Add asset bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271

.gitattributes

@@ -6047,4 +6047,4 @@ dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/affordance/mes
 dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/affordance_annot.json

@@ -0,0 +1,177 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid from the top and sides to open the container after releasing the latch",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the lid lightly while repositioning the closed container",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "cover the container opening",
+                "protect stored contents",
+                "retain contents when closed",
+                "form the upper shell of the case"
+            ],
+            "semantic_description": "A large translucent clear-to-frosted plastic top with a smooth glossy surface and rounded rectangular capsule-like shape, spanning the upper half of the container.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.7399963736534119,
+                    "position": [
+                        -0.08759507315699011,
+                        -0.1296573206782341,
+                        0.14613663544878364
+                    ],
+                    "orientation": {
+                        "w": 0.2104761279382216,
+                        "xyz": [
+                            -0.7089393909832075,
+                            0.6706496247886443,
+                            -0.05773924359864054
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.7373360991477966,
+                    "position": [
+                        -0.12944263743702322,
+                        -0.12586645781993866,
+                        0.11924550076946616
+                    ],
+                    "orientation": {
+                        "w": 0.3223706330307879,
+                        "xyz": [
+                            -0.6741573847517203,
+                            0.6399969391456813,
+                            -0.1788656295329229
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.7325399518013,
+                    "position": [
+                        -0.13339262234512717,
+                        -0.12058116495609283,
+                        0.11801420291885734
+                    ],
+                    "orientation": {
+                        "w": 0.3664040111413596,
+                        "xyz": [
+                            -0.625341567403765,
+                            0.6469673908625029,
+                            -0.236916060783328
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.7320598363876343,
+                    "position": [
+                        -0.12616657244507223,
+                        -0.12812205404043198,
+                        0.11541516473516822
+                    ],
+                    "orientation": {
+                        "w": 0.3500906372111909,
+                        "xyz": [
+                            -0.6752507395279518,
+                            0.6075920192162786,
+                            -0.22870269497472423
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.7313328385353088,
+                    "position": [
+                        -0.17231317388359457,
+                        -0.12290120869874954,
+                        0.030696922447532415
+                    ],
+                    "orientation": {
+                        "w": 0.4901340570043161,
+                        "xyz": [
+                            -0.5709152117320615,
+                            0.4885889523597591,
+                            -0.4417072138978699
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7249637842178345,
+                    "position": [
+                        -0.144129415624775,
+                        -0.12972643971443176,
+                        0.09816982736811042
+                    ],
+                    "orientation": {
+                        "w": 0.4276810788407103,
+                        "xyz": [
+                            -0.6162768473146552,
+                            0.5960264652634455,
+                            -0.2864335786375583
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base around its sides to pick up the container",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the base firmly while opening the lid",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the container",
+                "provide the main grasp surface",
+                "stabilize the overall structure"
+            ],
+            "semantic_description": "A translucent clear-to-frosted plastic bottom shell with a smooth glossy surface, rounded rectangular form, and thicker-looking lower body forming the main container.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front tab to release or secure the lid",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "use a precision grasp on the tab to start opening the container",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "lock the lid closed",
+                "release the lid",
+                "provide an opening control point",
+                "secure contents during transport"
+            ],
+            "semantic_description": "A small translucent clear plastic rectangular tab centered on the front edge seam, with a smooth glossy finish and slight protrusion sized for fingertip or precision gripper access.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "One masked part is missing; latch color and end-cap identity are incorrect."
+    }
+}

dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2a0d5df8857d1a15b3f0dc2ffbb02e22d1354973cc132367e9412989f22a4cf
+size 3781740