Add asset bedroom_supplies/storage/fe29792ce9a659b5a8302a672285e56a

.gitattributes

@@ -6082,3 +6082,4 @@ dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mes
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/fe29792ce9a659b5a8302a672285e56a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/fe29792ce9a659b5a8302a672285e56a/affordance/affordance_annot.json

@@ -0,0 +1,376 @@
+{
+    "affordances": [
+        {
+            "part_name": "top cap",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top cap to pick up or reposition the organizer",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the top cap while twisting another section",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "close the top end",
+                "protect contents",
+                "provide a top gripping surface",
+                "interface for opening or twisting"
+            ],
+            "semantic_description": "Round white plastic top cap with a smooth matte-to-satin finish, slightly domed and located at the top of the cylindrical organizer, with printed markings around the central opening.",
+            "id": 14,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.5224136710166931,
+                    "position": [
+                        0.13270236714743078,
+                        -0.00776697404216975,
+                        0.107075659558177
+                    ],
+                    "orientation": {
+                        "w": 0.6913139680212971,
+                        "xyz": [
+                            -0.03818246119746024,
+                            -0.7215322545922629,
+                            -0.00427818402587587
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.5187191367149353,
+                    "position": [
+                        0.1296336071100086,
+                        -0.030364186852239072,
+                        0.10504413209855556
+                    ],
+                    "orientation": {
+                        "w": 0.6878549375236407,
+                        "xyz": [
+                            -0.07440432750172107,
+                            -0.7152626180544651,
+                            -0.09858482736830007
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.4912603199481964,
+                    "position": [
+                        0.002677872544154525,
+                        0.13189937977585942,
+                        0.1080720704048872
+                    ],
+                    "orientation": {
+                        "w": 0.44097603182986006,
+                        "xyz": [
+                            0.5093568597529704,
+                            -0.5217621108108261,
+                            0.5233163751464449
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper transparent compartment wall",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper transparent sidewall to lift or reorient the organizer",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold this section while rotating an adjacent section",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "allow contents to be seen",
+                "provide structural sidewall",
+                "connect adjacent ring sections"
+            ],
+            "semantic_description": "Translucent gray plastic cylindrical wall with a smooth glossy surface, located just below the upper white ring and revealing the compartment interior.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper middle ring",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the ring at the center to stabilize the organizer",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "grasp the ring while twisting another section",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "separate adjacent compartments",
+                "provide a grip band",
+                "connect stacked sections",
+                "support rotational manipulation"
+            ],
+            "semantic_description": "Opaque white plastic ring with a smooth matte finish, narrow and wrapped around the organizer near the middle-upper area.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower transparent compartment wall",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower transparent sidewall for side pickup",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold this section steady during access or twisting",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "allow contents to be seen",
+                "provide structural sidewall",
+                "connect neighboring sections"
+            ],
+            "semantic_description": "Translucent gray plastic cylindrical wall with a smooth glossy surface, located above the broad bottom cup and below the middle white ring.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower middle ring",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lower ring to stabilize the lower section",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "use the ring as a side grip while rotating another part",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "separate lower compartment from adjacent section",
+                "provide a grip boundary",
+                "connect stacked sections",
+                "support rotational alignment"
+            ],
+            "semantic_description": "Opaque white plastic ring with a smooth matte finish, positioned between the lower transparent compartment wall and the bottom cup.",
+            "id": 18,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.7554017305374146,
+                    "position": [
+                        0.11750263883732259,
+                        -0.054992228164337575,
+                        -0.10914228297770023
+                    ],
+                    "orientation": {
+                        "w": 0.16000360324050006,
+                        "xyz": [
+                            -0.5417497171071141,
+                            0.14388341732495236,
+                            0.8125291706660828
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base cup",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad bottom cup to pick up the organizer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the base firmly while opening or twisting upper sections",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the organizer upright",
+                "enclose the bottom end",
+                "provide a stable handhold",
+                "protect the lower portion"
+            ],
+            "semantic_description": "Large white plastic bottom cup with a smooth matte surface, broad and slightly flared at the lowest end of the cylindrical organizer.",
+            "id": 19,
+            "grasp_group": {
+                "grasp_59": {
+                    "confidence": 0.6641790866851807,
+                    "position": [
+                        0.055799992522224784,
+                        0.07656394003424793,
+                        -0.16829927451908588
+                    ],
+                    "orientation": {
+                        "w": 0.8267098860388388,
+                        "xyz": [
+                            0.06677806301345937,
+                            -0.2561604957505218,
+                            0.49646072860062973
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "central spindle",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support internal structure",
+                "maintain alignment",
+                "guide internal section movement",
+                "connect interior elements"
+            ],
+            "semantic_description": "Small white plastic central post visible through the top opening and lower interior, aligned with the main axis of the organizer.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "internal divider fin",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "divide internal storage spaces",
+                "partition a compartment",
+                "organize contents"
+            ],
+            "semantic_description": "Thin white internal radial divider visible through the transparent wall and openings, forming one wedge-like partition inside the organizer.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "internal divider fin",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "divide internal storage spaces",
+                "partition a compartment",
+                "organize contents"
+            ],
+            "semantic_description": "Thin white internal radial divider visible inside the organizer, one of several fins separating wedge-shaped sections.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom interior plate segment",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the bottom closure of the base interior",
+                "support stored items above",
+                "provide internal base structure"
+            ],
+            "semantic_description": "Flat white interior bottom surface segment visible inside the wide base opening, forming part of the base floor rather than a thin divider fin.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom interior plate segment",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the bottom closure of the base interior",
+                "support stored items above",
+                "provide internal base structure"
+            ],
+            "semantic_description": "Small white interior base-floor segment visible through the bottom opening, part of the bottom plate inside the base cup.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom interior plate segment",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the bottom closure of the base interior",
+                "support stored items above",
+                "provide internal base structure"
+            ],
+            "semantic_description": "White interior bottom plate area visible among the lower internal colored regions, forming the floor of the base compartment.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom interior plate segment",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the bottom closure of the base interior",
+                "support stored items above",
+                "provide internal base structure"
+            ],
+            "semantic_description": "Small white interior floor segment near the center axis at the bottom opening, part of the base's internal bottom surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom interior plate segment",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the bottom closure of the base interior",
+                "support stored items above",
+                "provide internal base structure"
+            ],
+            "semantic_description": "White plastic interior bottom plate segment visible within the base opening, contributing to the flat floor of the base interior.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "internal divider fin",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "divide internal storage spaces",
+                "partition a compartment",
+                "organize contents"
+            ],
+            "semantic_description": "Thin white radial divider visible through the upper compartment window, part of the organizer's internal partition system.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom interior plate segment",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the bottom closure of the base interior",
+                "support stored items above",
+                "provide internal base structure"
+            ],
+            "semantic_description": "Small white interior base-floor segment inside the organizer's lower opening, part of the bottom plate rather than a vertical divider.",
+            "id": 25,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several internal parts are misidentified; bottom opening is partition wedges, not floor plate segments."
+    }
+}

dataset/bedroom_supplies/storage/fe29792ce9a659b5a8302a672285e56a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b86a4065e459f820b95b090980a011b18cbaba521e5d66ec28e26f7f592f2a35
+size 3788948

dataset/bedroom_supplies/storage/fe29792ce9a659b5a8302a672285e56a/pill_organizer_020.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>19</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>