Add asset kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25

.gitattributes

@@ -7072,3 +7072,4 @@ dataset/kitchen_supplies/storage/05b17d1d4aeb5bcb83d0e9b06aa8cb4c/affordance/mes
 dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0bb192138e075023aade9b863387a775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/affordance/affordance_annot.json

@@ -0,0 +1,154 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer shell",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and reposition the organizer",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the exterior body to stabilize the organizer while placing or removing items",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide structural enclosure",
+                "support the organizer on a surface",
+                "protect stored items from the sides",
+                "main grasp surface",
+                "define the overall shape"
+            ],
+            "semantic_description": "Large flower-shaped red plastic outer body with a glossy smooth hard surface, decorated with light floral patterns, forming the thick exterior walls and base around the organizer.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9015201330184937,
+                    "position": [
+                        0.15685866214334965,
+                        -0.004285087823518552,
+                        0.16888183122500777
+                    ],
+                    "orientation": {
+                        "w": 0.029475191606658388,
+                        "xyz": [
+                            0.6889544624763523,
+                            -0.03403871673623382,
+                            -0.7234046775329989
+                        ]
+                    }
+                },
+                "grasp_2": {
+                    "confidence": 0.8972465991973877,
+                    "position": [
+                        0.1577246729284525,
+                        0.0029989201575517654,
+                        0.17214120691642165
+                    ],
+                    "orientation": {
+                        "w": 0.041700384606866085,
+                        "xyz": [
+                            0.6925634222390032,
+                            -0.06110888283266169,
+                            -0.7175532652975551
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.8813598155975342,
+                    "position": [
+                        0.1528900656849146,
+                        0.010463103652000427,
+                        0.17247913544997573
+                    ],
+                    "orientation": {
+                        "w": 0.04167179489118142,
+                        "xyz": [
+                            0.7050438944927004,
+                            -0.037958462172038465,
+                            -0.7069198847809041
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8729649186134338,
+                    "position": [
+                        0.15463956631720066,
+                        -0.007092006504535675,
+                        0.18090072041377425
+                    ],
+                    "orientation": {
+                        "w": 0.06280525571354878,
+                        "xyz": [
+                            -0.7246897055729447,
+                            0.06667153700408535,
+                            0.6829606406264328
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8686432838439941,
+                    "position": [
+                        0.15464443899691105,
+                        -0.012237649410963058,
+                        0.1914085573516786
+                    ],
+                    "orientation": {
+                        "w": 0.664940252163601,
+                        "xyz": [
+                            -0.00562872727394971,
+                            -0.7457232222632335,
+                            -0.04146871422195613
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8679996132850647,
+                    "position": [
+                        0.14720670320093632,
+                        -0.004106900032638805,
+                        0.17533008521422744
+                    ],
+                    "orientation": {
+                        "w": 0.046061140691696575,
+                        "xyz": [
+                            0.7208096549350747,
+                            0.02645147710435669,
+                            -0.6910948791805334
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "interior shelves and back panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly hold the inner rim or shelf edge to steady the organizer during loading or unloading",
+                    "confidence": 0.33
+                },
+                {
+                    "scenario": "pinch an interior edge to reposition the empty organizer carefully",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "support stored items",
+                "create multiple storage levels",
+                "provide interior backing surface",
+                "organize small objects"
+            ],
+            "semantic_description": "Red glossy plastic interior structure consisting of horizontal shelves, vertical dividers, and the recessed back panel inside the organizer, matching the outer body color and smooth finish.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7284837af327df7d5aa65dfd37f3f67541f4b38e85f21af1b22acd42467a49
+size 5849584

dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/storage_bin_083.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>