Add asset kitchen_supplies/storage/5c254255e9685a08934931ce263faa42

.gitattributes

@@ -7112,4 +7112,4 @@ dataset/kitchen_supplies/storage/529a38be95275c82bcbab6b941208a70/affordance/mes
 dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/58ea648200ac5759bc4ec41b7e0522b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/affordance/affordance_annot.json

@@ -0,0 +1,163 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to pick up and move the storage bin",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "clamp the rim and body edge to reposition the bin on a surface",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while opening or closing the drawer",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the drawer",
+                "provide the main structure",
+                "protect contents",
+                "provide exterior grasp surfaces"
+            ],
+            "semantic_description": "Large red plastic outer shell with a glossy smooth hard surface, scalloped flower-like outline, floral decorative prints, and thick curved walls forming the main container around the drawer.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_13": {
+                    "confidence": 0.9470574855804443,
+                    "position": [
+                        0.1690344570670277,
+                        -0.06711309077218175,
+                        0.1807751515880227
+                    ],
+                    "orientation": {
+                        "w": 0.6856487242573869,
+                        "xyz": [
+                            0.10010492182082267,
+                            -0.7161560522719922,
+                            -0.08357834854590043
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9463797807693481,
+                    "position": [
+                        0.16870320425368845,
+                        -0.085084677208215,
+                        0.16497472021728754
+                    ],
+                    "orientation": {
+                        "w": 0.11461780261854493,
+                        "xyz": [
+                            -0.7004575080905423,
+                            -0.07352909548195197,
+                            0.7005822655478016
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9459697604179382,
+                    "position": [
+                        0.166195577243343,
+                        -0.06401345552876592,
+                        0.17974978778511286
+                    ],
+                    "orientation": {
+                        "w": 0.6946308765483394,
+                        "xyz": [
+                            0.11212388674667878,
+                            -0.7024155294295735,
+                            -0.10737133408259047
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front to pull it open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pinch the drawer sides to remove or reinsert it",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the drawer front to close and align it",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide open for access",
+                "close the front opening",
+                "organize contents"
+            ],
+            "semantic_description": "Small rectangular red plastic drawer with a glossy smooth hard finish, decorated front panel, shallow box form, and front cutout pull located in the lower front compartment of the bin.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.1716584861278534,
+                    "position": [
+                        0.15585475252009928,
+                        -0.08656874345615506,
+                        -0.05533491726964712
+                    ],
+                    "orientation": {
+                        "w": 0.8538754934961476,
+                        "xyz": [
+                            -0.018837593032313017,
+                            -0.5101966438752292,
+                            -0.10119867229322886
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.06973452121019363,
+                    "position": [
+                        -0.11203665449284017,
+                        0.011526776012033224,
+                        0.04841699916869402
+                    ],
+                    "orientation": {
+                        "w": 0.672088160363611,
+                        "xyz": [
+                            -0.06608751053133428,
+                            0.7351286434823282,
+                            -0.05929437732753274
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.47405096888542175,
+                    "position": [
+                        0.17421544180251658,
+                        0.007149381097406149,
+                        -0.03890926297754049
+                    ],
+                    "orientation": {
+                        "w": 0.5393231631206119,
+                        "xyz": [
+                            -0.01811717551954568,
+                            -0.838898706129487,
+                            0.07107217829111911
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30021a1f157f17cff7a59771e62f8e8893d2e695486d765b2f1288259b2dbe07
+size 5845212

dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/storage_bin_090.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>