Add asset kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac

.gitattributes

@@ -7121,3 +7121,4 @@ dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mes
 dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6a3cf6305a735f5fb53ff7314990d367/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/affordance_annot.json

@@ -0,0 +1,215 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage bin body",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and relocate the storage bin",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the bin body to stabilize it while opening or closing the lid",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the lower side or base edge to pull the bin from a shelf",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid",
+                "provide main structure",
+                "provide side grasp surfaces",
+                "rest on a surface"
+            ],
+            "semantic_description": "Large rectangular box body with cream and pale blue patterned rigid board surfaces, mostly matte finish, hard texture, and decorative floral and geometric panels around the sides and front.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the storage bin",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid to close and align it onto the box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the closed lid from the top edge to reposition the lightweight bin",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect stored items",
+                "open for access",
+                "close the container"
+            ],
+            "semantic_description": "Flat rectangular cream lid with muted blue and beige floral decoration, rigid board construction, a matte smooth hard surface, and tan corner protectors at the corners.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_32": {
+                    "confidence": 0.7349586486816406,
+                    "position": [
+                        0.11287107039242983,
+                        0.165940104983747,
+                        0.13781878352165222
+                    ],
+                    "orientation": {
+                        "w": 0.19204075030044482,
+                        "xyz": [
+                            -0.6865541871138713,
+                            -0.6850614587016619,
+                            0.1498482438402425
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.7106122374534607,
+                    "position": [
+                        0.0735008092597127,
+                        0.16191550996154547,
+                        0.16483637690544128
+                    ],
+                    "orientation": {
+                        "w": 0.06400184027812646,
+                        "xyz": [
+                            -0.7215598541285403,
+                            -0.6893812566513859,
+                            0.0029367207508772483
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch hardware",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the front latch to release or fasten the lid",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the front latch as a small pull point to slide the box slightly forward",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "release the lid",
+                "provide a small pull point",
+                "assist front closure"
+            ],
+            "semantic_description": "Small tan closure hardware on the front center of the box, made of smooth hard material and protruding slightly from the front face.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.4201905131340027,
+                    "position": [
+                        0.0997195141389966,
+                        -0.016769290436059237,
+                        -0.038666700944304466
+                    ],
+                    "orientation": {
+                        "w": 0.7631955554834415,
+                        "xyz": [
+                            -0.07018464032513495,
+                            0.64224570667285,
+                            0.011274422958354065
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.4170466363430023,
+                    "position": [
+                        0.09389835316687822,
+                        0.0009207697585225105,
+                        -0.006982368417084217
+                    ],
+                    "orientation": {
+                        "w": 0.7095080667745981,
+                        "xyz": [
+                            0.00919031430278081,
+                            0.7025810895333984,
+                            -0.05379269406575155
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.35570386052131653,
+                    "position": [
+                        0.0931824641302228,
+                        0.040409806184470654,
+                        -0.04215729236602783
+                    ],
+                    "orientation": {
+                        "w": 0.6909195709788807,
+                        "xyz": [
+                            0.057366820107504435,
+                            0.7132570405277487,
+                            -0.10297372736144911
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.43083229660987854,
+                    "position": [
+                        0.09655612427741289,
+                        -0.02438303455710411,
+                        0.034954965114593506
+                    ],
+                    "orientation": {
+                        "w": 0.6413495720755853,
+                        "xyz": [
+                            -0.06761295164323063,
+                            0.763187418088183,
+                            0.04054848998973075
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges",
+                "reduce wear at corners"
+            ],
+            "semantic_description": "Small tan protective caps at the box and lid corners, with a smooth hard finish and compact rounded triangular shapes that reinforce and protect the corners.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear corner tabs",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce rear upper corners",
+                "help secure the lid-body junction",
+                "protect high-wear rear edges"
+            ],
+            "semantic_description": "Small tan tabs or reinforcing pieces at the rear upper corners where the lid meets the box, visible as compact hard fittings near the back edge.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow part misidentified; it marks side/rear hinge hardware, not rear corner tabs."
+    }
+}

dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a14fdb75a071afabb777c62403eb26736d82792ec631b3c19d7f2dfb842695
+size 3781472

dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/storage_bin_019.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>