Add asset bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9

.gitattributes

@@ -8080,3 +8080,4 @@ dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/affordance/mes
 dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/affordance_annot.json

@@ -0,0 +1,183 @@
+{
+    "affordances": [
+        {
+            "part_name": "holder body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body from the sides to pick up and reposition the holder",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the body to stabilize the holder while inserting or removing an item",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide main structure",
+                "enclose contents",
+                "support internal parts",
+                "protect contents",
+                "enable tabletop organization"
+            ],
+            "semantic_description": "Large gray plastic outer shell with a smooth matte surface, rounded tapered rectangular form, open front cavity, and white printed branding on the exterior side faces.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner flap panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front edge of the inner panel to pull or tilt it while accessing the stored item",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "press or hold the inner panel to stabilize it during insertion or removal of contents",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support stored item",
+                "partially retain contents at the opening",
+                "guide insertion",
+                "provide a movable inner contact surface"
+            ],
+            "semantic_description": "Gray plastic inner panel/flap with a smooth matte finish, located inside the front opening. It appears as a broad curved rectangular piece spanning much of the cavity width, with side portions visible in angled views.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.3799930512905121,
+                    "position": [
+                        0.13404128630645573,
+                        0.06786716839997098,
+                        -0.040659448073711246
+                    ],
+                    "orientation": {
+                        "w": 0.2881569884934697,
+                        "xyz": [
+                            0.6592708249594605,
+                            0.1413536345503179,
+                            -0.6799607925013483
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.3454878330230713,
+                    "position": [
+                        0.10521826078183949,
+                        0.10561595967737958,
+                        -0.03369039105018601
+                    ],
+                    "orientation": {
+                        "w": 0.5786530532570837,
+                        "xyz": [
+                            0.2890436372374843,
+                            -0.6663794398880233,
+                            0.3708811963733196
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.15978267788887024,
+                    "position": [
+                        0.058692745165899396,
+                        0.10512428841320798,
+                        0.0596081261173822
+                    ],
+                    "orientation": {
+                        "w": 0.12296726478112364,
+                        "xyz": [
+                            -0.027804745210867905,
+                            -0.862388154066285,
+                            0.49029850057098207
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.530993640422821,
+                    "position": [
+                        0.13652237434871495,
+                        -0.04818266147049144,
+                        -0.04416341142496094
+                    ],
+                    "orientation": {
+                        "w": 0.1978940705717693,
+                        "xyz": [
+                            -0.6665012483390005,
+                            0.15180255903683992,
+                            0.7025453763743349
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.4607986807823181,
+                    "position": [
+                        0.14246562798507512,
+                        0.03960005677072331,
+                        -0.04075482668122277
+                    ],
+                    "orientation": {
+                        "w": 0.15737624851274154,
+                        "xyz": [
+                            0.6884658966011875,
+                            0.11355852100174346,
+                            -0.6988217855283811
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.430902898311615,
+                    "position": [
+                        0.1370269872713834,
+                        0.03190323448507115,
+                        0.06228816328803077
+                    ],
+                    "orientation": {
+                        "w": 0.16257106424488366,
+                        "xyz": [
+                            0.7165621700633807,
+                            0.19578334065185354,
+                            -0.6494445234410287
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.3683439791202545,
+                    "position": [
+                        0.03763257642276585,
+                        -0.13253135123522952,
+                        -0.012223442958202213
+                    ],
+                    "orientation": {
+                        "w": 0.7120386540733011,
+                        "xyz": [
+                            -0.7020694857781423,
+                            -0.005999565437487142,
+                            -0.00796225214737598
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "small connector tab",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect inner panel to body",
+                "provide local structural support"
+            ],
+            "semantic_description": "Tiny central connector detail between the upper interior area and the inner panel, barely visible in the front view.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part is not an inner flap; it is the exposed item/pack inside the holder, so identity, function, and grasp semantics are incorrect."
+    }
+}

dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66842432afbe84628e0f44382ef9c3b9b05597c6d2f06a8364fead54de9eaaef
+size 3778520

dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/remote_holder_023.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>