Add asset kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99

.gitattributes

@@ -7137,3 +7137,4 @@ dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mes
 dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/affordance_annot.json

@@ -0,0 +1,302 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side walls to lift or reposition the drawer unit",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the outer body to stabilize the unit while opening a drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "support the drawer assembly",
+                "enclose drawer openings",
+                "provide structural frame",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large dark brown wooden outer shell with a matte to satin finish, visible wood grain, and a curved hourglass-like side profile forming the main top and side structure of the drawer cabinet.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base frame",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower base to tilt or reposition the cabinet",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the base to stabilize the unit during drawer manipulation",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support weight",
+                "elevate the cabinet",
+                "provide floor contact structure",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Dark lower base structure integrated with short legs, supporting the cabinet at the bottom and contacting the floor.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.651809573173523,
+                    "position": [
+                        0.005538120865821838,
+                        0.2482551452703774,
+                        -0.12041763216257095
+                    ],
+                    "orientation": {
+                        "w": 0.5902648469312076,
+                        "xyz": [
+                            0.5817958614116253,
+                            -0.4168711864792145,
+                            0.373255140627688
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer pull or front notch area to pull the drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "push on the top drawer front to close the drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "pull to open drawer",
+                "push to close drawer",
+                "cover drawer contents",
+                "provide front face"
+            ],
+            "semantic_description": "Light natural wood drawer front with a smooth semi-matte finish, a shallow curved finger notch, and a small brass-colored horizontal pull, located at the top of the drawer stack.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.5572497248649597,
+                    "position": [
+                        0.1636059768497944,
+                        0.035099190194159746,
+                        0.314980648458004
+                    ],
+                    "orientation": {
+                        "w": 0.21409806880050622,
+                        "xyz": [
+                            0.8184560866129437,
+                            -0.5048168581760782,
+                            -0.17161465824151534
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.660068154335022,
+                    "position": [
+                        0.17183975502848625,
+                        -0.05911343125626445,
+                        0.24226174503564835
+                    ],
+                    "orientation": {
+                        "w": 0.30165217605121913,
+                        "xyz": [
+                            -0.847759265755609,
+                            -0.423795427607634,
+                            0.10347766690420587
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "second drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the second drawer pull or front notch area to pull the drawer open",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "push on the second drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "pull to open drawer",
+                "push to close drawer",
+                "cover drawer contents",
+                "provide front face"
+            ],
+            "semantic_description": "Muted blue-gray painted wooden drawer front with a smooth finish, curved finger notch, and small brass-colored pull, positioned below the top drawer.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_65": {
+                    "confidence": 0.6392595767974854,
+                    "position": [
+                        0.19318601116538048,
+                        0.14488961966708302,
+                        0.21666593104600906
+                    ],
+                    "orientation": {
+                        "w": 0.40735689985644796,
+                        "xyz": [
+                            0.8399383805164761,
+                            -0.2520008443269741,
+                            -0.25506753523958264
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "third drawer front",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the third drawer pull or front notch area to pull the drawer open",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "push on the third drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "pull to open drawer",
+                "push to close drawer",
+                "cover drawer contents",
+                "provide front face"
+            ],
+            "semantic_description": "White painted wooden drawer front with a smooth matte finish, curved finger notch, and small brass-colored pull, located above the bottom drawer.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer pull to open the lowest drawer",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the bottom drawer front to close the drawer",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "pull to open drawer",
+                "push to close drawer",
+                "cover drawer contents",
+                "provide front face"
+            ],
+            "semantic_description": "Dark brown wooden drawer front with visible wood grain, smooth satin finish, and a small brass-colored pull, forming the lowest drawer face.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer interior base panel",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items inside the bottom drawer",
+                "form the drawer interior base",
+                "contain contents"
+            ],
+            "semantic_description": "Large light tan wooden panel with a smooth matte finish, visible as the interior bottom surface of the opened lowest drawer.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall of an open drawer to guide it during insertion or removal",
+                    "confidence": 0.59
+                },
+                {
+                    "scenario": "hold the drawer side to stabilize an extended drawer",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain drawer contents",
+                "provide side wall support",
+                "connect drawer front to back",
+                "define drawer interior width"
+            ],
+            "semantic_description": "Natural wood side wall panel with a matte finish and smooth surface, long and thin, visible on the sides of open drawers.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_88": {
+                    "confidence": 0.6601831316947937,
+                    "position": [
+                        0.09185781702399254,
+                        0.11017629178240895,
+                        -0.24450702220201492
+                    ],
+                    "orientation": {
+                        "w": 0.9480029190098566,
+                        "xyz": [
+                            0.1759895886727164,
+                            0.007723999471372367,
+                            -0.2650631435333204
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "maintain drawer alignment"
+            ],
+            "semantic_description": "Slim metallic rail with a dull slightly reflective finish, visible along the sides of the open drawers as sliding hardware.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "open drawer interior side/front panel",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the drawer interior wall",
+                "contain stored items",
+                "connect drawer front to side structure"
+            ],
+            "semantic_description": "Light pink-toned masked region corresponding to a pale wood interior-facing panel visible inside the open drawers near the front side area.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part descriptions mismatch; one semantic description incorrectly uses mask color as real appearance."
+    }
+}

dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a363a260fd7463c64fdddad8efd4e29e67fec3125a1ad0bb70a7e9fc396a6a35
+size 3680752

dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/drawer_098.urdf

@@ -50,7 +50,7 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>18</part_count>
+         <part_count>15</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>