Add asset kitchen_supplies/storage/3582f13812a2521ebf4888f86ae998bf

.gitattributes

@@ -7098,4 +7098,4 @@ dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mes
 dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/36806ece9b405dea949484803319227d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3582f13812a2521ebf4888f86ae998bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3582f13812a2521ebf4888f86ae998bf/affordance/affordance_annot.json

@@ -0,0 +1,255 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid handle to lift or remove the lid",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the lid handle to reposition the lid during closing",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "lift the lid",
+                "pull the lid open",
+                "guide lid placement",
+                "provide a top grip"
+            ],
+            "semantic_description": "Small rectangular brown wood-look handle with a smooth hard finish, mounted near the center of the woven lid and sized for secure top gripping.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.09921678900718689,
+                    "position": [
+                        -0.03255382680799812,
+                        0.11074143566656858,
+                        0.2406044928357005
+                    ],
+                    "orientation": {
+                        "w": 0.17998864520260377,
+                        "xyz": [
+                            0.6827910850045913,
+                            0.7078802858752036,
+                            0.017490646232323357
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lid edge or panel to lift the lid when the handle is inaccessible",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the lid panel to steady it while placing it on the bin",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "cover the bin opening",
+                "protect contents",
+                "keep dust out",
+                "complete the top surface"
+            ],
+            "semantic_description": "Flat square cream woven panel with a matte textured surface, forming most of the lid surface inside the brown frame.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite sidewalls to lift and carry the storage bin",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the bin body to stabilize it while opening or closing the lid",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "support the lid",
+                "provide broad grasp surfaces"
+            ],
+            "semantic_description": "Large box-shaped body with cream woven side panels and a brown base, made of wicker-like material with a matte slightly rough texture and tapered sides.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.6206594109535217,
+                    "position": [
+                        0.16131843125913292,
+                        0.26250275142956525,
+                        -0.017248009331524372
+                    ],
+                    "orientation": {
+                        "w": 0.7390784337974335,
+                        "xyz": [
+                            0.6624416288673285,
+                            -0.00024339597137790214,
+                            -0.12220514636272171
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.6078517436981201,
+                    "position": [
+                        0.12444067990873009,
+                        -0.2533538722200319,
+                        0.05845791380852461
+                    ],
+                    "orientation": {
+                        "w": 0.570775925068517,
+                        "xyz": [
+                            -0.8206896547620771,
+                            0.003524571581067004,
+                            -0.02590195598504439
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.5721240043640137,
+                    "position": [
+                        0.16113864874932915,
+                        0.2557759202318266,
+                        0.03281927388161421
+                    ],
+                    "orientation": {
+                        "w": 0.7206872715971392,
+                        "xyz": [
+                            0.6894231725052287,
+                            -0.056487293502241576,
+                            -0.045986209275046146
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.5673601627349854,
+                    "position": [
+                        0.161758596659638,
+                        0.2598299003439024,
+                        -0.019132179208099842
+                    ],
+                    "orientation": {
+                        "w": 0.7714114552581752,
+                        "xyz": [
+                            0.6288033145173609,
+                            -0.06756195507870077,
+                            -0.07047084911074543
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press or brace against the side panel to stabilize the bin during lid removal",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "grasp the upper area of the side panel together with another side to reposition the empty bin",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "form a side wall",
+                "contain contents",
+                "provide sidewall structure",
+                "define bin interior"
+            ],
+            "semantic_description": "Rectangular cream woven side section set within the brown frame, with a matte textured surface matching the basket walls and serving as part of the side enclosure.",
+            "id": 12,
+            "grasp_group": {
+                "grasp_42": {
+                    "confidence": 0.13352859020233154,
+                    "position": [
+                        -0.07407825940754265,
+                        -0.26104805700015277,
+                        -0.05348969344049692
+                    ],
+                    "orientation": {
+                        "w": 0.5648996897264944,
+                        "xyz": [
+                            -0.8068993486305611,
+                            -0.1658374959300266,
+                            -0.047955256960472294
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rim to steady the bin while removing the lid",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the rim to drag or reposition the empty bin",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "support lid seating",
+                "provide edge structure",
+                "stabilize the upper body"
+            ],
+            "semantic_description": "Brown wooden rim running around the top opening, with a hard smooth finish and narrow elongated shape framing the bin mouth.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle trim",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers under the side handle trim to pull or reposition the bin",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "use the paired side handle trim areas on opposite sides to carry the bin",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the side handle trim to stabilize the bin during lid removal",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide a reinforced side grip",
+                "support carrying by the side handle area",
+                "protect the handle opening edge",
+                "improve handling comfort"
+            ],
+            "semantic_description": "Brown wood-look trim piece outlining the rectangular side handle opening near the top of the wall, with a smooth hard finish and rounded rectangular shape.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-color part identities and descriptions mismatch; gray is handle opening, maroon is corner/inner area, lid panel color also incorrect."
+    }
+}

dataset/kitchen_supplies/storage/3582f13812a2521ebf4888f86ae998bf/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383d90fc8bba46f6361f8681c6c491357d53ba4f0e3d5ae82220ff48327ac7ee
+size 3826880

dataset/kitchen_supplies/storage/3582f13812a2521ebf4888f86ae998bf/storage_bin_011.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":"One side panel is wrongly split from the main bin body; rest is acceptable.","merge_groups":[{"colors":["Teal","Maroon"],"target_part":"main bin body","reason":"Maroon is just one body side, not a distinct functional part"}]}</PartSegChecker>