Add asset kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172

.gitattributes

@@ -7137,4 +7137,5 @@ dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mes
 dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/93d9299afe5d5cacae2382007cd033d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/affordance_annot.json

@@ -0,0 +1,235 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer shell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to lift and reposition the organizer",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the outer shell to stabilize the organizer while accessing contents or opening the drawer",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide structural enclosure",
+                "support the container shape",
+                "protect stored items",
+                "offer main exterior grasp surface"
+            ],
+            "semantic_description": "Large red outer body with a rigid lacquered or coated appearance, matte-to-satin finish, scalloped flower-like outline, gold floral decorations, and curved side walls forming the main container.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.9555283188819885,
+                    "position": [
+                        0.15599646815098822,
+                        -0.02915869583375752,
+                        0.1586970928183291
+                    ],
+                    "orientation": {
+                        "w": 0.7127965603595914,
+                        "xyz": [
+                            0.09255586488532179,
+                            -0.6904281569910986,
+                            -0.08162986860666172
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9553783535957336,
+                    "position": [
+                        0.15872402139939368,
+                        -0.04277471383102238,
+                        0.1662368866673205
+                    ],
+                    "orientation": {
+                        "w": 0.7035263786084984,
+                        "xyz": [
+                            0.037719026246429796,
+                            -0.7007659726481523,
+                            -0.11204892341973698
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner compartment",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the inner rim or opposing interior walls to steady the organizer while using the drawer",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the interior opening to reposition the lightweight empty organizer",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "contain small items",
+                "provide storage cavity",
+                "guide item placement",
+                "define the opening"
+            ],
+            "semantic_description": "Open red interior cavity with smooth surfaces and a flower-shaped opening, occupying the central upper portion as the main storage space inside the organizer.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.5473764538764954,
+                    "position": [
+                        0.17191850789822638,
+                        -0.06559145753271878,
+                        -0.0419007298478391
+                    ],
+                    "orientation": {
+                        "w": 0.26824853911025215,
+                        "xyz": [
+                            0.7373692381955919,
+                            -0.25573519620280727,
+                            -0.5647378482545508
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.4266752600669861,
+                    "position": [
+                        0.1627983266953379,
+                        0.0520480505656451,
+                        -0.04732418627827428
+                    ],
+                    "orientation": {
+                        "w": 0.5678551497926714,
+                        "xyz": [
+                            0.09517247562444435,
+                            -0.7769491732984443,
+                            0.2546226832949533
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.3961533010005951,
+                    "position": [
+                        0.17368684359826148,
+                        0.0013560117222368717,
+                        -0.0419886466988828
+                    ],
+                    "orientation": {
+                        "w": 0.15337549916385923,
+                        "xyz": [
+                            -0.7699915170577377,
+                            -0.09080449540082669,
+                            0.6126528899224762
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.37137746810913086,
+                    "position": [
+                        0.16829956718720496,
+                        -0.0682587877381593,
+                        -0.04469960377900861
+                    ],
+                    "orientation": {
+                        "w": 0.6807446740254721,
+                        "xyz": [
+                            0.4599731585146657,
+                            -0.280810323391983,
+                            -0.49614206081372164
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.3552123010158539,
+                    "position": [
+                        0.16196688660420477,
+                        -0.08454557810910046,
+                        -0.08151880474179052
+                    ],
+                    "orientation": {
+                        "w": 0.27160771323310423,
+                        "xyz": [
+                            0.6858111789191002,
+                            -0.18680081894964218,
+                            -0.648843379423433
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "press or hold the knob to push the drawer closed",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "pull drawer",
+                "push drawer closed",
+                "provide small front grip",
+                "indicate drawer position"
+            ],
+            "semantic_description": "Small round light beige to pale gold knob on the drawer front, with a smooth hard finish and slightly protruding button-like shape.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_42": {
+                    "confidence": 0.6778810024261475,
+                    "position": [
+                        0.17175915488041937,
+                        0.10927378828637302,
+                        -0.06001338185160421
+                    ],
+                    "orientation": {
+                        "w": 0.5855855805934671,
+                        "xyz": [
+                            0.3416652619968041,
+                            -0.6464125808202997,
+                            -0.35000735978391445
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "push on the drawer front face to close the drawer",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "pinch or contact the drawer front near the knob to assist drawer manipulation when needed",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "support drawer manipulation",
+                "retain stored items in drawer",
+                "present decorative front face"
+            ],
+            "semantic_description": "Small red front panel beneath the main compartment, decorated with floral patterns and positioned at the lower front of the organizer as the visible face of the drawer.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer knob/front mask colors swapped; inner compartment graspability overstated and shell color description mismatches visible pink-red body."
+    }
+}

dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e11d6e606d06836ef9f4c4fc17c97a01c79abc92c58fee52dcea26610dd12df0
+size 5841656