Add asset kitchen_supplies/storage/8627b8b0dcde5dec9bee1438865753eb

.gitattributes

@@ -7128,4 +7128,4 @@ dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mes
 dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/837fa2b414075a5ab9e3b27bd0f63db8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8627b8b0dcde5dec9bee1438865753eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8627b8b0dcde5dec9bee1438865753eb/affordance/affordance_annot.json

@@ -0,0 +1,117 @@
+{
+    "affordances": [
+        {
+            "part_name": "drawers",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front by the knob or front edge to pull the drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the drawer sides/body when the drawer is removed or extended for repositioning",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "push on the drawer front to close and align the drawer in the cabinet",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide in and out for access",
+                "support drawer contents",
+                "provide movable storage compartments"
+            ],
+            "semantic_description": "Two off-white painted wooden drawers with matte finish and rectangular front panels, each fitted with a small round light wood knob; one drawer is visibly open, showing a box-shaped drawer interior/body.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.7028452157974243,
+                    "position": [
+                        0.3263940177857876,
+                        0.009984147502109408,
+                        -0.09533228725194931
+                    ],
+                    "orientation": {
+                        "w": 0.7557060253798031,
+                        "xyz": [
+                            -0.023329777806376253,
+                            -0.6540413028973499,
+                            0.024374141554168876
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.6742085814476013,
+                    "position": [
+                        0.3196563981473446,
+                        -0.04689252492971718,
+                        -0.08333373069763184
+                    ],
+                    "orientation": {
+                        "w": 0.6668293871065243,
+                        "xyz": [
+                            -0.04644344500796422,
+                            -0.7373184288372077,
+                            -0.09768883971038561
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hold the metal slide rail during drawer assembly or maintenance",
+                    "confidence": 0.34
+                },
+                {
+                    "scenario": "steady the rail lightly while aligning the drawer onto the runners",
+                    "confidence": 0.29
+                }
+            ],
+            "functional_labels": [
+                "guide drawer motion",
+                "support the drawer while sliding",
+                "enable extension and retraction",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Narrow dark gray metal telescoping runner mounted along the drawer side inside the cabinet, with a smooth metallic finish and elongated linear shape, visible when the drawer is open.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the nightstand by holding the side panels during lifting or repositioning",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "steady the cabinet frame while opening or closing a drawer",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "provide structural enclosure",
+                "stabilize the furniture",
+                "support the top surface"
+            ],
+            "semantic_description": "Off-white painted wooden nightstand frame with a matte finish, smooth paneled sides, a flat top, curved lower apron, and short decorative legs forming the stationary outer structure around the drawers.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Cabinet frame marked non-graspable though sides/top are practical lift and stabilization grasp points."
+    }
+}

dataset/kitchen_supplies/storage/8627b8b0dcde5dec9bee1438865753eb/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a88ca329d0c996bd5e307d0d2e39523f588fbd95989b8a029f423c9a0c1e49
+size 3815648

dataset/kitchen_supplies/storage/8627b8b0dcde5dec9bee1438865753eb/drawer_047.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":"Drawer body and drawers are segmented, but handle is missed and rails are inconsistent; unsupported by merging alone","merge_groups":[]}</PartSegChecker>