Add asset bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be

.gitattributes

@@ -6066,4 +6066,4 @@ dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/affordance/mes
 dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/e3eb09dd5d525dd484aeb6c850a2f991/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/affordance/affordance_annot.json

@@ -0,0 +1,134 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid from the sides to remove or open the jewelry box",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the lid to place it back onto the box",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the box",
+                "protect contents",
+                "open for access",
+                "provide top enclosure"
+            ],
+            "semantic_description": "Faceted white stone-like lid with a glossy polished finish, smooth hard surface, subtle gray marble veining, and a large octagonal form covering the top half of the box.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_9": {
+                    "confidence": 0.7476508617401123,
+                    "position": [
+                        -0.14569573118933477,
+                        -0.16488625924102962,
+                        0.08973721787333488
+                    ],
+                    "orientation": {
+                        "w": 0.20889894316712926,
+                        "xyz": [
+                            -0.7432764034845217,
+                            -0.2726924351655219,
+                            -0.57405596884822
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the box base from opposite sides to pick up the jewelry box",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the base steady while opening or closing the lid",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain jewelry",
+                "support the object",
+                "provide main grasp surface",
+                "stabilize during opening"
+            ],
+            "semantic_description": "Faceted white stone-like lower body with a glossy polished finish, smooth hard surface, faint gray marble veining, and a medium-sized octagonal form forming the bottom container.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_28": {
+                    "confidence": 0.7194443941116333,
+                    "position": [
+                        -0.20168930306681432,
+                        0.03995715384371579,
+                        -0.10614979639649391
+                    ],
+                    "orientation": {
+                        "w": 0.8326824180463448,
+                        "xyz": [
+                            0.057272524138774164,
+                            0.5401352813519907,
+                            -0.10776700095145716
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.6930301785469055,
+                    "position": [
+                        -0.18673947468050756,
+                        0.07894876529462636,
+                        -0.11602816358208656
+                    ],
+                    "orientation": {
+                        "w": 0.8243609569502133,
+                        "xyz": [
+                            0.10081284815880205,
+                            0.46872398042325913,
+                            -0.3009378880739594
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "hinge plate",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to base",
+                "enable pivoting",
+                "guide lid alignment"
+            ],
+            "semantic_description": "Small gold-toned metal hinge plate with a reflective smooth finish and rectangular shape mounted on the rear upper edge, linking the lid and base.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinge bracket",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the hinge",
+                "anchor moving joint",
+                "reinforce lid connection"
+            ],
+            "semantic_description": "Tiny gold-toned metal hinge bracket with a reflective smooth surface and slim rectangular form attached near the back rim, appearing as part of the lid-side hinge hardware.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fdafc91a3c342a2b93bbb619820dc49045114b77add446c92d8846b9afc88b3
+size 3780440

dataset/bedroom_supplies/storage/e7bfe29613645f509fc91aa1d68690be/jewelry_box_009.urdf

@@ -54,6 +54,7 @@
                <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>