": "Thin turquoise zipper band running around the case perimeter between the lid and base, with visible zipper teeth and textured fabric edging.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top logo label",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking",
+                "identify product orientation",
+                "provide product labeling"
+            ],
+            "semantic_description": "Small greenish-teal rectangular logo badge on the lid near one corner, flat with light-colored lettering/graphics.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid center embossed circle",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorative surface feature",
+                "visual center marker",
+                "styling detail"
+            ],
+            "semantic_description": "Circular embossed feature on the lid near the center, white like the surrounding shell with a smooth slightly glossy finish and shallow raised outline rather than a separate button.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e82d134dca8318e9d85f2db3a3fdb856791307d9091602e331597b1c5378b6a
+size 3782980

dataset/bedroom_supplies/storage/0e2f2c5606105a40bb937ea9f14be706/pill_organizer_024.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>