Add asset kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546

.gitattributes

@@ -7130,4 +7130,5 @@ dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/mes
 dataset/kitchen_supplies/storage/837fa2b414075a5ab9e3b27bd0f63db8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/8a453bf2d71256d7883103aeab9d8ce2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/affordance_annot.json

@@ -0,0 +1,82 @@
+{
+    "affordances": [
+        {
+            "part_name": "main storage box body with lid and front drawer",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite sidewalls of the box body to lift or reposition the organizer",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the rim or upper body to stabilize the box while opening or closing the front drawer",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "support the box from the lower body during placement on a shelf or tabletop",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure of the organizer",
+                "support the lid and top handle",
+                "house the front pull-out drawer",
+                "provide broad surfaces for handling and placement"
+            ],
+            "semantic_description": "Box-shaped storage organizer with a tan rigid-looking frame and lid border, light gray or off-white textured fabric-like panels, matte finish, slightly tapered rectangular shape, and a front pull-out drawer with a small recessed pull and a gold-toned label/handle area.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the storage box",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the top handle to pull or reposition the box across a surface",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "use the handle as the primary grasp point when placing or removing the box from storage",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the storage box",
+                "pull to reposition",
+                "serve as the primary top grasp point"
+            ],
+            "semantic_description": "Arched tan handle mounted centrally on the lid, likely leather or faux leather with a smooth matte finish, attached by flat tabs with small round gold-toned fasteners.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.7013328671455383,
+                    "position": [
+                        0.003941483795642853,
+                        -0.09174717823043466,
+                        0.28212777711451054
+                    ],
+                    "orientation": {
+                        "w": 0.06680165845792688,
+                        "xyz": [
+                            -0.008753840970732018,
+                            -0.9962015987033301,
+                            -0.055165962662308866
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main part name and description incorrectly include front drawer; mask covers whole box/lid while drawer is not segmented as separate visible part."
+    }
+}

dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28f9d5934b9aaa1b74665e5baf1e825c1ad0d7ca16880a8a73b556a1ca69eac6
+size 3778284

dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/storage_bin_031.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>NO: {"summary":"Drawer pull is merged into body, a distinct functional handle is missing; available colors are otherwise coherent.","merge_groups":[]}</PartSegChecker>