Add asset kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c

.gitattributes

@@ -7191,4 +7191,5 @@ dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/mes
 dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f62906a06c505447929323af6eb445c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/f665aa20195d573384f7a9d1378ef80e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f6e8a9a1ce895e7bafa70bdeb5c64d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/affordance_annot.json

@@ -0,0 +1,195 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewalls/body to lift and move the organizer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the outer body to stabilize the organizer while opening the drawer or placing items",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide main structure",
+                "enclose and support storage spaces",
+                "support side grasping",
+                "protect contents",
+                "define overall shape"
+            ],
+            "semantic_description": "Large red plastic exterior shell with a smooth glossy finish and rounded four-lobed profile, covering the sides, back, bottom, and much of the front perimeter, decorated with pale floral patterns.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.8570842742919922,
+                    "position": [
+                        0.1864962773397565,
+                        0.1309124657418579,
+                        0.18007021861558314
+                    ],
+                    "orientation": {
+                        "w": 0.11246116141501424,
+                        "xyz": [
+                            0.6714870646756909,
+                            0.07667333618914929,
+                            -0.7284084078757165
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim/panel together with the side body when picking up the organizer",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "press on the top surface to steady the organizer while accessing the front compartments",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "form the top surface",
+                "stiffen the structure",
+                "provide an upper decorative surface"
+            ],
+            "semantic_description": "Curved red plastic top surface with a smooth glossy finish and clover-like outline, decorated with pale floral prints; it covers the upper face of the organizer.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.32696959376335144,
+                    "position": [
+                        -0.07087404560297728,
+                        -0.019980065757408738,
+                        -0.05611263123864774
+                    ],
+                    "orientation": {
+                        "w": 0.8422382008560646,
+                        "xyz": [
+                            0.5381897311270594,
+                            0.020207651749496014,
+                            -0.024047393598773427
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.2865484356880188,
+                    "position": [
+                        -0.07481479924172163,
+                        -0.050984578439965844,
+                        0.26994952278619166
+                    ],
+                    "orientation": {
+                        "w": 0.05603019479407234,
+                        "xyz": [
+                            0.03561355784861102,
+                            0.9962851463422097,
+                            0.05484705048208414
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.26218488812446594,
+                    "position": [
+                        -0.08511301409453154,
+                        -0.23654797882772982,
+                        -0.17895457429403905
+                    ],
+                    "orientation": {
+                        "w": 0.7694724514518438,
+                        "xyz": [
+                            -0.6139063239511459,
+                            -0.044562503901535266,
+                            -0.17042697883699817
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.23096351325511932,
+                    "position": [
+                        -0.07396345119923353,
+                        -0.24049005121923983,
+                        -0.04261576665157918
+                    ],
+                    "orientation": {
+                        "w": 0.5276944543567614,
+                        "xyz": [
+                            -0.8494111029846201,
+                            -0.0008051725747793004,
+                            0.006220342811714689
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front interior compartment surfaces and drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer knob/front to pull the small drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "lightly hold the front interior lip/edge while stabilizing the organizer during access",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "form front interior storage surfaces",
+                "support small items on the interior ledge",
+                "store small items in the drawer",
+                "provide drawer access"
+            ],
+            "semantic_description": "Red plastic front interior elements with a smooth glossy surface, including the back wall of the open cubby, a narrow interior ledge, and the lower curved drawer front with a small round knob, all matching the organizer's red floral-decorated appearance.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_46": {
+                    "confidence": 0.6300995349884033,
+                    "position": [
+                        0.08315437007695436,
+                        0.004943122621625662,
+                        -0.015299245729693212
+                    ],
+                    "orientation": {
+                        "w": 0.430406033258033,
+                        "xyz": [
+                            0.89643478127522,
+                            0.02012383035102633,
+                            -0.1036839472007896
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.5777245759963989,
+                    "position": [
+                        0.08582534361630678,
+                        -0.052051844308152795,
+                        0.0069254319969331846
+                    ],
+                    "orientation": {
+                        "w": 0.24527262723684765,
+                        "xyz": [
+                            0.967605542326134,
+                            0.02363813527300257,
+                            -0.05497355135787808
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Top panel mask color is incorrect and blue part merges drawer front with interior surfaces too broadly."
+    }
+}

dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab7f552ffb9596a9557b16c79570d174f6e2257701ce81ffae312a4958c5f2e2
+size 3784440

dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/storage_bin_107.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>