Add asset kitchen_supplies/storage/d6ced34388e555f0bfd4cca4ed0a939b

.gitattributes

@@ -7173,4 +7173,4 @@ dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mes
 dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/d64cc5dbf60e512095fd587c9a70080a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d6ced34388e555f0bfd4cca4ed0a939b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d6ced34388e555f0bfd4cca4ed0a939b/affordance/affordance_annot.json

@@ -0,0 +1,196 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer cabinet body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet sides to lift or reposition the drawer unit",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing drawers",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawers",
+                "support the overall structure",
+                "provide side support",
+                "stabilize the cabinet"
+            ],
+            "semantic_description": "Large blue-gray painted cabinet shell with a matte smooth finish, hard surface, softly curved side profile, and outer position surrounding the drawers.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer front at the semicircular notch to open the drawer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "open the top drawer",
+                "close the top drawer",
+                "cover the drawer contents",
+                "provide front access surface"
+            ],
+            "semantic_description": "Light natural wood drawer front with a matte smooth finish, rectangular shape, and centered semicircular finger notch near the top edge; no separate pull is visible.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "second drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the second drawer front at the semicircular notch to open the drawer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "open the second drawer",
+                "close the second drawer",
+                "cover the drawer contents",
+                "provide front access surface"
+            ],
+            "semantic_description": "Light natural wood drawer front with a matte smooth finish, rectangular shape, and centered semicircular finger notch near the top edge; no separate pull is visible.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "third drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the third drawer front at the semicircular notch to open the drawer",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "open the third drawer",
+                "close the third drawer",
+                "cover the drawer contents",
+                "provide front access surface"
+            ],
+            "semantic_description": "Dark charcoal wood drawer front with visible wood grain, matte finish, rectangular shape, centered semicircular finger notch, and a small brass-colored rectangular accent at the center.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_61": {
+                    "confidence": 0.6291577219963074,
+                    "position": [
+                        0.19831665605306625,
+                        -0.11208576709032059,
+                        -0.13790701050311327
+                    ],
+                    "orientation": {
+                        "w": 0.4104447511539013,
+                        "xyz": [
+                            0.13634932333492736,
+                            -0.158826634801986,
+                            -0.8875348265582574
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer front at the semicircular notch to open the drawer",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "open the bottom drawer",
+                "close the bottom drawer",
+                "cover the drawer contents",
+                "provide front access surface"
+            ],
+            "semantic_description": "Medium brown wood drawer front with visible grain, matte finish, rectangular shape, centered semicircular finger notch, and a small brass-colored rectangular accent at the center near the lowest position.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer box sides or bottom while removing an open drawer",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the drawer box to align it during reinsertion",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support drawer contents",
+                "slide within the cabinet",
+                "provide storage volume"
+            ],
+            "semantic_description": "Brown wooden drawer box with a matte finish and smooth hard surfaces, box-shaped and extending behind the drawer front inside the cabinet.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front accent",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative detail",
+                "visually mark the drawer center"
+            ],
+            "semantic_description": "Small brass-colored rectangular accent centered on some drawer fronts, with a slightly reflective metallic finish and flush appearance rather than a protruding handle.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet leg",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "elevate the cabinet",
+                "support weight",
+                "stabilize contact with the floor"
+            ],
+            "semantic_description": "Short tapered peg leg in brass or gold-toned metal with a slightly reflective finish, located at the cabinet corners under the body.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer box color/identity and accent annotations mismatch masks and visible parts; leg graspability too strict."
+    }
+}

dataset/kitchen_supplies/storage/d6ced34388e555f0bfd4cca4ed0a939b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418e263b22f53665b44e3dc79a8e3415a2cc04f348fcfc3bc8853824f5023510
+size 3794440