Add asset kitchen_supplies/storage/e720efbfb26852639bcc8e67dec87fa6

.gitattributes

@@ -7185,4 +7185,4 @@ dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/mes
 dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/e85d5d07ffb65357b5e4c795d5bc1632/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/e720efbfb26852639bcc8e67dec87fa6/affordance/affordance_annot.json

@@ -0,0 +1,265 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the lid to open the storage box",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the lid while lowering it to close and align with the box body",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "stabilize the partially open lid during access to contents",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "open and close access",
+                "protect contents",
+                "provide a top surface"
+            ],
+            "semantic_description": "Rectangular off-white rigid lid with a smooth semi-matte finish, pale blue and beige floral decoration on top, and tan reinforced corner caps, forming the hinged top cover.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9161021113395691,
+                    "position": [
+                        0.04832464503124356,
+                        0.2662575119175017,
+                        0.15482611721381545
+                    ],
+                    "orientation": {
+                        "w": 0.5103474705277445,
+                        "xyz": [
+                            0.5332946060016184,
+                            0.5134368373900753,
+                            -0.43763562074674534
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to lift and carry the storage box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the front and back walls to reposition the box on a surface",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening or closing the lid",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the overall structure",
+                "provide side grasp surfaces",
+                "protect contents"
+            ],
+            "semantic_description": "Box-shaped rigid body with cream-colored panels decorated by blue and tan floral patterns, tan corner reinforcements and trim, and a brown bottom panel.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9456393718719482,
+                    "position": [
+                        0.06877022655680776,
+                        0.2787723117507994,
+                        -0.08888950431719422
+                    ],
+                    "orientation": {
+                        "w": 0.5203328816046956,
+                        "xyz": [
+                            0.49590584246838876,
+                            0.470737846224604,
+                            -0.5116023532573843
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9336103796958923,
+                    "position": [
+                        0.06887409510090947,
+                        0.2738355570472777,
+                        -0.0815113210119307
+                    ],
+                    "orientation": {
+                        "w": 0.49857869307562486,
+                        "xyz": [
+                            0.5165929163345536,
+                            0.4802683726092437,
+                            -0.5038782947054093
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9277620911598206,
+                    "position": [
+                        0.09973773779347539,
+                        0.27472307020798326,
+                        -0.07777159893885255
+                    ],
+                    "orientation": {
+                        "w": 0.5170210199060011,
+                        "xyz": [
+                            0.4714807013183546,
+                            -0.5328810679386088,
+                            0.47584974592019935
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.925774872303009,
+                    "position": [
+                        0.1264507961459458,
+                        0.26722644502297044,
+                        -0.07938586408272386
+                    ],
+                    "orientation": {
+                        "w": 0.534376924160252,
+                        "xyz": [
+                            0.530324993452817,
+                            0.43475086767750504,
+                            -0.4941542140849898
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9257442951202393,
+                    "position": [
+                        0.10548503370955586,
+                        0.2704139822162688,
+                        -0.08632426941767335
+                    ],
+                    "orientation": {
+                        "w": 0.5029656314044614,
+                        "xyz": [
+                            0.5144470280157561,
+                            0.46743643836853,
+                            -0.5136857065142172
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9245918393135071,
+                    "position": [
+                        0.12185481609776616,
+                        0.2666426473297179,
+                        -0.08406292134895921
+                    ],
+                    "orientation": {
+                        "w": 0.4937603069368839,
+                        "xyz": [
+                            0.5267707726591291,
+                            0.45555941505636066,
+                            -0.5207484341975552
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9244258403778076,
+                    "position": [
+                        0.11503906967118382,
+                        0.2664565318264067,
+                        -0.08077796036377549
+                    ],
+                    "orientation": {
+                        "w": 0.5359248367383834,
+                        "xyz": [
+                            0.44702659195857525,
+                            -0.5480180610859315,
+                            0.4611160376439479
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9231182336807251,
+                    "position": [
+                        0.09328329982236028,
+                        0.2702345126308501,
+                        -0.08476470643654466
+                    ],
+                    "orientation": {
+                        "w": 0.5409740015165148,
+                        "xyz": [
+                            0.4421677136394459,
+                            -0.5386555882744127,
+                            0.47083436569437137
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9209160804748535,
+                    "position": [
+                        0.0628581759519875,
+                        0.27233596378937364,
+                        -0.08087040716782212
+                    ],
+                    "orientation": {
+                        "w": 0.5144782718347182,
+                        "xyz": [
+                            0.47300072525445785,
+                            -0.5182365926443269,
+                            0.4929637469055075
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9206099510192871,
+                    "position": [
+                        0.05044938297942281,
+                        0.2776660197414458,
+                        -0.07958665722981095
+                    ],
+                    "orientation": {
+                        "w": 0.5098543677626448,
+                        "xyz": [
+                            0.529406660493786,
+                            0.47190785895402576,
+                            -0.48690870207421627
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch clasp",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and lift the front clasp to release or secure the lid",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the clasp as a small pull point to start opening the lid",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "release the lid",
+                "fasten the front opening"
+            ],
+            "semantic_description": "Small front clasp/hasp assembly centered on the front face, light cream to tan in color with a smooth slightly reflective hard surface and compact protruding shape used to fasten the lid.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/e720efbfb26852639bcc8e67dec87fa6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e258ac8b5c3b1bae05c66dddaab2b9e4e6e0d9cfd1f6c71f0579d5acb1815a
+size 3814284

dataset/kitchen_supplies/storage/e720efbfb26852639bcc8e67dec87fa6/storage_bin_038.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>