Add asset kitchen_supplies/storage/70be8a79f6e757029bdc80cb6ae1a203

.gitattributes

@@ -7121,4 +7121,4 @@ dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mes
 dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/70be8a79f6e757029bdc80cb6ae1a203/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/70be8a79f6e757029bdc80cb6ae1a203/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to remove or reposition the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid while opening the storage bin",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "pick up the detached lid as a separate piece",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "cover the bin opening",
+                "protect contents",
+                "allow opening and closing",
+                "provide top access control"
+            ],
+            "semantic_description": "Square light blue rigid lid with a matte to semi-gloss finish, smooth hard surface, pale white swirled decorative pattern, and a shallow circular top feature near the center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or carry the storage bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the bin body to stabilize it while opening the lid",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "grasp opposite outer walls to reposition the bin on a shelf or table",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the structure",
+                "provide main grasp surface",
+                "stabilize contents"
+            ],
+            "semantic_description": "Tapered rectangular light blue storage bin body with smooth rigid walls, matte to semi-gloss finish, medium size, and blue-white patchwork-style decorative printed panels on the exterior sides.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_32": {
+                    "confidence": 0.8924808502197266,
+                    "position": [
+                        0.08669319446198642,
+                        0.17170552513562143,
+                        -0.19663424137979746
+                    ],
+                    "orientation": {
+                        "w": 0.6852145966945177,
+                        "xyz": [
+                            0.025705014160402752,
+                            -0.04361354035182752,
+                            -0.7265797050714824
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.8923720717430115,
+                    "position": [
+                        0.09415878797881305,
+                        0.18220926425419748,
+                        -0.19035571161657572
+                    ],
+                    "orientation": {
+                        "w": 0.7254978144917213,
+                        "xyz": [
+                            -0.041303013699559125,
+                            -0.04288148292278082,
+                            0.6856443397632727
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front handle to pull the bin toward the robot",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "use the handle to lift or drag the bin short distances",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the handle to stabilize the bin during lid removal",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "assist carrying",
+                "aid repositioning",
+                "indicate front side"
+            ],
+            "semantic_description": "Small U-shaped flexible-looking dark blue fabric or woven handle mounted at the center of the front wall, sized for a pinch or hook grip.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left inner compartment",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate stored items",
+                "organize contents",
+                "provide interior subdivision"
+            ],
+            "semantic_description": "Small left interior compartment with smooth light blue rigid walls, open rectangular shape, and a shallow box-like cavity inside the bin.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right inner compartment",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate stored items",
+                "organize contents",
+                "provide interior subdivision"
+            ],
+            "semantic_description": "Larger right interior compartment with smooth light blue rigid walls, open rectangular shape, and a deeper cavity occupying most of the bin interior.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "divider panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate compartments",
+                "organize contents",
+                "provide internal structure"
+            ],
+            "semantic_description": "Thin vertical light blue divider panel with a smooth rigid surface, positioned near the center of the bin interior to split the cavity into two sections.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/70be8a79f6e757029bdc80cb6ae1a203/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b257483837fe84adad2c21e71ca052d75af981533ee253f6eff539769bb28a60
+size 3784284