Add asset kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2

.gitattributes

@@ -7194,3 +7194,4 @@ dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/mes
 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/fc6d81223641528f975dd2c207544775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/affordance/affordance_annot.json

@@ -0,0 +1,128 @@
+{
+    "affordances": [
+        {
+            "part_name": "top rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift and reposition the storage bin",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while placing or removing contents",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a top gripping edge",
+                "reinforce the opening",
+                "define the container opening",
+                "support repositioning"
+            ],
+            "semantic_description": "Light blue rigid rim running around the top opening, with a smooth matte finish and shallow semicircular finger cutouts centered on the front and back.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch hardware",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the small front latch hardware during light manipulation or alignment",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "use a precise grasp on the latch hardware to steady the front side briefly",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "serve as decorative front hardware",
+                "act as a latch-like fixture",
+                "indicate front orientation",
+                "offer a small manipulation point"
+            ],
+            "semantic_description": "Small metallic latch-like hardware centered on the upper front wall just below the rim, with a smooth slightly reflective brass or bronze appearance.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up the empty or lightly loaded storage bin",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold opposite outer walls to stabilize the bin during placement",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "provide decorative exterior surfaces",
+                "provide side grasp surfaces"
+            ],
+            "semantic_description": "Tapered rectangular box body with blue ocean-themed exterior artwork and raised shell or coral decorations on the outside, made of rigid material with mostly smooth painted surfaces.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.881434440612793,
+                    "position": [
+                        -0.07480069948360324,
+                        0.17844121810048819,
+                        -0.16852064873091877
+                    ],
+                    "orientation": {
+                        "w": 0.7048294761468261,
+                        "xyz": [
+                            0.09198197694227334,
+                            0.11386497737275103,
+                            0.6941105764936053
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.872718095779419,
+                    "position": [
+                        0.0057516745291650295,
+                        0.19876400288194418,
+                        -0.1636908098589629
+                    ],
+                    "orientation": {
+                        "w": 0.7428862193215638,
+                        "xyz": [
+                            0.007273697925703995,
+                            -0.1150302222900147,
+                            0.6594203563892375
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior cavity",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain contents",
+                "provide storage volume",
+                "receive placed items",
+                "define interior space"
+            ],
+            "semantic_description": "Open rectangular interior cavity with light gray to off-white smooth rigid walls and base, recessed inside the bin and sized to hold small household items.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front hardware function/description is wrong; body description color/details mismatch visible object."
+    }
+}

dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea244f5c2056e60e021135c574422438a173065ff42ed42b7801e0998ab5e6d
+size 3782580

dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/storage_bin_098.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>