Add asset bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac

.gitattributes

@@ -6083,4 +6083,4 @@ dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mes
 dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/affordance_annot.json

@@ -0,0 +1,249 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid with top knob",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top knob to lift or remove the lid",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the lid edge or front lip to open or reposition the lid",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the lid while aligning it onto the box body during closing",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored items",
+                "enable opening and closing",
+                "provide a top gripping point via the knob"
+            ],
+            "semantic_description": "Flat translucent milky-white plastic lid with a smooth glossy surface and slightly rounded square corners, forming the top cover. A small round white knob is centered on top, and a small front lip/tab is visible on some views.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.47252821922302246,
+                    "position": [
+                        0.015001467079855502,
+                        0.0024906578473746777,
+                        0.1484329914674163
+                    ],
+                    "orientation": {
+                        "w": 0.09772777285358993,
+                        "xyz": [
+                            0.15727101774691887,
+                            -0.9688839689000205,
+                            -0.16425274487347166
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.4563446640968323,
+                    "position": [
+                        -0.06754519359674305,
+                        -0.02160192048177123,
+                        0.1381480759009719
+                    ],
+                    "orientation": {
+                        "w": 0.1624195580325293,
+                        "xyz": [
+                            0.6792779795875207,
+                            0.690479671771781,
+                            0.1882528525307044
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.4421754777431488,
+                    "position": [
+                        0.0008283517090603709,
+                        0.06752232508733869,
+                        0.15163919981569052
+                    ],
+                    "orientation": {
+                        "w": 0.1302015662327397,
+                        "xyz": [
+                            0.6892518414744552,
+                            0.7016682745115775,
+                            -0.12506431832685005
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.43126943707466125,
+                    "position": [
+                        -0.01235083059873432,
+                        -0.027790782507508993,
+                        0.15246968623250723
+                    ],
+                    "orientation": {
+                        "w": 0.029712314585963503,
+                        "xyz": [
+                            -0.9995010679434365,
+                            -0.008432421677555327,
+                            -0.006609675220941478
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.42180201411247253,
+                    "position": [
+                        0.0001998544903472066,
+                        -0.0867384816519916,
+                        0.1378399496898055
+                    ],
+                    "orientation": {
+                        "w": 0.281230706274784,
+                        "xyz": [
+                            -0.9595708278390811,
+                            -0.002957211896373768,
+                            0.01115217943752896
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.41969573497772217,
+                    "position": [
+                        0.004078451660461724,
+                        -0.05849904892966151,
+                        0.1404596185311675
+                    ],
+                    "orientation": {
+                        "w": 0.026448459309887772,
+                        "xyz": [
+                            -0.0007720585171511765,
+                            -0.9722948386589063,
+                            -0.23225552661461113
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up and move the box",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the box body to stabilize it while opening the lid",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the lower body to reposition it on a surface",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid",
+                "provide structural enclosure",
+                "stabilize the box on a surface"
+            ],
+            "semantic_description": "Tapered translucent milky-white plastic box body with smooth glossy sides, forming the main container. Printed text is visible on some faces, and the base has small feet or raised supports at the bottom.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front clasp/tab",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front clasp/tab to help lift or release the lid edge",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "use a gripper on the tab area as a small manipulation point when opening the container",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "provide a small manipulation point",
+                "help align the front edge of the lid",
+                "assist access to the lid edge"
+            ],
+            "semantic_description": "Small light-colored plastic front tab or clasp at the upper front rim of the container, protruding slightly from the lid-body interface. It appears smooth and hard; in one view a reflective metal-like piece is visible on this front feature.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.31436094641685486,
+                    "position": [
+                        -0.027232881053350866,
+                        -0.021560789551585913,
+                        0.13758023735135794
+                    ],
+                    "orientation": {
+                        "w": 0.13636367782288972,
+                        "xyz": [
+                            -0.7020806989482539,
+                            0.6954104609389378,
+                            -0.06994233590351755
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.4666500687599182,
+                    "position": [
+                        0.008310153731144965,
+                        -0.031128411646932364,
+                        0.14864557143300772
+                    ],
+                    "orientation": {
+                        "w": 0.020436965915694185,
+                        "xyz": [
+                            0.7092719677508422,
+                            -0.7045204131768847,
+                            -0.012907114475368926
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.4536813497543335,
+                    "position": [
+                        -0.006487586419098079,
+                        -0.021628604736179113,
+                        0.14605037029832602
+                    ],
+                    "orientation": {
+                        "w": 0.016016113357815533,
+                        "xyz": [
+                            0.7141776123255501,
+                            0.6993947091556416,
+                            -0.023256460843858115
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.41136157512664795,
+                    "position": [
+                        0.0009335762588307261,
+                        -0.019640935119241476,
+                        0.1486831223592162
+                    ],
+                    "orientation": {
+                        "w": 0.0077276216091483035,
+                        "xyz": [
+                            -0.7011815534452958,
+                            -0.7129408814764466,
+                            -0.00011176714639982483
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front clasp description mismatches images; latch is metallic and serves closure, not just a light plastic tab."
+    }
+}

dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e57c3a8061e8fc0466f0b1139bb8cbebd12a8a8110eac544adaf6ed0c5716fb
+size 4366248

dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.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>NO: {"summary":"Misses the knob as a separate functional part; visible colors otherwise reasonable.","merge_groups":[]}</PartSegChecker>