Add asset kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17

.gitattributes

@@ -7086,4 +7086,5 @@ dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mes
 dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/23b00d3600485219a5835b1a229b0d36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/affordance_annot.json

@@ -0,0 +1,191 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front pull tab area of the lid to open or close the box",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the lid while keeping it open during access",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "protect stored contents",
+                "provide top access when opened",
+                "support opening and closing"
+            ],
+            "semantic_description": "Large pale sage-green hinged top panel with a matte finish and light floral pattern, including an integrated rounded rectangular pull tab near the front edge.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and reposition the storage box",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while opening the lid or pulling the drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide structural support",
+                "support placement on a surface",
+                "main handling surface"
+            ],
+            "semantic_description": "Tapered box-shaped pale green body made of rigid matte board, with smooth floral-patterned exterior panels forming the main container.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9324549436569214,
+                    "position": [
+                        0.24086913000792265,
+                        -0.13112998055294156,
+                        -0.00861997902393341
+                    ],
+                    "orientation": {
+                        "w": 0.5073990164736732,
+                        "xyz": [
+                            0.5094582212491569,
+                            -0.4832349875989078,
+                            -0.49948223756553844
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9175765514373779,
+                    "position": [
+                        0.23965860437601805,
+                        -0.11667566047981381,
+                        -0.012555181980133057
+                    ],
+                    "orientation": {
+                        "w": 0.5324850836209633,
+                        "xyz": [
+                            0.5084930175398096,
+                            -0.4524749153584158,
+                            -0.5031510089484358
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9132495522499084,
+                    "position": [
+                        0.2269944055005908,
+                        -0.14574454771354795,
+                        -0.02968735620379448
+                    ],
+                    "orientation": {
+                        "w": 0.5357955227365216,
+                        "xyz": [
+                            0.42155392875813497,
+                            -0.40587238948178783,
+                            -0.6086731852319622
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9131171107292175,
+                    "position": [
+                        0.23467689286917448,
+                        -0.1609738920815289,
+                        -0.022519860416650772
+                    ],
+                    "orientation": {
+                        "w": 0.48206652651365195,
+                        "xyz": [
+                            0.42648648796337324,
+                            -0.48449232678720466,
+                            -0.5924426764540606
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.8924028277397156,
+                    "position": [
+                        0.21576357912272215,
+                        -0.13998331176117063,
+                        0.08718563988804817
+                    ],
+                    "orientation": {
+                        "w": 0.34233593467473067,
+                        "xyz": [
+                            0.5997759937813436,
+                            -0.6369111441533544,
+                            -0.3426646459254951
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.8912900686264038,
+                    "position": [
+                        0.22616214584559202,
+                        -0.15035408781841397,
+                        0.04119308851659298
+                    ],
+                    "orientation": {
+                        "w": 0.3422267338455769,
+                        "xyz": [
+                            0.5922430428094378,
+                            -0.6171449643964877,
+                            -0.38892304355137514
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer pull area to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "close the front of the drawer",
+                "provide access to drawer contents",
+                "support opening and closing of the drawer",
+                "retain contents when shut"
+            ],
+            "semantic_description": "Front-facing pale green drawer face with a matte finish and floral decoration, featuring a centered semicircular finger cutout at the top edge and a small horizontal pull slot below it.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side label holder",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold a label card",
+                "identify contents",
+                "mark organization category"
+            ],
+            "semantic_description": "Small slanted rectangular label holder mounted on each side wall, appearing as a thin light-colored frame inset against the pale green floral side panel.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer front description and side label holder identity/description mismatch visible part shapes and details."
+    }
+}

dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329e643dc72f843dd18f4169f2412ba2fead3b18949d34672aed91826036e6d7
+size 3783892

dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/storage_bin_080.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/front panel and side decorations are inconsistently segmented; some issues cannot be fixed by merging alone.","merge_groups":[]}</PartSegChecker>