Add asset bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35

.gitattributes

@@ -8084,4 +8084,4 @@ dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mes
 dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/912928a6674d57bf9d7da8eacdf0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9494e7d49670560e9b4e999bebd1d8a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/affordance_annot.json

@@ -0,0 +1,180 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge or latch area of the lid to open or close the jewelry box",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the lid lightly while positioning the box during access",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "cover the storage compartments",
+                "protect stored jewelry",
+                "provide top closure",
+                "open for access"
+            ],
+            "semantic_description": "Large brown leather-covered rectangular lid with a smooth slightly matte finish and visible light stitching around the edges. The inside has a dark brown satin-like lining with a gold logo, and the lid is mounted at the rear top of the box.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.9725674390792847,
+                    "position": [
+                        -0.03139138035476208,
+                        -0.035083157184999436,
+                        0.16783179296180606
+                    ],
+                    "orientation": {
+                        "w": 0.006098307832458764,
+                        "xyz": [
+                            -0.019114955078218136,
+                            0.9996479038090219,
+                            -0.017363684636813682
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.9700098037719727,
+                    "position": [
+                        -0.030013278126716614,
+                        -0.028487053874414414,
+                        0.16198143316432834
+                    ],
+                    "orientation": {
+                        "w": 0.0004239837359364426,
+                        "xyz": [
+                            -0.006986881230814739,
+                            0.999767916002095,
+                            -0.020374441373608134
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.969184160232544,
+                    "position": [
+                        -0.03609822317957878,
+                        -0.03817881009308621,
+                        0.1672760541550815
+                    ],
+                    "orientation": {
+                        "w": 0.0008126933683766427,
+                        "xyz": [
+                            -0.027959235806554537,
+                            -0.9994826535157326,
+                            0.015875956152380213
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9682961702346802,
+                    "position": [
+                        -0.031004270538687706,
+                        -0.04407367965904996,
+                        0.16664648009464145
+                    ],
+                    "orientation": {
+                        "w": 0.010196106658751454,
+                        "xyz": [
+                            -0.010779125683013162,
+                            -0.9998897241096667,
+                            -0.0006240820522192786
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9677056670188904,
+                    "position": [
+                        -0.04004988074302673,
+                        -0.13724972418276593,
+                        0.05494457809254527
+                    ],
+                    "orientation": {
+                        "w": 0.06022342491927815,
+                        "xyz": [
+                            -0.005361267195579139,
+                            0.6968455113119058,
+                            0.7146682651898695
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls or underside of the body to lift and reposition the jewelry box",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the body steady while opening or closing the lid",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "contain jewelry",
+                "support the whole box",
+                "provide main structural body",
+                "house the drawers and upper storage area"
+            ],
+            "semantic_description": "Brown leather-wrapped main box body with smooth slightly matte surfaces, visible stitched edges, and a rigid rectangular form. It includes the upper storage cavity and two pull-out drawers at the front.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper compartment dividers",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate jewelry items",
+                "organize contents",
+                "provide interior storage sections",
+                "support small accessories"
+            ],
+            "semantic_description": "Dark brown interior compartment structure with a soft fabric-like finish, forming multiple rectangular sections in the upper storage area of the box.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge hardware",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to box body",
+                "enable lid rotation",
+                "support opening motion"
+            ],
+            "semantic_description": "Small gold-toned hinge hardware along the rear top edge where the lid meets the body, linking the lid to the base and allowing it to pivot open.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid support strap",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "limit lid opening angle",
+                "support the open lid",
+                "prevent overextension"
+            ],
+            "semantic_description": "Thin narrow side support straps between the lid and body, visible near the inner side walls and acting as restraints to stop the lid from opening too far.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer parts and front pulls are omitted; blue body description incorrectly includes drawers and upper cavity as one part."
+    }
+}

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4d4c933a1769ffb65ffce601d4ff063bff6071ce607bc378f28b848848e028
+size 3786724

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/jewelry_box_015.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>