Add asset kitchen_supplies/storage/837fa2b414075a5ab9e3b27bd0f63db8

.gitattributes

@@ -7126,4 +7126,5 @@ dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mes
 dataset/kitchen_supplies/storage/77e6760085b5540a80f6590650f08481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/82ab7312798455f3b62380ed72733dcd/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/837fa2b414075a5ab9e3b27bd0f63db8/affordance/affordance_annot.json

@@ -0,0 +1,256 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet body by clamping over the top edges to reposition the drawer unit",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the unit while another tool opens a drawer",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet frame",
+                "support placed items",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Large light beige wooden top with a smooth matte finish and rounded rectangular shape, forming the uppermost surface of the drawer cabinet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front at the sides to pull a drawer open when the handle is inaccessible",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "stabilize the unit by holding a drawer front during manipulation",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "present the drawer face"
+            ],
+            "semantic_description": "Flat front faces of the drawers in different wood tones, with smooth matte to lightly satin finishes and rectangular shapes on the front of each sliding drawer.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.6126838326454163,
+                    "position": [
+                        0.12465136405080557,
+                        -0.11381984362378716,
+                        0.19885875843465328
+                    ],
+                    "orientation": {
+                        "w": 0.07626696493416688,
+                        "xyz": [
+                            0.15626834189052283,
+                            0.9785878805767557,
+                            0.11013317107398372
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer handle",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the handle to pull a drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the handle to control drawer motion while closing",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a gripping point",
+                "pull the drawer open",
+                "control drawer motion"
+            ],
+            "semantic_description": "Small light wood bar handle with a smooth finish, centered on each drawer front as the primary pull feature.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "store contents",
+                "contain items",
+                "provide internal cavity"
+            ],
+            "semantic_description": "Open rectangular drawer cavity with warm brown wood surfaces and a smooth matte interior, recessed inside each drawer.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet from the side panel to lift or reposition the whole unit",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "brace against the side panel to stabilize the cabinet while opening drawers",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "support the frame",
+                "provide lateral rigidity",
+                "protect drawer contents"
+            ],
+            "semantic_description": "Large muted blue wooden side panel with a matte smooth finish, flat rectangular shape, and full-height placement on the cabinet side.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "frame trim",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp the front frame edge to steady the cabinet during drawer operation",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "use a lower frame edge as a secondary hold while repositioning the unit",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "reinforce panel edges",
+                "connect structural panels",
+                "define cabinet outline",
+                "support alignment"
+            ],
+            "semantic_description": "Narrow light-colored trim and frame members with a smooth painted finish, running along front edges, lower supports, and corner-like structural boundaries of the cabinet.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "raise it off the floor",
+                "improve stability"
+            ],
+            "semantic_description": "Small light beige block-like feet with a smooth painted surface, positioned at the lower corners to support the cabinet above the ground.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding",
+                "align the drawer",
+                "limit wobble"
+            ],
+            "semantic_description": "Thin metallic-looking rail along the drawer sides, smooth and narrow, mounted inside the cabinet to guide drawer travel.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner side wall",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support drawer rails",
+                "form interior side enclosure",
+                "add structural stiffness"
+            ],
+            "semantic_description": "Slim interior vertical partition panel with a brown wood-like finish, located just inside the cabinet side behind the drawers.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer bottom panel",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support drawer contents",
+                "form drawer base",
+                "distribute load inside drawer"
+            ],
+            "semantic_description": "Flat horizontal wooden panel with a medium brown finish and smooth matte surface, forming the bottom surface inside an open drawer.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet by the back panel edges to reposition the whole unit",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the back panel to stabilize the unit during drawer manipulation",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "close the rear of the cabinet",
+                "provide structural backing",
+                "prevent rearward loss of contents"
+            ],
+            "semantic_description": "Large rear panel with a muted blue painted appearance and matte smooth finish, flat and rectangular across most of the cabinet back.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower back/base board",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the lower back opening",
+                "provide structural reinforcement",
+                "stiffen the base area"
+            ],
+            "semantic_description": "Rectangular lower rear board with a medium brown wood appearance and smooth finish, mounted across the bottom back of the cabinet above the floor.",
+            "id": 5,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part identities conflict; several descriptions and grasp labels are incorrect or duplicated."
+    }
+}

dataset/kitchen_supplies/storage/837fa2b414075a5ab9e3b27bd0f63db8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d88883379967d296234b80cbd4c952a9e6c43f6981c8e312be02230329a05714
+size 3806340

dataset/kitchen_supplies/storage/837fa2b414075a5ab9e3b27bd0f63db8/drawer_089.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>14</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Major functional parts are merged and some visible surfaces are inconsistently split; not actionable by merging alone.","merge_groups":[{"colors":["Red","Teal"],"target_part":"main body/frame","reason":"same cabinet exterior split across side panels"},{"colors":["Blue","Navy"],"target_part":"drawer fronts","reason":"fronts of drawers use multiple colors without functional difference"},{"colors":["White","Gainsboro"],"target_part":"legs/supports","reason":"same support structure split into two colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>