Add asset kitchen_supplies/storage/2d44155ddef55a589382a2ff894a8dca

.gitattributes

@@ -7093,4 +7093,4 @@ dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/mes
 dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/2d44155ddef55a589382a2ff894a8dca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/2d44155ddef55a589382a2ff894a8dca/affordance/affordance_annot.json

@@ -0,0 +1,127 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer cabinet shell",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer shell from opposite sides to lift or reposition the unit",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the shell to stabilize the unit while pulling the drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer cavity",
+                "support the overall structure",
+                "protect inner contents",
+                "provide exterior contact surface",
+                "stabilize the drawer assembly"
+            ],
+            "semantic_description": "Large white smooth matte outer shell with rounded wavy contours, forming most of the cabinet exterior around the drawer opening; likely molded plastic or coated composite.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer assembly",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front to pull the drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the drawer assembly by its sides when removed to carry or reinsert it",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out",
+                "provide access to contents",
+                "present a pulling surface",
+                "support placed contents"
+            ],
+            "semantic_description": "Drawer assembly with a white front face and brown wood-like body/interior, smooth hard surfaces, rectangular shallow cavity, positioned inside the cabinet and extending outward when opened.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_32": {
+                    "confidence": 0.7955918312072754,
+                    "position": [
+                        0.28970797546207905,
+                        0.07127086631953716,
+                        0.025093811564147472
+                    ],
+                    "orientation": {
+                        "w": 0.6527320541577422,
+                        "xyz": [
+                            0.002804206081709945,
+                            -0.7575330049109807,
+                            0.008760614921612076
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.7882406115531921,
+                    "position": [
+                        0.29291276820003986,
+                        0.08046953938901424,
+                        0.02240826189517975
+                    ],
+                    "orientation": {
+                        "w": 0.6619902681863221,
+                        "xyz": [
+                            -0.005098549012698764,
+                            -0.7491929927274625,
+                            0.021277905738936596
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.7814334034919739,
+                    "position": [
+                        0.28756131418049335,
+                        0.0941541250795126,
+                        0.02379733044654131
+                    ],
+                    "orientation": {
+                        "w": 0.6512940129504277,
+                        "xyz": [
+                            -0.0077947303140638805,
+                            -0.7584425166892726,
+                            0.022810080059082676
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "align the drawer",
+                "reduce wobble",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Slim dark gray to black metal slide rails with a slightly reflective finish, mounted along both sides between the outer shell and drawer assembly near the opening.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/2d44155ddef55a589382a2ff894a8dca/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58bdf2725d06cd0f59cb379299b958d722693af7d30f26aeb4f1783f5c5cf73f
+size 3779128

dataset/kitchen_supplies/storage/2d44155ddef55a589382a2ff894a8dca/drawer_066.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>