Add asset kitchen_supplies/storage/6aaab07108f85eaebec1e26588ce35a7

.gitattributes

@@ -7120,4 +7120,4 @@ dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mes
 dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/6995c6bf0e28514092c4fdd9875f2275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6aaab07108f85eaebec1e26588ce35a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/6aaab07108f85eaebec1e26588ce35a7/affordance/affordance_annot.json

@@ -0,0 +1,163 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer bin body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to pick up and move the organizer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the rim and side of the body to reposition the organizer on a surface",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "stabilize the body by clamping the exterior while opening a drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the overall structure",
+                "provide exterior grasp surfaces",
+                "enclose the drawer compartments",
+                "protect contents"
+            ],
+            "semantic_description": "Large translucent pink-red plastic outer shell with a matte lightly textured surface, rounded flower-like outline, and thick continuous walls forming the main container around the drawers.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer set",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front to pull it open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch a drawer front to slide it closed",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp an extended drawer to remove or reposition it",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide in and out for access",
+                "organize contents by compartment",
+                "provide pull surfaces",
+                "separate items"
+            ],
+            "semantic_description": "Multiple small translucent red plastic drawers with smooth glossy surfaces, rectangular box-like shapes, front pull faces, and ornate gold-colored decorative markings on the drawer fronts inside the outer body.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.9185580015182495,
+                    "position": [
+                        0.20126877003349364,
+                        -0.06803456833586097,
+                        -0.10793756227940321
+                    ],
+                    "orientation": {
+                        "w": 0.6556293977261115,
+                        "xyz": [
+                            0.0011214920074547564,
+                            -0.7531718018692098,
+                            -0.05367561794764151
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9159553050994873,
+                    "position": [
+                        0.20770574384368956,
+                        -0.058449146803468466,
+                        -0.11381067615002394
+                    ],
+                    "orientation": {
+                        "w": 0.6748971157791006,
+                        "xyz": [
+                            -0.007171945629030388,
+                            -0.737508900620127,
+                            -0.02330381546094353
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9141452312469482,
+                    "position": [
+                        0.2075934784952551,
+                        -0.07771627372130752,
+                        -0.09868201892822981
+                    ],
+                    "orientation": {
+                        "w": 0.6533763814739779,
+                        "xyz": [
+                            -0.04421637797300251,
+                            -0.7555521342139215,
+                            0.01688752603870157
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.913423478603363,
+                    "position": [
+                        0.2059995906893164,
+                        -0.041618121322244406,
+                        -0.12322500627487898
+                    ],
+                    "orientation": {
+                        "w": 0.048164040856749496,
+                        "xyz": [
+                            0.7087053230130473,
+                            -0.04344473243805347,
+                            -0.7025165802489701
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.9133152365684509,
+                    "position": [
+                        0.20282796793617308,
+                        -0.07192826783284545,
+                        -0.10481661837548018
+                    ],
+                    "orientation": {
+                        "w": 0.6649470191608644,
+                        "xyz": [
+                            -0.01270159218584534,
+                            -0.7466662151503951,
+                            -0.01317931781276089
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.9132177233695984,
+                    "position": [
+                        0.20094160013832152,
+                        -0.07408813899382949,
+                        -0.13327654730528593
+                    ],
+                    "orientation": {
+                        "w": 0.0601075245619752,
+                        "xyz": [
+                            0.7029278257279662,
+                            -0.04594899007521891,
+                            -0.7072257402127363
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/6aaab07108f85eaebec1e26588ce35a7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fdd39587a177e6c52f200d8d997ecacc2b4994183cd554f3e1d9e68ab9c62bd
+size 3781216

dataset/kitchen_supplies/storage/6aaab07108f85eaebec1e26588ce35a7/storage_bin_099.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>