Add asset kitchen_supplies/storage/16ec049ac55c5ae6b1a86eb4ae9b9ff4

.gitattributes

@@ -7081,4 +7081,4 @@ dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/mes
 dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/11c6159a45c45413b108c17df7ac97f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/12783012224154238543aeef43392dd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/16ec049ac55c5ae6b1a86eb4ae9b9ff4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/16ec049ac55c5ae6b1a86eb4ae9b9ff4/affordance/affordance_annot.json

@@ -0,0 +1,320 @@
+{
+    "affordances": [
+        {
+            "part_name": "drawer front",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front panel edge or face to pull the drawer open",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "push on the front panel to close the drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "close the front of the drawer",
+                "provide the main pulling/pushing face",
+                "cover the cabinet opening"
+            ],
+            "semantic_description": "Rectangular medium-brown wooden front panel with recessed trim detailing, matte to satin finish, smooth hard surface, mounted at the front of the drawer.",
+            "id": 16,
+            "grasp_group": {
+                "grasp_71": {
+                    "confidence": 0.18504396080970764,
+                    "position": [
+                        -0.09511970728635788,
+                        -0.03705370110401418,
+                        -0.005436773411929607
+                    ],
+                    "orientation": {
+                        "w": 0.9683748958897682,
+                        "xyz": [
+                            0.09289306146846193,
+                            0.23156127672719928,
+                            -0.000561481937457433
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "use the knob to guide the drawer closed",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point",
+                "pull the drawer",
+                "help guide drawer closing"
+            ],
+            "semantic_description": "Small oval brass-colored metal knob with a slightly reflective smooth finish, centered on the drawer front and protruding outward.",
+            "id": 14,
+            "grasp_group": {
+                "grasp_67": {
+                    "confidence": 0.3781820833683014,
+                    "position": [
+                        0.1716248095035553,
+                        0.1807052748190472,
+                        -0.13011485803872347
+                    ],
+                    "orientation": {
+                        "w": 0.752087135709627,
+                        "xyz": [
+                            0.08551172378164747,
+                            0.01658737387183229,
+                            0.6532821323318251
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cabinet top frame",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top side edges to reposition the cabinet",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the top frame to stabilize the cabinet while operating the drawer",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "frame the top surface",
+                "provide structural rigidity",
+                "support light objects on top"
+            ],
+            "semantic_description": "Thick rectangular medium-brown wooden top border with beveled outer edges and a smooth matte finish, surrounding the inset top panel.",
+            "id": 18,
+            "grasp_group": {
+                "grasp_109": {
+                    "confidence": 0.6918634176254272,
+                    "position": [
+                        0.14122766256332397,
+                        -0.14404447806009557,
+                        0.19374462496489286
+                    ],
+                    "orientation": {
+                        "w": 0.15028443508556177,
+                        "xyz": [
+                            -0.6758022152804993,
+                            -0.6873037506547283,
+                            0.2198169891726435
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top inset panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the central top surface",
+                "cover the top center",
+                "provide a flat resting area"
+            ],
+            "semantic_description": "Flat medium-brown wooden inset panel with subtle wood grain and a matte smooth finish, set inside the top frame.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet base",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the cabinet from the lower body while lifting or placing it",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet body",
+                "rest on a table or floor",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Broad medium-brown wooden lower body/base section with smooth matte finish and boxy form, forming the main support beneath the drawer cavity.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel to reposition the cabinet",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the side to stabilize the cabinet while opening the drawer",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer cavity",
+                "provide side support",
+                "add structural stiffness"
+            ],
+            "semantic_description": "Large rectangular medium-brown wooden side panel with recessed decorative molding and a matte smooth finish on one side of the cabinet.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel to reposition the cabinet",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the side to stabilize the cabinet while opening the drawer",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer cavity",
+                "provide side support",
+                "add structural stiffness"
+            ],
+            "semantic_description": "Large rectangular medium-brown wooden side panel with recessed decorative molding and a matte smooth finish on the opposite side of the cabinet.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.6966561675071716,
+                    "position": [
+                        0.07128932327032089,
+                        -0.16679130923876073,
+                        0.1917986972257495
+                    ],
+                    "orientation": {
+                        "w": 0.10287405938630048,
+                        "xyz": [
+                            -0.6827464011842529,
+                            -0.7224019339143798,
+                            0.037546310765489775
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer interior back wall",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the rear of the drawer box",
+                "contain stored items",
+                "maintain drawer shape"
+            ],
+            "semantic_description": "Flat medium-brown to tan wooden rear wall of the drawer interior with a matte unfinished look, visible at the back inside the open drawer.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior side wall",
+            "mask_color": "Tan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain stored items",
+                "form the drawer interior side",
+                "define drawer volume"
+            ],
+            "semantic_description": "Thin light tan wooden interior side wall with a relatively plain unfinished appearance, running vertically along the inside of the drawer.",
+            "id": null
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer travel",
+                "align the drawer during opening and closing"
+            ],
+            "semantic_description": "Narrow silver metal slide rail with reflective finish and elongated mechanical shape, mounted along the drawer side/cabinet interior.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slide bracket",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect slide components",
+                "support the rail mechanism",
+                "maintain alignment"
+            ],
+            "semantic_description": "Small dark metal bracket-like connector attached near the drawer slide hardware, with a hard slightly reflective finish.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "slide spacer",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "space slide components",
+                "position the rail hardware",
+                "assist alignment"
+            ],
+            "semantic_description": "Small light-colored spacer or insert near the slide hardware, with a smooth hard surface and compact block-like form.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear side strip",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish a rear vertical edge",
+                "cover a seam",
+                "add minor structural continuity"
+            ],
+            "semantic_description": "Narrow medium-brown wooden vertical strip at the rear edge area of a cabinet side, with smooth matte finish.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front side strip",
+            "mask_color": "Peach",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish a front vertical edge",
+                "cover a seam",
+                "trim the cabinet opening"
+            ],
+            "semantic_description": "Slim light tan to medium-brown vertical trim strip near the front side edge of the cabinet opening, with a smooth matte wooden surface.",
+            "id": null
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Knob part is missing from mask; several colors/part identities mismatch, especially top panel and hardware-related parts."
+    }
+}

dataset/kitchen_supplies/storage/16ec049ac55c5ae6b1a86eb4ae9b9ff4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f36e16e3e8c4dffd5faa8d8c83bda5532fdd8e6de4bfe3e0c11f469d1be1be
+size 3812684

dataset/kitchen_supplies/storage/16ec049ac55c5ae6b1a86eb4ae9b9ff4/drawer_001.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>YES</PartSegChecker>