Add asset kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e

.gitattributes

@@ -7144,4 +7144,4 @@ dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mes
 dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e/affordance/affordance_annot.json

@@ -0,0 +1,132 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to lift it off the box",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the lid while repositioning and placing it back on top",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "cover the top opening",
+                "protect contents",
+                "provide removable top closure"
+            ],
+            "semantic_description": "Flat rectangular light pink lid with rounded corners, smooth finish, floral printed top surface, and a centered rounded-rectangle cutout area for a handle insert.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid handle opening insert",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the recessed opening area to lift the lid",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "use the opening as a secure hold point while aligning the lid",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide handhold for lid removal",
+                "improve grip on the lid",
+                "assist lid repositioning"
+            ],
+            "semantic_description": "Small rounded-rectangle recessed insert near the center of the lid, tan/beige in color with a smooth plastic appearance and a pink border around it.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing side walls to pick up and carry the box when lightly loaded",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the body to stabilize it while removing or replacing the lid",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide main structure",
+                "enclose contents",
+                "support the lid",
+                "form the side walls"
+            ],
+            "semantic_description": "Rectangular pastel pink storage box body with smooth pink corner framing and floral printed side panels. The front upper area has a shallow tan semicircular cutout detail, and one lower front side includes a small round pink knob-like decorative feature.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner rim",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the exposed top rim to steady the box while lifting the lid",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "use the rim as a light hold point when aligning the lid",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "define the top opening",
+                "support lid seating",
+                "reinforce the upper edge"
+            ],
+            "semantic_description": "Cream or off-white smooth rigid rim around the top opening, slightly recessed below the lid and forming a narrow rectangular lip.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_51": {
+                    "confidence": 0.5521883964538574,
+                    "position": [
+                        0.2443366205552593,
+                        0.06041074606764596,
+                        0.11902789026498795
+                    ],
+                    "orientation": {
+                        "w": 0.6475680774952758,
+                        "xyz": [
+                            -0.15503127914945275,
+                            -0.7378055196050535,
+                            -0.11074250644930379
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the base",
+                "support stored contents from below",
+                "distribute load"
+            ],
+            "semantic_description": "Large flat brown underside panel with a smooth hard surface, spanning most of the box bottom as the base.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Inner rim color/material and box body details are incorrect; front drawer/knob details misdescribed as box body."
+    }
+}

dataset/kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206136276d75734bc934a67759d505a11f8ef21fbd9c6d00b4aebc82d02928d6
+size 3816996

dataset/kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e/storage_bin_095.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>