Add asset kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c

.gitattributes

@@ -7186,4 +7186,5 @@ dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mes
 dataset/kitchen_supplies/storage/e6aea63e88ad55c4b7610cf4a80f1296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e720efbfb26852639bcc8e67dec87fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/e94d77b1d7f75deaa5a2ed8769b880ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ee0285dd0efc5e1cb8066409e347d179/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/affordance_annot.json

@@ -0,0 +1,264 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top lid at its edge or with help from the top tab to open the storage box",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the lid while closing or repositioning it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect contents from dust",
+                "provide access by opening and closing"
+            ],
+            "semantic_description": "Large rectangular cream-colored top panel with a smooth matte paperboard-like surface, subtle floral pattern, and shallow framed edge.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.8436731696128845,
+                    "position": [
+                        -0.013429599137452897,
+                        0.2310635452158749,
+                        0.166425462346524
+                    ],
+                    "orientation": {
+                        "w": 0.3798566664807139,
+                        "xyz": [
+                            0.6245586141774403,
+                            -0.4087786016510879,
+                            0.5463840272364264
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.8358358144760132,
+                    "position": [
+                        0.053962592712196056,
+                        -0.16904360009357333,
+                        0.2296915608458221
+                    ],
+                    "orientation": {
+                        "w": 0.07006521850978917,
+                        "xyz": [
+                            0.695733309937999,
+                            -0.700463782358981,
+                            -0.14281637231508634
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8354631662368774,
+                    "position": [
+                        0.03346349366620416,
+                        0.24761584447696805,
+                        0.14163705287501216
+                    ],
+                    "orientation": {
+                        "w": 0.5657818076986268,
+                        "xyz": [
+                            0.4635453864005489,
+                            -0.5112250424971228,
+                            0.45129322701305324
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.8121558427810669,
+                    "position": [
+                        0.08337337963894242,
+                        0.24740555929020047,
+                        0.13442673860117793
+                    ],
+                    "orientation": {
+                        "w": 0.4737366441711829,
+                        "xyz": [
+                            0.5172817327294902,
+                            0.45419119201645863,
+                            -0.5492754883011532
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.8027861714363098,
+                    "position": [
+                        0.05427286469057435,
+                        0.1504237805493176,
+                        0.23457213817164302
+                    ],
+                    "orientation": {
+                        "w": 0.10756676602504388,
+                        "xyz": [
+                            -0.6855669221073899,
+                            -0.7147075819333674,
+                            0.08729523747646495
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to lift or carry the box",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the box while opening the lid",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide the main structural enclosure",
+                "support attached hardware and trim",
+                "present broad surfaces for handling"
+            ],
+            "semantic_description": "Boxy medium-sized body made of rigid covered board with cream and blue floral exterior panels, mostly matte finish, smooth hard surfaces, and slightly tapered vertical sides with reinforced trim.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.8705633282661438,
+                    "position": [
+                        0.22675102644279832,
+                        -0.14545074058696628,
+                        0.05261606303974986
+                    ],
+                    "orientation": {
+                        "w": 0.3755068383173918,
+                        "xyz": [
+                            0.5356412792717543,
+                            -0.6310579742732962,
+                            -0.41695187662736166
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.825266420841217,
+                    "position": [
+                        0.2107131152661168,
+                        -0.18218375695869327,
+                        0.08038710383698344
+                    ],
+                    "orientation": {
+                        "w": 0.44023710003589034,
+                        "xyz": [
+                            -0.6471947791796301,
+                            -0.5315546639190675,
+                            0.32369716220644623
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corner protectors and hardware",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners and edges",
+                "protect against wear",
+                "support latching and decorative fittings",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Small beige corner caps, trim pieces, and latch fittings with a smooth slightly satin finish and rounded shapes, mounted along the edges, corners, and front fittings.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_62": {
+                    "confidence": 0.6128945350646973,
+                    "position": [
+                        0.12147848748281831,
+                        -0.24060527933761477,
+                        0.12162164924666286
+                    ],
+                    "orientation": {
+                        "w": 0.4841268052462714,
+                        "xyz": [
+                            -0.8748651130728354,
+                            -0.013146887314993139,
+                            0.007709067649240323
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small side handle to pull open the shallow drawer or compartment",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "use the handle to steady the drawer front while manipulating it",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point for opening the drawer or compartment",
+                "act as pull hardware on the front-facing drawer section",
+                "indicate the access point on the drawer face"
+            ],
+            "semantic_description": "Small centered beige handle on the shallow upper drawer/front compartment, made of hard smooth material with a satin finish and compact curved shape sized for finger or small gripper engagement.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top tab handle",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small tab on top to help lift the lid",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "use the tab as a secondary grip to start opening the lid",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a small grip point for opening the lid",
+                "assist lifting the top cover",
+                "serve as lid pull tab"
+            ],
+            "semantic_description": "Small beige rectangular tab-like handle centered on the lid top, with rounded corners and a smooth satin finish, protruding slightly above the floral top surface.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_62": {
+                    "confidence": 0.6128945350646973,
+                    "position": [
+                        0.12147848748281831,
+                        -0.24060527933761477,
+                        0.12162164924666286
+                    ],
+                    "orientation": {
+                        "w": 0.4841268052462714,
+                        "xyz": [
+                            -0.8748651130728354,
+                            -0.013146887314993139,
+                            0.007709067649240323
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Side handle misidentified; mask marks main front latch/handle, not a drawer handle, and one color is reused for different parts."
+    }
+}

dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6143dd2238869fa1b475be88fcc3a55aea6752c5e147541f3b65aece4b47138
+size 3784908

dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/storage_bin_044.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>