Add asset kitchen_supplies/storage/576d9a39554553719059beba9396a5c5

.gitattributes

@@ -7111,4 +7111,4 @@ dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mes
 dataset/kitchen_supplies/storage/529a38be95275c82bcbab6b941208a70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/53f53fb19e2b5cbc92e202976a1ca4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/affordance/affordance_annot.json

@@ -0,0 +1,131 @@
+{
+    "affordances": [
+        {
+            "part_name": "carry handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the box",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to reposition the box on a surface",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "use the handle to steady the box while moving it short distances",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "carry the box",
+                "provide a primary grip",
+                "support lifting load",
+                "aid repositioning"
+            ],
+            "semantic_description": "A large arched dark brown wooden handle with a matte to satin finish and smooth hard surface spans above the lid, forming the main top grip between the two side supports.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the lid to close and seat it onto the box body",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the top panel lightly to steady the object during manipulation",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "cover the box",
+                "protect contents",
+                "provide top access",
+                "close the opening"
+            ],
+            "semantic_description": "A broad flat dark brown wooden top panel with carved lattice decoration and a circular gold-toned medallion sits on the upper opening as the box's cover, with a matte hard surface.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to pick up the box when the handle is unavailable",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while opening the lid or operating the clasp",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "push or slide the box by its side surfaces",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the structure",
+                "provide side support",
+                "form the storage cavity"
+            ],
+            "semantic_description": "The main box-shaped dark brown wooden body has matte hard smooth sides with ornate carved panels, occupying most of the object volume below the lid.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front clasp",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front clasp to unlatch and open the box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the clasp to align and secure the lid closed",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "latch the lid",
+                "secure closure",
+                "enable opening",
+                "align front closure"
+            ],
+            "semantic_description": "A small gold-toned metal clasp centered on the front face has a reflective smooth surface and compact protruding shape used to lock the lid to the box.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle support post",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the carry handle",
+                "connect the handle assembly to the box sides",
+                "reinforce the handle mounting",
+                "maintain handle clearance above the lid"
+            ],
+            "semantic_description": "Two vertical dark brown wooden side posts with a matte finish rise from opposite sides of the box and hold the carry handle above the lid; they are larger structural supports rather than small brackets.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part grouping mismatch; clasp not maroon, support posts merged with blue handle, lid description overstates visible medallion."
+    }
+}

dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e8fb6b70bf8a2262fd55a8fa8fdca04bdfce60c5041a03eec88145dfc79056
+size 4176492

dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/storage_bin_014.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>