Add asset kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94

.gitattributes

@@ -7190,4 +7190,4 @@ dataset/kitchen_supplies/storage/ee0285dd0efc5e1cb8066409e347d179/affordance/mes
 dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f62906a06c505447929323af6eb445c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/affordance_annot.json

@@ -0,0 +1,136 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer body from the sides to lift and reposition the small cabinet",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening or closing the drawer",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer cavity",
+                "support the drawer mechanism",
+                "provide structural frame",
+                "support the attached legs"
+            ],
+            "semantic_description": "Large off-white cabinet shell with a matte painted finish and smooth hard surface, forming a softly curved box around most of the object with rounded edges.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer front edges to pull the drawer open when the knob is unavailable",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "push on the drawer front to slide the drawer closed",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "cover the front of the drawer",
+                "move with the drawer during opening and closing",
+                "provide access barrier for stored contents",
+                "support the attached knob"
+            ],
+            "semantic_description": "Curved light natural wood drawer front with visible grain and a smooth semi-matte finish, located at the front opening of the cabinet and shaped to match the wavy cabinet face.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_44": {
+                    "confidence": 0.6811254024505615,
+                    "position": [
+                        0.3078112583607435,
+                        -0.12194549673586152,
+                        0.055592610500752926
+                    ],
+                    "orientation": {
+                        "w": 0.7209956056971586,
+                        "xyz": [
+                            -0.07937944723981086,
+                            -0.6875042252890651,
+                            -0.034672469352082624
+                        ]
+                    }
+                },
+                "grasp_52": {
+                    "confidence": 0.6203861832618713,
+                    "position": [
+                        0.3179405014961958,
+                        -0.12030773246078752,
+                        0.022733314894139767
+                    ],
+                    "orientation": {
+                        "w": 0.45447942411109615,
+                        "xyz": [
+                            -0.4973537682193163,
+                            -0.5831417717544507,
+                            0.45390897362001237
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "legs",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an individual leg to steady or rotate the small cabinet during placement",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold a leg during assembly or inspection",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet above the floor",
+                "provide ground clearance",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Four short tapered light-brown wooden legs with a smooth semi-matte finish and hard surface, mounted near the lower corners and angled slightly outward.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "open the drawer",
+                "help guide the drawer closed",
+                "mark the center of the drawer front"
+            ],
+            "semantic_description": "Small round light wood knob with a smooth matte finish and hard surface, centered on the drawer front as the main handhold for drawer motion.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c564ad0649ac50f8b919208d9ae55816697a632ec937000315718b746972fc
+size 3783612

dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/drawer_097.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":"Drawer front, drawer box, and handle are merged; this misses distinct functional parts and is not fixable by merging.","merge_groups":[]}</PartSegChecker>