Add asset kitchen_supplies/storage/d2890164c2175f3093aa6e000961d9d2

.gitattributes

@@ -7170,3 +7170,4 @@ dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/mes
 dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d2890164c2175f3093aa6e000961d9d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d2890164c2175f3093aa6e000961d9d2/affordance/affordance_annot.json

@@ -0,0 +1,265 @@
+{
+    "affordances": [
+        {
+            "part_name": "front latch",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the front latch to help draw the bin outward",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the latch area briefly while aligning or closing the front",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "provide a front pull tab",
+                "assist front access",
+                "help secure or manipulate the front handle area"
+            ],
+            "semantic_description": "Small beige latch piece centered on the upper front face above the handle opening, made of smooth rigid material with a short rectangular protruding shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front handle opening",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers or a gripper into the front recessed handle opening to pull the bin outward",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "use the front handle opening as a stabilizing hold while lifting or repositioning the empty bin",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "pull the bin outward",
+                "assist repositioning",
+                "stabilize handling"
+            ],
+            "semantic_description": "Recessed front handle opening directly below the latch, appearing as a dark cutout framed by a beige border, sized for fingers and spanning horizontally across the front center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the bin from underneath for a secure lift",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "contact the lower base area when picking up or setting down the empty bin",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "support stored contents",
+                "form the bin base",
+                "provide underside support",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Large flat underside base panel in medium brown tones with a mostly smooth matte appearance, broad rectangular footprint, and rigid construction spanning the full bottom.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.8649712800979614,
+                    "position": [
+                        0.04642120283097029,
+                        0.2688043140806258,
+                        -0.06310914922505617
+                    ],
+                    "orientation": {
+                        "w": 0.536559683731986,
+                        "xyz": [
+                            0.47662079606128455,
+                            0.49641730428811337,
+                            -0.4883709477012951
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.7528473734855652,
+                    "position": [
+                        0.10635484289377928,
+                        0.2631437205709517,
+                        -0.06867572758346796
+                    ],
+                    "orientation": {
+                        "w": 0.4837509421945478,
+                        "xyz": [
+                            0.520058876060671,
+                            0.4464320226501919,
+                            -0.5442630251164018
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.6539433598518372,
+                    "position": [
+                        0.24310175608843565,
+                        -0.008236728375777602,
+                        -0.08198205102235079
+                    ],
+                    "orientation": {
+                        "w": 0.06508272358230772,
+                        "xyz": [
+                            -0.704847258544876,
+                            -0.040834548389511394,
+                            0.7051858768230587
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.6109055280685425,
+                    "position": [
+                        0.1502097500488162,
+                        0.27713203663006425,
+                        -0.07196341175585985
+                    ],
+                    "orientation": {
+                        "w": 0.46828762393364576,
+                        "xyz": [
+                            0.5120702175087183,
+                            0.5052971469539234,
+                            -0.512996673372625
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.6005309820175171,
+                    "position": [
+                        0.1420945031568408,
+                        0.2615166329778731,
+                        -0.0770907448604703
+                    ],
+                    "orientation": {
+                        "w": 0.6375115356412744,
+                        "xyz": [
+                            0.4110649467636037,
+                            -0.5145685354115384,
+                            0.3997797816685624
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.5978359580039978,
+                    "position": [
+                        0.174388418905437,
+                        0.2560016238130629,
+                        -0.08464616257697344
+                    ],
+                    "orientation": {
+                        "w": 0.6496864201905712,
+                        "xyz": [
+                            0.37074202108148585,
+                            -0.5603026488172814,
+                            0.3556948846310749
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the empty bin",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the rim to steady the bin while placing items inside",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide a top grip",
+                "protect the upper edge",
+                "maintain shape"
+            ],
+            "semantic_description": "Wide cream-beige top rim around the opening, made of rigid material with a slightly textured matte finish and embossed decorative patterning along the outer edge.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "outer side wall",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite outer side walls to lift the empty bin body",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "push or hold a side wall to reposition the bin on a surface",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "form the outer body",
+                "provide side support",
+                "protect stored items"
+            ],
+            "semantic_description": "Large exterior wall panels forming most of the bin body, with decorative blue floral patterned sections and cream framing, rigid construction, and broad tapered faces.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_75": {
+                    "confidence": 0.6681403517723083,
+                    "position": [
+                        0.13819613587111235,
+                        -0.055319549050182104,
+                        -0.17735661286860704
+                    ],
+                    "orientation": {
+                        "w": 0.9907026046786345,
+                        "xyz": [
+                            -0.13246630952966565,
+                            0.030017775995939577,
+                            0.007743322724683319
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "inner side wall",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "contact the inner wall to steady the bin while inserting or arranging items",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "press lightly against the inner wall while organizing contents",
+                    "confidence": 0.32
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "form the inner cavity",
+                "guide item placement",
+                "protect contents from side contact"
+            ],
+            "semantic_description": "Tall interior wall panels in muted teal-blue tones with a smooth matte rigid surface, lining the inside of the bin beneath the top rim.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front handle mask/color and identity are wrong; inner wall graspability also unrealistic."
+    }
+}

dataset/kitchen_supplies/storage/d2890164c2175f3093aa6e000961d9d2/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3788696