Add asset kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce

.gitattributes

@@ -7152,3 +7152,4 @@ dataset/kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6/affordance/mes
 dataset/kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/acc05ea68ff55f729b841ca632cdbfc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/affordance_annot.json

@@ -0,0 +1,222 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and reposition the small cabinet",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while another gripper opens a drawer",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the top or side edges to rotate or align the unit on a surface",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support the whole unit",
+                "enclose drawer cavities",
+                "provide structural frame",
+                "provide exterior stabilization surfaces",
+                "support the top surface"
+            ],
+            "semantic_description": "Large light beige to off-white wooden outer carcass with a matte smooth finish and subtle wood grain, rectangular box-shaped with a top, side panels, back, and short integrated feet around the drawers.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer by its front knob or front panel to pull it open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the upper drawer sides/front while guiding it closed into the cabinet",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "stabilize or remove the upper drawer when extended by gripping its side walls and front",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "store small items in the upper compartment",
+                "slide in and out of the cabinet",
+                "provide access to upper storage space",
+                "contain contents within the drawer box"
+            ],
+            "semantic_description": "Light beige to off-white wooden upper drawer assembly with a matte finish and subtle wood grain, including a rectangular front panel with a small round light-wood knob near the center and matching side walls visible when the drawer is open.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8005715608596802,
+                    "position": [
+                        0.30121673457324505,
+                        -0.026740773348137736,
+                        -0.12421473860740662
+                    ],
+                    "orientation": {
+                        "w": 0.7788683831229393,
+                        "xyz": [
+                            -0.09976603462224147,
+                            -0.6168170795879448,
+                            -0.05429061093606417
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.7767700552940369,
+                    "position": [
+                        0.31336222402751446,
+                        -0.07024298678152263,
+                        -0.09893635660409927
+                    ],
+                    "orientation": {
+                        "w": 0.7362899745452217,
+                        "xyz": [
+                            -0.029730224722456632,
+                            -0.6753163984944804,
+                            -0.03067489277230248
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.7609771490097046,
+                    "position": [
+                        0.30685056559741497,
+                        -0.06358534167520702,
+                        -0.08205149322748184
+                    ],
+                    "orientation": {
+                        "w": 0.703852933727158,
+                        "xyz": [
+                            -0.018347486623658843,
+                            -0.7097304438910099,
+                            -0.023175729385241345
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.7601442933082581,
+                    "position": [
+                        0.2995870839804411,
+                        -0.06416590581648052,
+                        -0.10247520357370377
+                    ],
+                    "orientation": {
+                        "w": 0.7516829137348159,
+                        "xyz": [
+                            0.01492370231878059,
+                            -0.6593556928940112,
+                            -0.00038801610464089006
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.7510873675346375,
+                    "position": [
+                        0.30165345780551434,
+                        -0.03918378124944866,
+                        -0.09781277179718018
+                    ],
+                    "orientation": {
+                        "w": 0.7117818707358059,
+                        "xyz": [
+                            -0.19236925861138457,
+                            -0.6399329852433586,
+                            -0.21644031794161286
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.7362453937530518,
+                    "position": [
+                        0.30790857784450054,
+                        0.033302265452221036,
+                        -0.1106472834944725
+                    ],
+                    "orientation": {
+                        "w": 0.7439130087784004,
+                        "xyz": [
+                            -0.02147972890590641,
+                            -0.6677126878884891,
+                            -0.017082829072640922
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7359678149223328,
+                    "position": [
+                        0.3042903970927,
+                        0.004029333824291825,
+                        -0.07083175703883171
+                    ],
+                    "orientation": {
+                        "w": 0.7031191155592532,
+                        "xyz": [
+                            -0.141862922133244,
+                            -0.6834241235739326,
+                            -0.13575672350271764
+                        ]
+                    }
+                },
+                "grasp_17": {
+                    "confidence": 0.7340101003646851,
+                    "position": [
+                        0.3098090421408415,
+                        -0.05524055357091129,
+                        -0.06818561628460884
+                    ],
+                    "orientation": {
+                        "w": 0.7054379347217801,
+                        "xyz": [
+                            -0.0688454749589598,
+                            -0.7052819221578858,
+                            -0.013965353931145898
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lower drawer",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer by its front knob or front panel to pull it open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lower drawer front and side walls to push it closed",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "stabilize or remove the lower drawer when extended by gripping its front and side surfaces",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "store items in the lower compartment",
+                "slide in and out of the cabinet",
+                "provide access to lower storage space",
+                "contain contents within the drawer box"
+            ],
+            "semantic_description": "Light beige to off-white wooden lower drawer assembly with a matte finish and subtle wood grain, consisting of a larger rectangular front panel with a small round light-wood knob near the center and matching side walls visible when the drawer is open.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer part names and descriptions are swapped with mask colors; cyan is lower drawer, olive is upper drawer front only."
+    }
+}

dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb8d4a6f2ff1e5ab32181f3b985c1826f4f5250474713f47be8bc71e54a73e3
+size 3790744

dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/drawer_028.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":"Upper and lower drawers are merged, while body and one drawer front are inconsistently split.","merge_groups":[]}</PartSegChecker>