Add asset kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba

.gitattributes

@@ -7088,3 +7088,4 @@ dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mes
 dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/affordance_annot.json

@@ -0,0 +1,217 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet body from the sides to lift and reposition the small drawer unit",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "support drawers",
+                "enclose drawer openings",
+                "provide structural frame",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large off-white to cream painted wooden outer frame with a matte finish and visible wood grain on the side panels, forming the tapered cabinet body around the drawers.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer box and front",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front or side edges to pull the drawer open farther",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lower drawer while removing it from the cabinet",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide lower drawer access",
+                "support drawer contents"
+            ],
+            "semantic_description": "Light cream painted wooden lower drawer with a rectangular box and matching front face, matte finish, visible at the bottom front of the cabinet.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_61": {
+                    "confidence": 0.7776746153831482,
+                    "position": [
+                        0.2524440363049507,
+                        -0.04512860716204159,
+                        -0.07761679403483868
+                    ],
+                    "orientation": {
+                        "w": 0.7251716995934686,
+                        "xyz": [
+                            -0.025965708401075347,
+                            -0.6873102176302875,
+                            -0.032503120418764596
+                        ]
+                    }
+                },
+                "grasp_76": {
+                    "confidence": 0.6733646392822266,
+                    "position": [
+                        0.2722916677594185,
+                        -0.0779308499477338,
+                        -0.08317016996443272
+                    ],
+                    "orientation": {
+                        "w": 0.6961561469517556,
+                        "xyz": [
+                            -0.0184755233208572,
+                            -0.7114485217749461,
+                            -0.09416089933486706
+                        ]
+                    }
+                },
+                "grasp_77": {
+                    "confidence": 0.6726603507995605,
+                    "position": [
+                        0.3176540955901146,
+                        -0.04512381271342747,
+                        -0.08418861962854862
+                    ],
+                    "orientation": {
+                        "w": 0.6980697233450699,
+                        "xyz": [
+                            -0.10275198203890963,
+                            -0.7073212694940135,
+                            -0.04286389223332106
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper drawer box and front",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer front to pull the drawer open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "push on the upper drawer front to close the drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "cover upper drawer opening",
+                "provide upper drawer access"
+            ],
+            "semantic_description": "Small light cream painted wooden upper drawer assembly with a rectangular front face, matte finish, subtle wood grain, positioned at the upper front of the cabinet.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer knob",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lower drawer knob to pull the lower drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the lower drawer knob to control drawer motion while closing",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide pull grip",
+                "open lower drawer",
+                "control drawer movement",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round light wood knob with a satin finish and smooth surface, protruding from the center of the lower drawer front for fingertip gripping.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7046553492546082,
+                    "position": [
+                        0.1931237354874611,
+                        -0.03471039325813763,
+                        0.04744580201804638
+                    ],
+                    "orientation": {
+                        "w": 0.7191488950652285,
+                        "xyz": [
+                            -0.0881812985210741,
+                            -0.6881384881963891,
+                            -0.038914603690465774
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.6607422828674316,
+                    "position": [
+                        0.2147623375058174,
+                        -0.07553834930877201,
+                        -0.022971930215135217
+                    ],
+                    "orientation": {
+                        "w": 0.28666017382243986,
+                        "xyz": [
+                            0.4772662892603225,
+                            -0.45467948020653637,
+                            -0.6952045771993198
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.6260191202163696,
+                    "position": [
+                        0.2487247809767723,
+                        -0.03306308851460926,
+                        0.01983836479485035
+                    ],
+                    "orientation": {
+                        "w": 0.14047150806077188,
+                        "xyz": [
+                            0.7547839670838893,
+                            0.13302883446369218,
+                            -0.6267952198744581
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding drawer",
+                "reduce friction",
+                "keep drawer aligned"
+            ],
+            "semantic_description": "Narrow metallic slide rail with a dull slightly reflective finish, mounted along the drawer side inside the cabinet as sliding hardware.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Knob part is misidentified/miscolored, and lower drawer part incorrectly includes front excluded by mask."
+    }
+}

dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a3b6479900665fbbb7292d323a905e60f03279c2f2819ffe678261902d384c
+size 3736904

dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/drawer_033.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>11</part_count>
+         <part_count>7</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
                <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 fronts and knobs are merged; front roles are not separated from drawer boxes.","merge_groups":[]}</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Drawer boxes and fronts are merged while one drawer front is split inconsistently.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>