Add asset kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d

.gitattributes

@@ -7140,4 +7140,4 @@ dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/mes
 dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9662fb1eb26f55efbc5c46a970a82f50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/9723e8ca65ba50b086c9e72b86502a4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/affordance_annot.json

@@ -0,0 +1,193 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a flat top surface",
+                "support small items",
+                "cover the cabinet body",
+                "define upper boundary"
+            ],
+            "semantic_description": "Large rectangular top panel in muted taupe-painted wood with a matte smooth finish, slightly overhanging the cabinet body with rounded front corners.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet side panels",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel area to steady or reposition the drawer unit during moving",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the cabinet side while another gripper pulls a drawer open",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "enclose the storage volume",
+                "support the frame",
+                "provide side structure",
+                "stabilize the cabinet body"
+            ],
+            "semantic_description": "Tall taupe-painted wooden side panels with a matte slightly textured finish, broad and flat along the left and right exterior of the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front edge or knob area to pull a drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on a drawer front to close the drawer",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold an open drawer front to align it during insertion",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "open the drawers",
+                "close the drawers",
+                "provide access to contents",
+                "serve as the visible drawer faces"
+            ],
+            "semantic_description": "Rectangular light wood drawer faces with visible wood grain, a matte smooth finish, and a small round knob centered on each front.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer box",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed upper drawer sidewalls when the drawer is open to remove or guide it",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the open upper drawer box to stabilize it while accessing contents",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support the drawer front",
+                "provide shallow storage"
+            ],
+            "semantic_description": "Boxy light tan wooden upper drawer interior with a matte smooth finish, small and positioned directly beneath the top.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.634581983089447,
+                    "position": [
+                        0.10699499677866697,
+                        -0.07427012285916135,
+                        0.24703437834978104
+                    ],
+                    "orientation": {
+                        "w": 0.06328506338355365,
+                        "xyz": [
+                            -0.12453304025945651,
+                            -0.9899921536448589,
+                            -0.020051392916482585
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "middle drawer box",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed middle drawer sidewalls when the drawer is open to pull or guide it",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the middle drawer box to stabilize it during loading or unloading",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support the drawer front",
+                "provide medium storage"
+            ],
+            "semantic_description": "Rectangular light tan wooden middle drawer box with a matte smooth finish, medium-sized and mounted centrally inside the cabinet.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer runners",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer travel",
+                "reduce friction in opening",
+                "align the drawer"
+            ],
+            "semantic_description": "Narrow dark metallic slide rails with a dull smooth finish, mounted along the drawer sides inside the cabinet and visible when drawers are open.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base frame and legs",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower frame rail to lift or reposition the cabinet carefully",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold a leg or lower frame to stabilize the unit while another gripper manipulates a drawer",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate it above the floor",
+                "distribute load",
+                "provide structural stability"
+            ],
+            "semantic_description": "Raised perimeter base and four short tapered legs in taupe-painted wood, with a matte smooth finish forming the lower support around the cabinet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the rear of the cabinet",
+                "stiffen the frame",
+                "provide rear surface"
+            ],
+            "semantic_description": "Inset rectangular back panel on the rear face, appearing light tan to beige with a matte smooth finish and occupying most of the cabinet back opening.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part mappings are wrong; drawer fronts and upper/middle drawer boxes are misidentified."
+    }
+}

dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5396ce359d37a1083f62049e91de1e776fcd501781ac3dd123aca222b2acc848
+size 3796116

dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/drawer_017.urdf

@@ -57,6 +57,7 @@
                <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":"Several clear functional parts are merged incorrectly; drawer fronts, handles, and cabinet body are not distinctly segmented.","merge_groups":[]}</PartSegChecker>