Add asset bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f

.gitattributes

@@ -8103,3 +8103,4 @@ dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/affordance/mes
 dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/affordance_annot.json

@@ -0,0 +1,172 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the lid to open the jewelry box",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the open lid to stabilize it while placing or removing jewelry",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "cover the box",
+                "protect stored jewelry",
+                "provide access when opened"
+            ],
+            "semantic_description": "Large tan-brown leather-covered lid with a smooth matte finish, rounded rectangular shape, light stitching near the edges, and a dark satin-lined inner panel with a gold-colored monogram.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base of jewelry box",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body from the sides to pick up and move the jewelry box",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the base steady while opening or closing the lid",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "support the whole box",
+                "contain stored jewelry",
+                "provide main grasp surface"
+            ],
+            "semantic_description": "Rectangular lower body in tan-brown leather with a smooth slightly padded exterior, light stitching, and a dark underside, forming the main structural container.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_18": {
+                    "confidence": 0.19729089736938477,
+                    "position": [
+                        0.011718477820977569,
+                        0.043847238150192425,
+                        -0.11671378975734115
+                    ],
+                    "orientation": {
+                        "w": 0.9996987911849483,
+                        "xyz": [
+                            -0.009745719902041802,
+                            -0.014115680477066017,
+                            0.017552646854938674
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper rim frame",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the opening",
+                "support the interior insert",
+                "reinforce the top rim"
+            ],
+            "semantic_description": "Narrow tan-brown border around the top opening with a smooth leather-like finish, running around the upper edge of the base.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch clasp",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the front clasp to unlatch or close the box",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "provide a front pull point",
+                "align the front closure"
+            ],
+            "semantic_description": "Small pale gold metal clasp centered on the front face, with a glossy reflective finish and compact rectangular shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear hinge hardware",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the lid to the base",
+                "allow the lid to pivot open and closed",
+                "support the rear attachment region"
+            ],
+            "semantic_description": "Small pale gold-colored hardware piece at the rear top edge where the lid attaches, visible as a compact fitting rather than a large exposed hinge.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior tray area",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "organize jewelry",
+                "provide padded storage surface",
+                "define the main storage layout"
+            ],
+            "semantic_description": "Light to medium brown interior organizer surface with a soft suede-like matte texture, covering the main storage area inside the box around the compartments.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "ring-roll section",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold rings upright",
+                "organize small jewelry"
+            ],
+            "semantic_description": "Long narrow padded section with several parallel ring rolls, covered in brown suede-like material and positioned along the front-left interior area.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center divider",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate storage sections",
+                "maintain organizer layout"
+            ],
+            "semantic_description": "Thin upright divider in matching brown suede-like material, separating the long left storage sections from the right-side compartment area.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right compartment section",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store small jewelry items",
+                "separate valuables",
+                "provide compartmentalized storage"
+            ],
+            "semantic_description": "Rectangular compartment region on the right interior side, lined with brown suede-like material and split into two stacked compartments.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Rear hinge and upper rim descriptions mismatch masks; lid hardware color also incorrect."
+    }
+}

dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fece29b49d55fab48f71c422de36e5c2e26e142425c4eb780f9c1fab694e3c6f
+size 3792252

dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/jewelry_box_011.urdf

@@ -58,6 +58,7 @@
                <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>