Add asset kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8

.gitattributes

@@ -7083,4 +7083,5 @@ dataset/kitchen_supplies/storage/11c6159a45c45413b108c17df7ac97f6/affordance/mes
 dataset/kitchen_supplies/storage/12783012224154238543aeef43392dd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/17c9c72faeaf56318235ab4adae2e0cc/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/16fad1062a425cde9480f52832d21bc8/affordance/affordance_annot.json

@@ -0,0 +1,137 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewalls to lift and reposition the organizer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body from opposite sides to stabilize it while opening the drawer",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "grasp the lower side of the body to pull the organizer forward on a shelf",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "enclose and frame the drawer compartment",
+                "provide exterior grasp surfaces",
+                "protect stored contents"
+            ],
+            "semantic_description": "Large red to pink plastic outer shell with a smooth glossy to semi-gloss finish, rounded flower-like silhouette, and light decorative floral patterns on the exterior sides and top surfaces.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top hood",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp the front edge of the hood to steady the organizer while opening the drawer",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "pinch the side edge of the hood during careful repositioning of the lightweight object",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "form a decorative top cover",
+                "overhang the drawer opening",
+                "help shield the upper front area",
+                "contribute to the object's overall shape"
+            ],
+            "semantic_description": "Curved red-pink plastic top cover with a smooth glossy surface and rounded front overhang, matching the floral decorative style of the body and positioned above the drawer opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front to pull it open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "push on the drawer front to close it",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "grasp the drawer sides after opening to remove or adjust it",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide open for access",
+                "close the front compartment",
+                "organize contents"
+            ],
+            "semantic_description": "Small rectangular red plastic drawer with a glossy finish, decorated floral gold-toned front panel, and a slightly protruding front face visible within the front opening.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.4919319152832031,
+                    "position": [
+                        0.15981240384280682,
+                        -0.07763049239292741,
+                        -0.07215150818228722
+                    ],
+                    "orientation": {
+                        "w": 0.6008148100497,
+                        "xyz": [
+                            -0.22787688318231278,
+                            -0.727584198343904,
+                            0.24023930664301377
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.3578743636608124,
+                    "position": [
+                        0.14831907860934734,
+                        -0.08877633744850755,
+                        -0.10435767844319344
+                    ],
+                    "orientation": {
+                        "w": 0.6691595543624121,
+                        "xyz": [
+                            -0.43817314196189,
+                            -0.41994699059891427,
+                            0.42880568274646114
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.3322035074234009,
+                    "position": [
+                        0.1560420822352171,
+                        -0.018245546612888575,
+                        -0.10651842877268791
+                    ],
+                    "orientation": {
+                        "w": 0.29623993253878267,
+                        "xyz": [
+                            0.6282406473712066,
+                            0.010832015649310023,
+                            -0.7193318141143195
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb31188c7d11a067b1cc76075c657916d9c9f91af13f278d0889a9dec6581b0
+size 3781020

dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/storage_bin_078.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":"Front opening and inner drawers are segmented, but drawers and side ornaments are merged; true functional parts are not cleanly separated and not fixable by merging.","merge_groups":[]}</PartSegChecker>