Add asset kitchen_supplies/storage/fe7f68b639555c7b8d641def0b6c64f3

.gitattributes

@@ -7195,4 +7195,4 @@ dataset/kitchen_supplies/storage/f6e8a9a1ce895e7bafa70bdeb5c64d3d/affordance/mes
 dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/fe7f68b639555c7b8d641def0b6c64f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/fe7f68b639555c7b8d641def0b6c64f3/affordance/affordance_annot.json

@@ -0,0 +1,173 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side panels or top edges to lift or reposition the drawer unit",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the frame to stabilize the unit while opening or closing a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the whole unit",
+                "enclose and guide the drawers",
+                "provide structural rigidity",
+                "stabilize during drawer motion"
+            ],
+            "semantic_description": "Large off-white cabinet carcass with a matte smooth painted finish, made of hard flat rectangular panels forming the outer housing around the drawers.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed sides of an open drawer box to pull it farther out",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "grasp the drawer box to remove or carry an individual drawer during maintenance",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "store contents",
+                "slide in and out",
+                "support the drawer face",
+                "provide interior holding space"
+            ],
+            "semantic_description": "Off-white painted drawer body with a matte smooth hard surface, box-shaped and recessed inside the cabinet, with interior volume visible when extended.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.7081316113471985,
+                    "position": [
+                        0.11795203015208244,
+                        -0.05759263603249565,
+                        -0.29352012649178505
+                    ],
+                    "orientation": {
+                        "w": 0.6808166788837159,
+                        "xyz": [
+                            0.014259995559103296,
+                            -0.013202198138405064,
+                            -0.7321960149063335
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer face panel",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer edges or lower lip of the drawer face to pull a drawer open",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "push on the drawer face to close the drawer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the face panel to steady the drawer while aligning it",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a front-facing manipulation surface",
+                "transfer pull or push force to the drawer",
+                "define the visible face of the drawer"
+            ],
+            "semantic_description": "Rectangular off-white front face panel, likely painted wood, with a matte smooth hard finish and shallow framed detailing on the visible drawer face.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small centered pull to open a drawer",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the pull to control drawer motion precisely",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide a finger grip",
+                "open the drawer",
+                "aid precise drawer control",
+                "serve as a small protruding handle"
+            ],
+            "semantic_description": "Small centered off-white pull on the drawer face, with a smooth hard finish and slight protrusion that forms a compact grasp point.",
+            "id": 12,
+            "grasp_group": {
+                "grasp_54": {
+                    "confidence": 0.6418744921684265,
+                    "position": [
+                        0.30650411173701286,
+                        0.01771053107222542,
+                        -0.14863653108477592
+                    ],
+                    "orientation": {
+                        "w": 0.793196607341978,
+                        "xyz": [
+                            -0.1904549465408816,
+                            -0.5656427805509501,
+                            -0.12088962010807441
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.636897623538971,
+                    "position": [
+                        0.32199446484446526,
+                        0.08807319210609421,
+                        -0.15085693821310997
+                    ],
+                    "orientation": {
+                        "w": 0.13948202751721467,
+                        "xyz": [
+                            -0.6188067220985162,
+                            -0.07073789502544814,
+                            0.7698176114462081
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer movement",
+                "support drawer load",
+                "reduce friction during sliding",
+                "keep drawer aligned"
+            ],
+            "semantic_description": "Narrow dark metallic rail with a slightly reflective smooth hard surface, mounted along the drawer side inside the cabinet as a linear sliding mechanism.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer face, box, and pull masks are mismatched; pull color/description incorrect, and front panels are labeled inconsistently."
+    }
+}

dataset/kitchen_supplies/storage/fe7f68b639555c7b8d641def0b6c64f3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76722313bfe37d7a68fff1be8ea50864156b558878f2dc1f96050fc3fce9dc8
+size 3786584

dataset/kitchen_supplies/storage/fe7f68b639555c7b8d641def0b6c64f3/drawer_048.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":"Drawers are split into inconsistent colors and some colors mix distinct roles; merging only partly fixes it.","merge_groups":[{"colors":["Blue","Maroon"],"target_part":"drawer boxes","reason":"same sliding drawer structure, maroon is small drawer fragment"},{"colors":["Red","Burnt Orange"],"target_part":"drawer fronts/handles","reason":"both mark front-facing pull regions"}]}</PartSegChecker>