Add asset kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59

.gitattributes

@@ -7076,3 +7076,4 @@ dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/affordance/mes
 dataset/kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0e8ca3bf6c2d55a7a179b4fad8c1076a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59/affordance/affordance_annot.json

@@ -0,0 +1,233 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side of the frame to lift or reposition the nightstand",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the frame to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the whole structure",
+                "house the drawers",
+                "provide external contact surfaces",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large light brown wooden cabinet body with a matte to satin finish, smooth hard surfaces, visible wood grain, and a boxy form surrounding the drawers, sides, top, and base.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer sidewall to pull the drawer farther out during removal",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the drawer box during removal or reinsertion into the cabinet",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support drawer front",
+                "enable access to contents"
+            ],
+            "semantic_description": "Rectangular light beige wooden drawer box with smooth hard flat panels, visible as the inner sliding container behind each drawer front when a drawer is open.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.6783475875854492,
+                    "position": [
+                        0.26240093261003494,
+                        0.2203918162267655,
+                        -0.06959765031933784
+                    ],
+                    "orientation": {
+                        "w": 0.6551657639088818,
+                        "xyz": [
+                            0.45396846617439435,
+                            -0.5227574027276294,
+                            0.3023163102024469
+                        ]
+                    }
+                },
+                "grasp_40": {
+                    "confidence": 0.6612193584442139,
+                    "position": [
+                        0.3178016468882561,
+                        0.13682148489169776,
+                        -0.06676418334245682
+                    ],
+                    "orientation": {
+                        "w": 0.649932816805479,
+                        "xyz": [
+                            0.16720593396265535,
+                            -0.7220115301896096,
+                            0.16831179269507576
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower or side edge of the drawer front to pull the drawer open if not using the handle",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the drawer front to guide the drawer closed",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "cover drawer opening",
+                "present the front face",
+                "support the handle",
+                "transfer pulling force to the drawer"
+            ],
+            "semantic_description": "Flat light brown wooden front panel with subtle wood grain, smooth hard finish, and a broad rectangular shape at the front of each drawer; the mask groups the visible drawer fronts.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the metal pull to open the drawer",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the pull to control drawer closing",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "provide a gripping point",
+                "pull the drawer open",
+                "push the drawer closed",
+                "indicate drawer access point"
+            ],
+            "semantic_description": "Small gold-toned metal handle with a reflective smooth surface and curved decorative shape mounted near the center of each drawer front.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding travel",
+                "align the drawer",
+                "reduce wobble during opening"
+            ],
+            "semantic_description": "Narrow pale metallic rail with a smooth hard surface, mounted along the drawer side inside the cabinet and visible only when the drawer is open.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel trim",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the raised top edge to help reposition or steady the cabinet",
+                    "confidence": 0.53
+                },
+                {
+                    "scenario": "hold the trim lightly while aligning the furniture during placement",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "finish the top edge",
+                "protect top perimeter",
+                "provide decorative framing",
+                "define the top border"
+            ],
+            "semantic_description": "Thin raised border trim around the top perimeter, matching the light brown wood body with a smooth hard finish and crisp linear edges.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an exposed foot briefly to tilt or reposition the cabinet slightly",
+                    "confidence": 0.32
+                },
+                {
+                    "scenario": "hold a foot while stabilizing the unit during moving or inspection",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "support weight on the floor",
+                "elevate the cabinet",
+                "stabilize base contact",
+                "provide clearance under the furniture"
+            ],
+            "semantic_description": "Short light brown wooden feet with a smooth hard finish and decorative tapered bun-like profile, positioned at the lower corners to raise the cabinet slightly above the floor.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.6783475875854492,
+                    "position": [
+                        0.26240093261003494,
+                        0.2203918162267655,
+                        -0.06959765031933784
+                    ],
+                    "orientation": {
+                        "w": 0.6551657639088818,
+                        "xyz": [
+                            0.45396846617439435,
+                            -0.5227574027276294,
+                            0.3023163102024469
+                        ]
+                    }
+                },
+                "grasp_40": {
+                    "confidence": 0.6612193584442139,
+                    "position": [
+                        0.3178016468882561,
+                        0.13682148489169776,
+                        -0.06676418334245682
+                    ],
+                    "orientation": {
+                        "w": 0.649932816805479,
+                        "xyz": [
+                            0.16720593396265535,
+                            -0.7220115301896096,
+                            0.16831179269507576
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-color/part mapping is inconsistent: White is both drawer box and feet; drawer pull color and slide-rail color are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3b9812024d23a3f5bcbaeff1b4e1811a45fa609be7bcd4efc339f64bb891b0
+size 3803440

dataset/kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59/drawer_040.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>9</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 parts are over-merged and some colors mark inconsistent small regions; drawer fronts/interiors are not functionally separated.","merge_groups":[{"colors":["Green","Brown","Lawn Green"],"target_part":"drawer front/panel surfaces","reason":"same drawer-face role across views"},{"colors":["White","Violet"],"target_part":"cabinet frame edges/trim","reason":"same outer frame strips"},{"colors":["Navy","Gold"],"target_part":"small drawer side/interior fragments","reason":"tiny inconsistent drawer fragments"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>