Add asset kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d

.gitattributes

@@ -7166,4 +7166,4 @@ dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/mes
 dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/c8e7ba4f9d4a50faaafa10b6d9fee599/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/affordance_annot.json

@@ -0,0 +1,225 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top side edges to lift and reposition the small drawer unit",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while another gripper pulls a drawer open",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cap the cabinet body",
+                "support light items",
+                "help stiffen the frame"
+            ],
+            "semantic_description": "Flat light beige wood top with a matte smooth finish and subtle wood grain, forming the broad upper surface of the small two-drawer cabinet.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the cabinet to lift or move the unit",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet body to keep it steady while opening or closing a drawer",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "form the outer frame",
+                "support the drawers",
+                "enclose drawer space",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Light beige wooden outer shell with matte smooth sides and faint grain, box-shaped and surrounding the drawers on the left, right, and back.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_66": {
+                    "confidence": 0.8096060156822205,
+                    "position": [
+                        -0.01506221853196621,
+                        0.2713475883938372,
+                        -0.12021113093942404
+                    ],
+                    "orientation": {
+                        "w": 0.5673115096464791,
+                        "xyz": [
+                            0.46257783020479426,
+                            0.5215390395159202,
+                            -0.43837932465670454
+                        ]
+                    }
+                },
+                "grasp_71": {
+                    "confidence": 0.804271399974823,
+                    "position": [
+                        -0.031073754653334618,
+                        0.26594126829877496,
+                        -0.11947911884635687
+                    ],
+                    "orientation": {
+                        "w": 0.5314112183673265,
+                        "xyz": [
+                            0.493380218151986,
+                            0.4919489689512584,
+                            -0.4818342964935624
+                        ]
+                    }
+                },
+                "grasp_77": {
+                    "confidence": 0.7965840697288513,
+                    "position": [
+                        -0.014360835775732994,
+                        0.2740174890495837,
+                        -0.12054826226085424
+                    ],
+                    "orientation": {
+                        "w": 0.512132713006557,
+                        "xyz": [
+                            0.5027981913394594,
+                            0.48656866539751786,
+                            -0.4981616172564777
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch at the semicircular cutout to pull the upper drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the upper drawer front to guide the drawer closed",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide pulling surface",
+                "close the upper drawer opening",
+                "indicate upper drawer position",
+                "act as the visible front face of the upper drawer"
+            ],
+            "semantic_description": "Flat light beige wooden front panel with a matte smooth finish, spanning the width of the upper drawer and featuring a centered semicircular finger cutout.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer box",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed side walls or interior edges to pull the lower drawer farther out or remove it",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the lower drawer box while carrying or placing it when detached from the cabinet",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide outward for access",
+                "organize contents",
+                "support the lower drawer front"
+            ],
+            "semantic_description": "Light tan wooden lower drawer compartment with a matte smooth interior and visible wood grain, deeper than the upper drawer and located in the lower bay.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_49": {
+                    "confidence": 0.7124586701393127,
+                    "position": [
+                        0.32427788339555264,
+                        0.13336353609338403,
+                        -0.07489292230457067
+                    ],
+                    "orientation": {
+                        "w": 0.691425898028246,
+                        "xyz": [
+                            -0.012060425395826184,
+                            -0.7211972683064306,
+                            0.04073418542756549
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.7063239216804504,
+                    "position": [
+                        0.3238724824041128,
+                        0.12763691553846002,
+                        -0.06958146672695875
+                    ],
+                    "orientation": {
+                        "w": 0.692331846172294,
+                        "xyz": [
+                            -0.015018113029568247,
+                            -0.7201271123880828,
+                            0.043220516659285266
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout area to pull the lower drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the lower drawer front to control drawer closing",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide pulling surface",
+                "close the lower drawer opening",
+                "indicate lower drawer position",
+                "act as the visible front face of the lower drawer"
+            ],
+            "semantic_description": "Flat light beige wooden front panel with a matte smooth finish, attached to the lower drawer and featuring a centered semicircular finger cutout.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer runner rails",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding",
+                "align the drawer during travel",
+                "reduce wobble while opening and closing"
+            ],
+            "semantic_description": "Narrow dark runner rails along the drawer sides, likely metal with some dark plastic components, smooth and elongated for slide guidance.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49903857306278dde4de1815ef7ac7d6adac164d4a022a236c6fb58d31a4f2bd
+size 3787976

dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/drawer_030.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>