Add asset bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857

.gitattributes

@@ -6080,3 +6080,4 @@ dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/mes
 dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/affordance/affordance_annot.json

@@ -0,0 +1,323 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the jewelry box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the lid to stabilize it while accessing the interior",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the box",
+                "protect contents",
+                "open for access",
+                "provide top enclosure"
+            ],
+            "semantic_description": "Large brown wooden top panel with a satin to semi-gloss finish, smooth hard surface, rounded rectangular shape, and visible wood grain, hinged at the back above the base.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box base from the sides to lift and move the jewelry box",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the base steady while opening or closing the lid",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "support the box",
+                "provide main grasp surface",
+                "stabilize the object"
+            ],
+            "semantic_description": "Large brown wooden lower body with a smooth hard semi-gloss finish, rounded rectangular form, visible wood grain, and thick walls forming the main container beneath the lid.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9689339995384216,
+                    "position": [
+                        0.16291640046983957,
+                        0.043412558967247605,
+                        -0.014000584371387959
+                    ],
+                    "orientation": {
+                        "w": 0.09542938640428353,
+                        "xyz": [
+                            0.7380729361784469,
+                            0.061398754765001895,
+                            -0.6651103412252249
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9668752551078796,
+                    "position": [
+                        0.16926381830126047,
+                        0.041316148126497865,
+                        -0.013645621947944164
+                    ],
+                    "orientation": {
+                        "w": 0.04897620545250938,
+                        "xyz": [
+                            0.7391129554598774,
+                            0.005685775516731217,
+                            -0.6717745472460327
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.9657033085823059,
+                    "position": [
+                        0.06526801083236933,
+                        0.13948084809817374,
+                        -0.018101832829415798
+                    ],
+                    "orientation": {
+                        "w": 0.4987666924140274,
+                        "xyz": [
+                            0.5247128244300031,
+                            0.48390231955004426,
+                            -0.4916775198757281
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.9628883004188538,
+                    "position": [
+                        0.15494943503290415,
+                        0.0842068085912615,
+                        -0.01795786526054144
+                    ],
+                    "orientation": {
+                        "w": 0.1754529156629176,
+                        "xyz": [
+                            0.6984172587812247,
+                            0.1756370223541298,
+                            -0.6712534866952093
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9613262414932251,
+                    "position": [
+                        0.06930329743772745,
+                        0.14002073206938803,
+                        -0.022333416156470776
+                    ],
+                    "orientation": {
+                        "w": 0.49778512287406745,
+                        "xyz": [
+                            0.5319630030991396,
+                            0.4682654987983912,
+                            -0.4999527551820157
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9606983065605164,
+                    "position": [
+                        0.1102221542969346,
+                        0.1283553133253008,
+                        -0.015038765035569668
+                    ],
+                    "orientation": {
+                        "w": 0.3673595334472937,
+                        "xyz": [
+                            0.628244520400518,
+                            0.34754342705970553,
+                            -0.5912439108182898
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9601566195487976,
+                    "position": [
+                        0.1560174310579896,
+                        0.0791152159217745,
+                        -0.020162382163107395
+                    ],
+                    "orientation": {
+                        "w": 0.1772330808859902,
+                        "xyz": [
+                            0.6975106442725766,
+                            0.1766015802893317,
+                            -0.6714754038722686
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9592603445053101,
+                    "position": [
+                        0.1663766587153077,
+                        0.03469927259720862,
+                        -0.022285894490778446
+                    ],
+                    "orientation": {
+                        "w": 0.0213580151293236,
+                        "xyz": [
+                            -0.7189794369057264,
+                            -0.020542373954770876,
+                            0.6943993198216446
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.959257185459137,
+                    "position": [
+                        0.16650828067213297,
+                        -0.01866812235675752,
+                        -0.02457054052501917
+                    ],
+                    "orientation": {
+                        "w": 0.015979759606880393,
+                        "xyz": [
+                            0.7231604262169812,
+                            -0.008560580107095594,
+                            -0.6904421494265904
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9589767456054688,
+                    "position": [
+                        0.1648360574617982,
+                        0.02777889766730368,
+                        -0.014565086923539639
+                    ],
+                    "orientation": {
+                        "w": 0.6744928609760927,
+                        "xyz": [
+                            0.008349480275193876,
+                            -0.7382257408558742,
+                            0.0035245154582534484
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior lining",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cushion jewelry",
+                "line the storage compartment",
+                "protect delicate items",
+                "provide presentation surface"
+            ],
+            "semantic_description": "Cream-white padded interior lining with a matte soft-looking fabric surface, smooth gently contoured shape, and fitted placement across the inside bottom and side supports of the box.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "ring slot pad",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold rings or small jewelry",
+                "organize contents",
+                "separate jewelry from base",
+                "provide cushioned support"
+            ],
+            "semantic_description": "Small cream-white padded front insert with a matte soft fabric texture, smooth rectangular shape, and raised placement near the front of the compartment for organizing small jewelry pieces.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front clasp",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front clasp to unlatch the jewelry box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the clasp to pull the lid down for closing alignment",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "latch the box shut",
+                "assist opening",
+                "secure the lid",
+                "align front closure"
+            ],
+            "semantic_description": "Small gold-toned metal clasp at the front center with a reflective glossy finish, hard smooth surface, and compact protruding shape used as the box closure hardware.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to base",
+                "enable lid rotation",
+                "support opening motion",
+                "maintain alignment"
+            ],
+            "semantic_description": "Small gold-toned metal hinge pieces at the rear edge with a reflective smooth finish and compact rectangular form linking the wooden lid to the base.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top clasp plate",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "receive the front clasp",
+                "help secure lid closure",
+                "provide latch interface"
+            ],
+            "semantic_description": "Small gold-toned metal latch plate centered on the outer front edge of the lid, with a reflective smooth finish and compact curved form that mates with the front clasp.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "necklace",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "delicately grasp the necklace chain or pendant to remove it from the box",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the pendant to reposition the jewelry for display",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "wear as jewelry",
+                "decorate the wearer",
+                "display stored accessory"
+            ],
+            "semantic_description": "Fine gold-colored necklace with a slender smooth chain and a small blue-and-gold pendant, lightly draped across the padded cream interior near the center.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Ring slot pad mislabeled and misdescribed; necklace graspability too permissive for robust robotic grasp."
+    }
+}

dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
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+size 3779032