Add asset kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090

.gitattributes

@@ -7169,3 +7169,4 @@ dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/affordance/mes
 dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/affordance_annot.json

@@ -0,0 +1,177 @@
+{
+    "affordances": [
+        {
+            "part_name": "rim of storage bin",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift or reposition the storage bin",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the rim to pull the bin from a shelf or surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while placing items inside",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a top gripping edge",
+                "define the opening",
+                "stiffen the upper structure",
+                "guide access to contents"
+            ],
+            "semantic_description": "Thick wavy light-blue plastic rim with a glossy smooth hard surface and subtle decorative swirl patterns, running around the top opening as a prominent raised edge.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9485524296760559,
+                    "position": [
+                        0.09063632786273956,
+                        -0.15921821352094412,
+                        0.18714517541229725
+                    ],
+                    "orientation": {
+                        "w": 0.015952702536037436,
+                        "xyz": [
+                            0.7225636996219257,
+                            -0.6902368403886344,
+                            -0.03493301362303477
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9480043649673462,
+                    "position": [
+                        0.018835684284567833,
+                        0.20308541599661112,
+                        0.17959527857601643
+                    ],
+                    "orientation": {
+                        "w": 0.10556597410270403,
+                        "xyz": [
+                            0.7211187865093595,
+                            0.6754617453254991,
+                            -0.11222723135160638
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9451176524162292,
+                    "position": [
+                        0.053620416671037674,
+                        -0.17540544923394918,
+                        0.1824104506522417
+                    ],
+                    "orientation": {
+                        "w": 0.02730788562332503,
+                        "xyz": [
+                            0.7168192971667658,
+                            -0.6963479035268797,
+                            -0.02289043131630488
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9432343244552612,
+                    "position": [
+                        0.04082058370113373,
+                        -0.18041235860437155,
+                        0.18076040036976337
+                    ],
+                    "orientation": {
+                        "w": 0.03545442589009768,
+                        "xyz": [
+                            0.7119140318226189,
+                            -0.6996176980005578,
+                            -0.04956280483655484
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9425193667411804,
+                    "position": [
+                        0.04846739396452904,
+                        -0.17372486647218466,
+                        0.18221336789429188
+                    ],
+                    "orientation": {
+                        "w": 0.04365649294266911,
+                        "xyz": [
+                            0.7137593169257792,
+                            -0.6983466569742255,
+                            -0.030881949720110387
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.938644528388977,
+                    "position": [
+                        0.035831332206726074,
+                        -0.17490326520055532,
+                        0.18349205143749714
+                    ],
+                    "orientation": {
+                        "w": 0.04039709660260277,
+                        "xyz": [
+                            0.7009466390220747,
+                            -0.7109634746339608,
+                            -0.03965881448231844
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.938324511051178,
+                    "position": [
+                        -0.11102253943681717,
+                        -0.027856755070388317,
+                        0.19639003463089466
+                    ],
+                    "orientation": {
+                        "w": 0.005838794300275611,
+                        "xyz": [
+                            0.008188983943989722,
+                            -0.9994856650919269,
+                            0.030450850543663963
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up the empty or lightly loaded bin",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin during transport",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "grasp the lower exterior to rotate or reorient the bin",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "support the base and sidewalls",
+                "provide exterior stabilization surfaces"
+            ],
+            "semantic_description": "Large star-shaped blue plastic body with glossy smooth hard walls, darker blue interior, rounded corners, and white ornamental floral motifs on the outer sides and lower area.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd7e3eb6096916ab60de00938c01353331c68af42cc1f76b47c71c4c3d05c605
+size 3780616

dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/storage_bin_087.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>