Add asset kitchen_supplies/storage/8f87c539d66a5ccfbbd0f5dcbcb0e702

.gitattributes

@@ -7133,4 +7133,4 @@ dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mes
 dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/8cbbea651f36551997cc4379b46bb2ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8f87c539d66a5ccfbbd0f5dcbcb0e702/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8f87c539d66a5ccfbbd0f5dcbcb0e702/affordance/affordance_annot.json

@@ -0,0 +1,142 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the lid while closing or aligning it with the box body",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "open and close access",
+                "provide top surface"
+            ],
+            "semantic_description": "Large hinged top panel with a teal-blue top surface and beige frame, likely rigid wood or plastic, with a mostly smooth matte finish and broad flat rectangular shape over the box.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.8664567470550537,
+                    "position": [
+                        0.09397503174841404,
+                        0.24155425908975303,
+                        0.17875976487994194
+                    ],
+                    "orientation": {
+                        "w": 0.4984768116028011,
+                        "xyz": [
+                            0.5828709139735967,
+                            0.4133053022189127,
+                            -0.4908778800227435
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front latch tab to lift and open the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the latch tab while guiding the lid shut",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "keep the lid closed",
+                "release the cover",
+                "provide a small pull point",
+                "assist opening and closing"
+            ],
+            "semantic_description": "Small beige front latch tab made of hard material with a smooth matte surface, centered below the lid edge and protruding slightly for pinching and pulling.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and move the box",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the box body to stabilize it while opening the lid",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp opposite side panels for repositioning",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid and hardware",
+                "provide main grasp surface",
+                "protect contents"
+            ],
+            "semantic_description": "Main box-shaped container with slightly tapered sides, beige exterior panels decorated with blue, cream, and dark floral tile-like patterns, rigid construction, and mostly smooth matte surfaces around a dark interior.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_32": {
+                    "confidence": 0.9129307270050049,
+                    "position": [
+                        0.09556047804653645,
+                        0.256734712747857,
+                        -0.09425707533955574
+                    ],
+                    "orientation": {
+                        "w": 0.5369970569030312,
+                        "xyz": [
+                            0.4276426390491733,
+                            -0.5455266931716288,
+                            0.48078743866886686
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer pull handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front pull handle to open the lower drawer or compartment",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the pull handle lightly while guiding the lower compartment closed",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point for the lower compartment",
+                "assist opening",
+                "assist closing",
+                "indicate the lower compartment access point"
+            ],
+            "semantic_description": "Small beige rectangular pull handle on the lower front face of the box, made of hard material with a smooth matte finish, sized for fingertip or gripper pinching.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green part is a side handle, not a drawer pull on lower front face."
+    }
+}

dataset/kitchen_supplies/storage/8f87c539d66a5ccfbbd0f5dcbcb0e702/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7e0fc76ee339ba648878fab9a4b07c19c4a137a88f9ffa9a372b35bf5a0554
+size 3779776

dataset/kitchen_supplies/storage/8f87c539d66a5ccfbbd0f5dcbcb0e702/storage_bin_048.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>YES</PartSegChecker>