Add asset kitchen_supplies/storage/44980ca48fb8580cb7eb1904f2476933

.gitattributes

@@ -7103,3 +7103,4 @@ dataset/kitchen_supplies/storage/37c9c9934b795722981ad10f0493505d/affordance/mes
 dataset/kitchen_supplies/storage/3a65da1b2d1b534d8cfd688c0b0b300c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/44980ca48fb8580cb7eb1904f2476933/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/44980ca48fb8580cb7eb1904f2476933/affordance/affordance_annot.json

@@ -0,0 +1,104 @@
+{
+    "affordances": [
+        {
+            "part_name": "top lid panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the edge of the top lid panel to lift or open the box lid",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the top panel lightly to stabilize the box during repositioning",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "provide top access when opened",
+                "form the top surface"
+            ],
+            "semantic_description": "Flat dark brown wooden top inset panel with a smooth semi-matte finish and recessed lattice detailing, located within the lid frame.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front drawer fronts",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front at its exposed face or lower edge to pull the drawer open",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "push on a drawer front to guide the drawer closed",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold a drawer front to steady it during drawer manipulation",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "form the front faces of the drawers",
+                "enable opening and closing of the drawers",
+                "provide access to stored items in the drawers"
+            ],
+            "semantic_description": "Two stacked rectangular dark brown wooden drawer front panels on the front of the box, each with a smooth semi-matte finish and decorative lattice framing.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the box body to lift and carry the object",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "clamp opposite sides of the body to reposition the box",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening a drawer or the lid",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid and drawers",
+                "provide the main structural enclosure",
+                "stabilize the object on a surface"
+            ],
+            "semantic_description": "Box-shaped dark brown wooden structural body with smooth semi-matte surfaces forming the side walls, lid frame, and lower outer shell around the storage compartments.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_38": {
+                    "confidence": 0.8225974440574646,
+                    "position": [
+                        -0.12763686757534742,
+                        0.05654073739424348,
+                        0.21537609142251313
+                    ],
+                    "orientation": {
+                        "w": 0.005206040352490173,
+                        "xyz": [
+                            0.010447367647472883,
+                            -0.9999108935232432,
+                            -0.006477242209105869
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer-front part identity and descriptions are incorrect; mask covers a single large front panel, not two drawer fronts."
+    }
+}

dataset/kitchen_supplies/storage/44980ca48fb8580cb7eb1904f2476933/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e8d9ab8467071bbb1bdfa52a67d95a2eba2dadd50ff2452fbdba84a1f2ec82c
+size 3778992

dataset/kitchen_supplies/storage/44980ca48fb8580cb7eb1904f2476933/storage_bin_023.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":"Misses clear functional parts like handles/latches and merges most structure into body; not fully actionable by merging.","merge_groups":[]}</PartSegChecker>