Add asset kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8

.gitattributes

@@ -7125,4 +7125,4 @@ dataset/kitchen_supplies/storage/6b2557f9d983552892ff96d9fa3dd3ac/affordance/mes
 dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/77e6760085b5540a80f6590650f08481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/7fdaa802e9ad59ce89d7d99ff07cfbb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/affordance_annot.json

@@ -0,0 +1,314 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels to lift or reposition the cabinet",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening a drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "support the whole structure",
+                "enclose drawer cavities",
+                "provide mounting surfaces for drawers",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large white painted wooden outer body with a smooth matte finish, tapered rectangular form, and side and front frame surfaces surrounding the drawers.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.6785997152328491,
+                    "position": [
+                        0.0999688133597374,
+                        -0.0877116029150784,
+                        -0.2674616053700447
+                    ],
+                    "orientation": {
+                        "w": 0.3813140074148273,
+                        "xyz": [
+                            0.004146424299220909,
+                            -0.03372671587301601,
+                            -0.9238208395306946
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the overhanging top edges to lift or reposition the cabinet",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the top to steady the cabinet during drawer manipulation",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet",
+                "support placed items",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Flat white painted wooden top with a smooth matte finish, rectangular shape, and slight overhang above the cabinet body.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout to pull the upper drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the drawer front to close the upper drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open the upper drawer",
+                "close the upper drawer",
+                "provide front access",
+                "cover stored contents"
+            ],
+            "semantic_description": "White painted wooden upper drawer face with a smooth matte surface, recessed rectangular panel styling, and a centered semicircular pull cutout near the top edge.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout to pull the middle drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the drawer front to close the middle drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open the middle drawer",
+                "close the middle drawer",
+                "provide front access",
+                "cover stored contents"
+            ],
+            "semantic_description": "White painted wooden middle drawer face with a smooth matte finish, recessed-panel detailing, and a centered semicircular pull cutout near the top edge.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout to pull the lower drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "push on the lower drawer front to slide the drawer closed",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "open the lower drawer",
+                "close the lower drawer",
+                "provide front access",
+                "cover stored contents"
+            ],
+            "semantic_description": "White painted wooden lower drawer face with a smooth matte finish, recessed-panel styling, and a centered semicircular pull cutout near the top edge.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.6785997152328491,
+                    "position": [
+                        0.0999688133597374,
+                        -0.0877116029150784,
+                        -0.2674616053700447
+                    ],
+                    "orientation": {
+                        "w": 0.3813140074148273,
+                        "xyz": [
+                            0.004146424299220909,
+                            -0.03372671587301601,
+                            -0.9238208395306946
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side to guide or align the drawer while extended",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the drawer side during drawer removal or reinsertion",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "contain drawer contents laterally",
+                "connect drawer front to back",
+                "maintain drawer shape",
+                "support the drawer box"
+            ],
+            "semantic_description": "Narrow white side wall of the open lower drawer, likely painted wood, with a smooth matte finish and elongated rectangular form along the drawer side.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer bottom panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support drawer contents from below",
+                "form the base of the drawer",
+                "span between drawer sides"
+            ],
+            "semantic_description": "Flat white bottom panel of the open lower drawer with a smooth matte finish and broad rectangular surface inside the drawer.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer travel",
+                "align sliding path",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Small gray metal slide rail mounted along the cabinet interior beside the drawer and visible when the lower drawer is open.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the cabinet from underneath during lifting",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "grasp the lower base edge to help reposition the cabinet",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "support weight from below",
+                "stiffen the lower structure",
+                "connect the feet",
+                "stabilize the cabinet base"
+            ],
+            "semantic_description": "Broad white lower underside panel with a smooth matte painted-wood appearance, flat rectangular shape, and bottom placement between the feet.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left foot",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the base off the floor",
+                "improve stability",
+                "provide ground contact"
+            ],
+            "semantic_description": "Small white painted wooden foot with a smooth matte finish and tapered blocky shape at one front lower corner.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right foot",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the base off the floor",
+                "improve stability",
+                "provide ground contact"
+            ],
+            "semantic_description": "Small white painted wooden foot with a smooth matte finish and tapered blocky shape at the other front lower corner.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left foot",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the base off the floor",
+                "improve stability",
+                "provide ground contact"
+            ],
+            "semantic_description": "Small white painted wooden foot with a smooth matte finish and tapered blocky shape at one rear lower corner.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right foot",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the base off the floor",
+                "improve stability",
+                "provide ground contact"
+            ],
+            "semantic_description": "Small white painted wooden foot with a smooth matte finish and tapered blocky shape at the other rear lower corner.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower trim strip",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the base edge",
+                "provide visual trim",
+                "transition between body and base",
+                "protect the lower edge"
+            ],
+            "semantic_description": "Thin white painted trim band with a smooth matte surface running around the lower perimeter just above the feet.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part identities conflict; lower drawer front mislabeled as cabinet body color, foot colors swapped, and lower trim strip color incorrect."
+    }
+}

dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3814204