Add asset kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f

.gitattributes

@@ -7194,4 +7194,4 @@ dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/mes
 dataset/kitchen_supplies/storage/f6e8a9a1ce895e7bafa70bdeb5c64d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f/affordance/affordance_annot.json

@@ -0,0 +1,208 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the storage box",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid while closing or aligning it on the box opening",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "lightly grasp the closed lid from above to steady the box during repositioning",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "enable opening and closing",
+                "provide top closure"
+            ],
+            "semantic_description": "Flat rectangular off-white lid with black floral scroll pattern, beige corner protectors and trim, and a smooth semi-matte rigid board appearance on top of the box.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the round knob to lift and open the lid",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the knob to guide the lid while closing",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a lifting grip",
+                "enable lid opening",
+                "aid lid positioning"
+            ],
+            "semantic_description": "Small round beige knob centered on the lid, likely wood or plastic, with a smooth matte finish and slightly raised profile suitable for fingertip or gripper pinching.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.09136620908975601,
+                    "position": [
+                        -0.05932462960481644,
+                        -0.07645835820585489,
+                        0.031965844333171844
+                    ],
+                    "orientation": {
+                        "w": 0.2683316608073246,
+                        "xyz": [
+                            -0.5998352440768489,
+                            -0.2691929001480253,
+                            -0.7040816588163226
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up and carry the box",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold opposite side panels to stabilize the box while placing it",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp near the upper rim to slide or reposition the box",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "insert gripper or fingers into the front handle opening to pull the box forward",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "use the handle opening to lift or carry the lightweight box",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid",
+                "provide main structure",
+                "provide side grasp surfaces",
+                "include a front handle opening for pulling or carrying"
+            ],
+            "semantic_description": "Tapered rectangular storage box body with off-white exterior panels printed in black floral patterns, beige corner reinforcements and trim, a beige-trimmed oval front handle cutout, smooth rigid board surfaces, and a dark interior.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.794592559337616,
+                    "position": [
+                        -0.07742980122566223,
+                        0.2569556524977088,
+                        -0.1408262774348259
+                    ],
+                    "orientation": {
+                        "w": 0.5244910767676813,
+                        "xyz": [
+                            0.46163800847344527,
+                            0.5363845384842924,
+                            -0.47338260043937225
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.7908627390861511,
+                    "position": [
+                        -0.05809599161148071,
+                        0.26430126931518316,
+                        -0.1291433796286583
+                    ],
+                    "orientation": {
+                        "w": 0.5188165081866021,
+                        "xyz": [
+                            0.4587392123305496,
+                            0.556593506345813,
+                            -0.4589024238300363
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.7855543494224548,
+                    "position": [
+                        -0.056159913539886475,
+                        0.26276472117751837,
+                        -0.1298280581831932
+                    ],
+                    "orientation": {
+                        "w": 0.4999538386777246,
+                        "xyz": [
+                            0.4882061428658687,
+                            0.5315035817535831,
+                            -0.4787534478649221
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7805500626564026,
+                    "position": [
+                        0.01407185522839427,
+                        0.26018747594207525,
+                        -0.14127729088068008
+                    ],
+                    "orientation": {
+                        "w": 0.531304655046031,
+                        "xyz": [
+                            0.4769476087995179,
+                            0.48294725751388545,
+                            -0.5069499861393199
+                        ]
+                    }
+                },
+                "grasp_40": {
+                    "confidence": 0.7770225405693054,
+                    "position": [
+                        -0.005403501912951469,
+                        0.26967453863471746,
+                        -0.12844158709049225
+                    ],
+                    "orientation": {
+                        "w": 0.47856929839352796,
+                        "xyz": [
+                            0.5184194446853946,
+                            0.5088393178843045,
+                            -0.4932496878683751
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior cavity",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide storage space",
+                "contain items inside the box",
+                "define the internal volume"
+            ],
+            "semantic_description": "Dark navy-to-black visible interior cavity seen through the open top, with matte non-reflective inner surfaces lining the inside walls of the box.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:440a2f55793ea0ebf6330238d017e7659ea815aff0eaf5304bce339e0b298068
+size 3786212

dataset/kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f/storage_bin_074.urdf

@@ -57,6 +57,7 @@
                <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>NO: {"summary":"Main lid/body split is good, but latch/knob and interior/opening are not segmented into actionable functional parts.","merge_groups":[]}</PartSegChecker>