Add asset kitchen_supplies/storage/1fbf893c59d9514f924b8840d0f77b1d

.gitattributes

@@ -7085,4 +7085,4 @@ dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mes
 dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/1fa56ec0ee1b566da3b522eaa449a1db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/1fbf893c59d9514f924b8840d0f77b1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/1fbf893c59d9514f924b8840d0f77b1d/affordance/affordance_annot.json

@@ -0,0 +1,208 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels or top edges to lift and carry the small drawer cabinet",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose drawer cavities",
+                "provide top surface",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large light beige to natural wood cabinet shell with a matte finish, smooth hard surfaces, a slightly tapered boxy form, and the main outer structure surrounding the drawers and top.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg briefly to help reposition or tilt the cabinet during moving",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold a leg briefly to steady the cabinet during setup",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "elevate the cabinet",
+                "support weight",
+                "provide floor clearance",
+                "stabilize stance"
+            ],
+            "semantic_description": "Multiple short tapered light wood legs with a smooth matte finish, hard texture, and angled placement at the bottom corners to raise the cabinet off the floor.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_25": {
+                    "confidence": 0.34365180134773254,
+                    "position": [
+                        0.14416071772575378,
+                        -0.0397611710941419,
+                        -0.018200216814875603
+                    ],
+                    "orientation": {
+                        "w": 0.8840212185481553,
+                        "xyz": [
+                            -0.21512682723821255,
+                            -0.0841069107033715,
+                            0.40639015850656524
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.29835203289985657,
+                    "position": [
+                        0.18125177919864655,
+                        -0.060178537270985544,
+                        -0.01495586708188057
+                    ],
+                    "orientation": {
+                        "w": 0.5694358376095028,
+                        "xyz": [
+                            0.13565797183793918,
+                            -0.23453594016482449,
+                            -0.7761009175962763
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer knob or front edge to pull the drawer open",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch the drawer front edge when the knob is not used",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "front face of the lower drawer",
+                "cover stored contents",
+                "provide a surface for pulling or pushing",
+                "visually identify the lower drawer"
+            ],
+            "semantic_description": "Rectangular light natural wood drawer face with visible wood grain, a matte smooth hard surface, and a front position on the lower half of the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer knob or front edge to pull the drawer open",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "push on the upper drawer front to close the drawer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the drawer front edge for fine drawer positioning",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "front face of the upper drawer",
+                "cover stored contents",
+                "provide a surface for pulling or pushing",
+                "visually identify the upper drawer"
+            ],
+            "semantic_description": "Smaller rectangular light natural wood drawer face with subtle grain, a matte smooth hard surface, and a front position near the top of the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a knob to pull its drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold a knob to guide a drawer closed",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "guide drawer motion",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Two small round light wood knobs with smooth matte hard surfaces, each centered on a drawer front and sized for fingertip or gripper pinching.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed inner tray side or lip to pull an already open drawer farther out",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the drawer interior side wall to stabilize the drawer during inspection or loading",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide storage cavity",
+                "support contents inside drawer"
+            ],
+            "semantic_description": "Open box-like inner tray area visible only when a drawer is partially open, with smooth hard interior surfaces in a tan to brown wood tone and a shallow recessed shape inside the cabinet.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_101": {
+                    "confidence": 0.15777429938316345,
+                    "position": [
+                        0.18532343208789825,
+                        -0.023320854059420526,
+                        -0.0055269114673137665
+                    ],
+                    "orientation": {
+                        "w": 0.6400030805663272,
+                        "xyz": [
+                            0.7532893270468343,
+                            -0.08188831132225649,
+                            -0.12745803659137206
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/1fbf893c59d9514f924b8840d0f77b1d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eae09464bab5077e7603a8bed7c9d21e9da8dc34490e145785b074f9ce955848
+size 3786644

dataset/kitchen_supplies/storage/1fbf893c59d9514f924b8840d0f77b1d/drawer_019.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>