Add asset bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d

.gitattributes

@@ -5973,4 +5973,4 @@ dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mes
 dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/affordance/affordance_annot.json

@@ -0,0 +1,429 @@
+{
+    "affordances": [
+        {
+            "part_name": "case body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cylindrical body to pick up and carry the case",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the body to stabilize the case while opening or closing the top",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the side wall to reposition the case on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain eyeglasses",
+                "provide main structure",
+                "main grasp surface",
+                "protect contents",
+                "support the closure"
+            ],
+            "semantic_description": "Large gray cylindrical body made of fabric-like material with a matte finish and slightly padded look, forming the main side wall of the case. Parts of the side surface show a textured decorative panel and a printed white logo in some views.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawstring top",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and lift the gathered top to access the opening",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the gathered top lightly to stabilize the case during manipulation",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "gather the mouth closed",
+                "protect contents",
+                "provide flexible closure surface"
+            ],
+            "semantic_description": "Gray gathered fabric top with a matte finish and soft flexible texture, forming a puckered circular closure at the upper opening of the case.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top ruffle trim",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the opening edge",
+                "guide fabric gathering",
+                "decorate the closure"
+            ],
+            "semantic_description": "Small gray ruffled fabric trim around the mouth with a matte soft texture, appearing as petal-like folds clustered at the top opening.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim band",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the opening edge",
+                "define closure boundary",
+                "support top gathering"
+            ],
+            "semantic_description": "Thin dark gray band circling the upper rim with a smoother and slightly firmer appearance than the gathered fabric, separating the top from the cylindrical body.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base area to lift the case when approaching from below or while it is lying down",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "stabilize the case by pressing or holding the bottom during opening",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "support upright standing",
+                "close the bottom",
+                "protect contents from below",
+                "provide structural base"
+            ],
+            "semantic_description": "Circular gray bottom panel with a matte fabric-like surface, located at the base and flatter than the side wall.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_80": {
+                    "confidence": 0.2417406588792801,
+                    "position": [
+                        0.052649940364062786,
+                        -0.14290162350516766,
+                        0.0359333036467433
+                    ],
+                    "orientation": {
+                        "w": 0.6393688208934518,
+                        "xyz": [
+                            -0.7369633328258889,
+                            -0.18557472198899538,
+                            0.11685281125494043
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawstring cord",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cord to pull and cinch the case closed",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the cord to loosen or adjust the opening during access",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "lift the lightweight case briefly by the cord",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "tighten the closure",
+                "loosen the opening",
+                "provide pull point",
+                "adjust opening size"
+            ],
+            "semantic_description": "Thin dark cord with a smooth woven texture and flexible cylindrical shape, threaded through the top edge and hanging down the side of the case.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_64": {
+                    "confidence": 0.42652156949043274,
+                    "position": [
+                        -0.012792518362402916,
+                        -0.14932318951468915,
+                        0.05780478194355965
+                    ],
+                    "orientation": {
+                        "w": 0.683796313235267,
+                        "xyz": [
+                            -0.7277173148736502,
+                            0.027915989168749267,
+                            -0.04550614450457661
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawstring cord",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cord to pull and cinch the case closed",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "grasp the cord to loosen or adjust the opening during access",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "lift the lightweight case briefly by the cord",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "tighten the closure",
+                "loosen the opening",
+                "provide pull point",
+                "adjust opening size"
+            ],
+            "semantic_description": "Thin dark cord with a smooth woven texture and flexible cylindrical shape, threaded through the top edge and hanging down the side of the case.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_57": {
+                    "confidence": 0.47687289118766785,
+                    "position": [
+                        -0.0645768390968442,
+                        0.14438744459766895,
+                        0.04461819492280483
+                    ],
+                    "orientation": {
+                        "w": 0.6613501755788129,
+                        "xyz": [
+                            0.7163083341629417,
+                            0.15051568784022396,
+                            0.16390040690788127
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawstring cord",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cord near the top to adjust the cinched opening",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "pull the cord to help close the case",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "adjust the closure",
+                "transmit pulling force",
+                "guide the gathered top"
+            ],
+            "semantic_description": "Short visible segment of dark flexible drawstring near the top opening, with a smooth woven surface and narrow rounded shape.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_81": {
+                    "confidence": 0.27792567014694214,
+                    "position": [
+                        -0.006877242587506771,
+                        0.10686418984550983,
+                        0.1302484106272459
+                    ],
+                    "orientation": {
+                        "w": 0.4790819424116951,
+                        "xyz": [
+                            0.8762781785351293,
+                            0.04992435903267539,
+                            0.011162645446744609
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawstring cord",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cord to pull the drawstring closed",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the cord to manipulate the opening during access",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "tighten the closure",
+                "provide pull point",
+                "adjust top opening"
+            ],
+            "semantic_description": "Visible dark hanging cord segment with a smooth woven texture and narrow flexible profile, draped from the gathered top down the side.",
+            "id": 12,
+            "grasp_group": {
+                "grasp_85": {
+                    "confidence": 0.39017772674560547,
+                    "position": [
+                        -0.010406969115138054,
+                        -0.1383132728515193,
+                        0.09717455320060253
+                    ],
+                    "orientation": {
+                        "w": 0.5321909300579606,
+                        "xyz": [
+                            -0.8461001996218954,
+                            0.01575866083515476,
+                            -0.025277079983934244
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawstring cord",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the dangling cord end to cinch the top closed",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "pull the cord end to adjust opening tension",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "use the dangling end for brief lifting of the case",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "tighten the closure",
+                "provide dangling pull tab",
+                "adjust drawstring tension"
+            ],
+            "semantic_description": "Dangling dark cord end with a smooth woven texture, hanging along the side of the case and ending in a small knotted tip.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_97": {
+                    "confidence": 0.3291793167591095,
+                    "position": [
+                        0.0500333933159709,
+                        -0.14833902742248029,
+                        0.008355643600225449
+                    ],
+                    "orientation": {
+                        "w": 0.15045754671924083,
+                        "xyz": [
+                            0.16107233991320372,
+                            -0.7080902065221446,
+                            -0.670840135485005
+                        ]
+                    }
+                },
+                "grasp_102": {
+                    "confidence": 0.3656670153141022,
+                    "position": [
+                        -0.013414447195827961,
+                        -0.1435806694207713,
+                        -0.022813113406300545
+                    ],
+                    "orientation": {
+                        "w": 0.7986767790675476,
+                        "xyz": [
+                            -0.595995080289704,
+                            0.01193111394418156,
+                            -0.0822369464949173
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawstring cord end knot",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knotted cord end to pull the drawstring",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "use the knot as a small pull tab while opening or closing",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "terminate the drawstring",
+                "provide a pull end",
+                "help prevent cord slip-through"
+            ],
+            "semantic_description": "Small dark knotted end piece at a hanging cord tip, with a compact irregular shape and slightly thicker profile than the cord.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawstring cord end knot",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knotted end to pull the cord during closure adjustment",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "terminate the drawstring",
+                "assist pulling",
+                "finish the cord tip"
+            ],
+            "semantic_description": "Tiny dark knotted tip at the end of a hanging cord, with a compact flexible appearance and small clustered shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawstring cord end highlight",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "visible tip segment",
+                "part of cord termination"
+            ],
+            "semantic_description": "Very small light-highlighted visible segment on a cord tip caused by rendering/view angle, attached to the dangling drawstring end rather than a separate white component.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side tag",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display branding",
+                "provide product identification",
+                "mark a side seam area"
+            ],
+            "semantic_description": "Small narrow black fabric tag protruding from the side seam with a matte woven finish and light printed text, located low on the body.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "One part is mislabeled/non-physical: white segment is a real cord-tip piece, not just a highlight."
+    }
+}

dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0418c1ff28436ab08d08ca0bcf4bd7cfa6322666307fdfa79c1f7de12f5aa16d
+size 3800316

dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.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>