Add asset kitchen_supplies/storage/60475268886f5773865375991821801b

.gitattributes

@@ -7115,3 +7115,4 @@ dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/mes
 dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/60475268886f5773865375991821801b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/60475268886f5773865375991821801b/affordance/affordance_annot.json

@@ -0,0 +1,297 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top panel edges to lift or reposition the small drawer unit",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the unit while opening or closing the drawer",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet body",
+                "support light items",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Large off-white or cream painted wood top with a matte smooth hard surface and beveled edge molding, forming the flat uppermost panel of the drawer unit.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front near the handle area to pull the drawer open",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the drawer front to guide the drawer during insertion or removal",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "present the decorative front face"
+            ],
+            "semantic_description": "Rectangular cream painted wood front panel with a matte smooth hard finish, decorative recessed trim, and a mounted brass-colored handle on the front of the drawer.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side during drawer removal or maintenance",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "hold the drawer side to guide and align the drawer while sliding it in",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "form the drawer side wall",
+                "contain stored items",
+                "support the drawer box"
+            ],
+            "semantic_description": "Narrow light beige side wall of the drawer box, likely painted or sealed wood with a matte smooth hard surface, positioned along the left and right sides of the sliding drawer.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_67": {
+                    "confidence": 0.561991274356842,
+                    "position": [
+                        0.3182968534529209,
+                        0.17213840736076236,
+                        -0.01055763941258192
+                    ],
+                    "orientation": {
+                        "w": 0.4600917070523987,
+                        "xyz": [
+                            -0.4904659062500947,
+                            -0.548678362140047,
+                            0.49669998069981697
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cabinet side panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a cabinet side to lift or reposition the whole drawer unit",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet while the drawer is opened or closed",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "form the cabinet enclosure",
+                "support the top panel",
+                "define the drawer cavity",
+                "provide structural rigidity"
+            ],
+            "semantic_description": "Large cream painted wood side panel with a matte smooth hard finish and slightly tapered rectangular form, making up the outer side of the cabinet body.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main cabinet body front/base face",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body edges from underneath to lift the cabinet",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the lower front body to stabilize the furniture during repositioning",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support the furniture body",
+                "enclose the lower cabinet structure",
+                "provide structural stability",
+                "form the visible lower exterior"
+            ],
+            "semantic_description": "Large cream painted wood lower exterior body section with a matte hard finish and molded contours, wrapping the lower front and underside region of the drawer unit.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer bottom panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form the drawer floor",
+                "contain contents"
+            ],
+            "semantic_description": "Flat tan or light brown drawer-bottom panel with a dull smooth hard surface, broad and shallow, spanning the interior floor of the drawer box.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer back panel",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer back edge when removing or servicing the drawer",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "close the rear of the drawer box",
+                "help contain drawer contents",
+                "connect the drawer sides"
+            ],
+            "semantic_description": "Flat light beige rear wall of the drawer box with a smooth hard finish, visible at the back of the open drawer interior.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_121": {
+                    "confidence": 0.24791698157787323,
+                    "position": [
+                        0.10622892156243324,
+                        0.031024865340441465,
+                        0.008111894130706787
+                    ],
+                    "orientation": {
+                        "w": 0.5935611694813209,
+                        "xyz": [
+                            -0.49200853709961007,
+                            0.5280634149153359,
+                            0.3560361882351601
+                        ]
+                    }
+                },
+                "grasp_129": {
+                    "confidence": 0.6812514662742615,
+                    "position": [
+                        0.32348114624619484,
+                        0.11848981631919742,
+                        -0.008328755386173725
+                    ],
+                    "orientation": {
+                        "w": 0.7367325529215268,
+                        "xyz": [
+                            0.06722680499438757,
+                            -0.6683836621630759,
+                            0.07725918915864902
+                        ]
+                    }
+                },
+                "grasp_130": {
+                    "confidence": 0.6728718876838684,
+                    "position": [
+                        0.3251583017408848,
+                        0.10538841737434268,
+                        0.008952101692557335
+                    ],
+                    "orientation": {
+                        "w": 0.052326443271263304,
+                        "xyz": [
+                            0.6757713274314372,
+                            0.048371282218153566,
+                            -0.7336588276663105
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the metal slide rail carefully during drawer installation or maintenance",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "guide sliding motion",
+                "support the drawer during travel",
+                "reduce wobble",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Slim dark rail component with a slightly reflective finish, mounted along the cabinet interior side where it guides the drawer's sliding movement.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.4666655361652374,
+                    "position": [
+                        0.30833521857857704,
+                        -0.15705522941425443,
+                        -0.03655857592821121
+                    ],
+                    "orientation": {
+                        "w": 0.5670569671069664,
+                        "xyz": [
+                            -0.43635703276982213,
+                            -0.4389796264226197,
+                            0.5434480873033072
+                        ]
+                    }
+                },
+                "grasp_43": {
+                    "confidence": 0.3765817880630493,
+                    "position": [
+                        0.30886727944016457,
+                        -0.15161582874134183,
+                        -0.01729875935416203
+                    ],
+                    "orientation": {
+                        "w": 0.4805998154913083,
+                        "xyz": [
+                            0.49991753686002943,
+                            -0.48739889342584575,
+                            -0.5306115268035384
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cabinet interior front rail",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the cabinet opening",
+                "help define the drawer opening",
+                "provide front structural support"
+            ],
+            "semantic_description": "Small cream-painted horizontal structural rail at the lower front of the cabinet opening, with a matte hard finish and narrow elongated shape.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Part identities and descriptions mismatch mask/object; drawer front omits handle, pink is drawer interior back, blue/yellow assignments and graspability are inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/60475268886f5773865375991821801b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3798a2a0ea63faa122f52ef8aafaf72723f78e3ba3bf14bec63e5c632993fd60
+size 3757360