Add asset bedroom_supplies/storage/2305b995ecf755e8af38c23bb6454f51

.gitattributes

@@ -5983,4 +5983,4 @@ dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/affordance/mes
 dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/27ce1f191af953b6a90ad817d484bb19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2305b995ecf755e8af38c23bb6454f51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/2305b995ecf755e8af38c23bb6454f51/affordance/affordance_annot.json

@@ -0,0 +1,133 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the small drawer cabinet",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while operating a drawer",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "cover the top",
+                "provide structural rigidity",
+                "support light items placed on top",
+                "offer a broad stabilization surface"
+            ],
+            "semantic_description": "Flat rectangular dark brown wooden top panel with a smooth semi-gloss finish, visible wood grain, and horizontal placement at the uppermost side of the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side or lower edge of a drawer front to pull a drawer open",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "push or guide the drawer front to slide the drawer closed",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the drawer front to stabilize the drawer during insertion or removal",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide access to contents when pulled",
+                "present the visible drawer face",
+                "support front-side drawer operation"
+            ],
+            "semantic_description": "Dark brown wooden front panels with a smooth semi-gloss finish and visible wood grain, stacked vertically on the front side of the cabinet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the cabinet to carry or reposition it",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the cabinet frame to stabilize it while pulling a drawer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp a lower side corner to rotate the cabinet into place",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "enclose and guide drawers",
+                "provide side surfaces for handling",
+                "stabilize stored contents"
+            ],
+            "semantic_description": "Box-shaped dark brown wooden outer frame with a smooth semi-gloss finish, hard texture, visible wood grain, and large side and rear panels surrounding the drawers.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_63": {
+                    "confidence": 0.7034246325492859,
+                    "position": [
+                        -0.04631327325478196,
+                        -0.16305638191988692,
+                        -0.22827917151153088
+                    ],
+                    "orientation": {
+                        "w": 0.9237820288678805,
+                        "xyz": [
+                            0.04863227052518933,
+                            0.07353995079108,
+                            0.37263056911900305
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer handle slots",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers or a gripper into the recessed slot to pull a drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "use the recessed slot to guide the drawer closed",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch at the slot opening to slightly open a drawer for inspection",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "open the drawer",
+                "guide drawer motion",
+                "indicate drawer access point"
+            ],
+            "semantic_description": "Small light-colored recessed rectangular handle slots integrated into the drawer fronts near the upper area of each drawer, with a smooth finish and elongated horizontal shape.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle part identity and description are wrong; object has bar pulls, not recessed slots."
+    }
+}

dataset/bedroom_supplies/storage/2305b995ecf755e8af38c23bb6454f51/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:321bf3f636d7bd8712e865a7c997d0f48a1c337179d5ac38fc97642d34b310dc
+size 111336060

dataset/bedroom_supplies/storage/2305b995ecf755e8af38c23bb6454f51/storage_box_002.urdf

@@ -54,6 +54,7 @@
                <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":"Front drawers are merged as one color and side handles are split inconsistently from drawer fronts.","merge_groups":[]}</PartSegChecker>