Add asset kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449

.gitattributes

@@ -7168,4 +7168,4 @@ dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/affordance/mes
 dataset/kitchen_supplies/storage/c89e60c1ca4d5a1eab86047164929b1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/cde92d407a7256a38adcf8c58476a46b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/affordance_annot.json

@@ -0,0 +1,321 @@
+{
+    "affordances": [
+        {
+            "part_name": "outer cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet sides to lift or reposition the drawer unit",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the outer shell to stabilize the unit while opening or closing the drawer",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "enclose the drawer compartment",
+                "support the overall structure",
+                "provide external contact surfaces",
+                "protect stored contents"
+            ],
+            "semantic_description": "Large cream-white cabinet shell with a matte finish and fine ribbed texture, smoothly rounded and wavy in profile, forming the main outer housing around the drawer.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box interior",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer sidewalls to pull the drawer farther out",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the drawer body during removal from the cabinet",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide interior storage volume",
+                "support the drawer front"
+            ],
+            "semantic_description": "Light to medium brown wooden drawer body with a smooth matte finish, rectangular and nested inside the cabinet, visible when the drawer is opened.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_48": {
+                    "confidence": 0.7337673902511597,
+                    "position": [
+                        0.3216782994568348,
+                        0.02161333989351988,
+                        -0.027035566046833992
+                    ],
+                    "orientation": {
+                        "w": 0.709409893010584,
+                        "xyz": [
+                            0.02747879936871227,
+                            -0.7027377414844659,
+                            -0.04628375500408345
+                        ]
+                    }
+                },
+                "grasp_50": {
+                    "confidence": 0.7300601005554199,
+                    "position": [
+                        0.32046305015683174,
+                        0.0019533433951437473,
+                        -0.04277445189654827
+                    ],
+                    "orientation": {
+                        "w": 0.7321042326983358,
+                        "xyz": [
+                            -0.014564084111231387,
+                            -0.6809307349123485,
+                            -0.012025563226368063
+                        ]
+                    }
+                },
+                "grasp_53": {
+                    "confidence": 0.726058840751648,
+                    "position": [
+                        0.3187711425125599,
+                        0.0005140095017850399,
+                        -0.02178293839097023
+                    ],
+                    "orientation": {
+                        "w": 0.6965668974569137,
+                        "xyz": [
+                            -0.10149342783597194,
+                            -0.6944616657823948,
+                            -0.14905246134195724
+                        ]
+                    }
+                },
+                "grasp_55": {
+                    "confidence": 0.7224791646003723,
+                    "position": [
+                        0.3181527741253376,
+                        0.020262204110622406,
+                        -0.03352056443691254
+                    ],
+                    "orientation": {
+                        "w": 0.7171253995404804,
+                        "xyz": [
+                            0.04016096249821163,
+                            -0.6951020539717082,
+                            -0.0308446590098834
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.7223109006881714,
+                    "position": [
+                        0.319079864770174,
+                        0.05602451507002115,
+                        -0.03417271934449673
+                    ],
+                    "orientation": {
+                        "w": 0.728277723708194,
+                        "xyz": [
+                            0.0401656444200467,
+                            -0.6838051199704238,
+                            0.020219694878207115
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.7221989631652832,
+                    "position": [
+                        0.32789115980267525,
+                        -0.02288005407899618,
+                        -0.02796964719891548
+                    ],
+                    "orientation": {
+                        "w": 0.7087217069987809,
+                        "xyz": [
+                            -0.0058161717753446845,
+                            -0.7049662917774431,
+                            -0.026499842116037307
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.720674455165863,
+                    "position": [
+                        0.3208571560680866,
+                        0.059526716358959675,
+                        -0.04111008159816265
+                    ],
+                    "orientation": {
+                        "w": 0.7398823101529265,
+                        "xyz": [
+                            -0.05854991641355352,
+                            -0.6701711509860748,
+                            0.004086905520391465
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front panel edge to pull the drawer open",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "push on the front panel to close the drawer",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the front panel to stabilize the drawer during insertion",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "provide a pull surface",
+                "close the storage opening",
+                "present the front face",
+                "protect drawer contents"
+            ],
+            "semantic_description": "Cream-white front panel with a smooth matte finish and rounded wavy outline, mounted at the front of the drawer as the main visible face.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer while closing",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a precise grip point",
+                "open the drawer",
+                "guide drawer motion",
+                "indicate the drawer center"
+            ],
+            "semantic_description": "Small tan wooden knob with a matte smooth surface, rounded and protruding from the center of the drawer front as the primary grasp feature.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer runners",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide sliding motion",
+                "support the drawer during travel",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Thin light-colored rails running horizontally near the top sides of the drawer opening inside the cabinet, acting as guide tracks for drawer movement.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to help lift or tilt the cabinet during repositioning",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the leg to stabilize the unit during maintenance",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "provide stability",
+                "distribute load to the ground"
+            ],
+            "semantic_description": "Short tapered medium-brown wooden leg with a matte smooth finish, hard and slightly conical, positioned at the front-left underside of the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to help lift or reposition the cabinet from the rear corner",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "stabilize a rear corner"
+            ],
+            "semantic_description": "Short tapered medium-brown wooden leg with a matte smooth surface, hard and conical, mounted under the rear-left area of the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to help lift or pivot the cabinet during moving",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the leg to steady the cabinet while adjusting placement",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "provide corner stability",
+                "transfer load to the ground"
+            ],
+            "semantic_description": "Short tapered medium-brown wooden leg with a matte smooth finish, hard and conical, attached at the front-right underside of the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to assist in lifting the cabinet from the rear corner",
+                    "confidence": 0.32
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "stabilize a rear corner"
+            ],
+            "semantic_description": "Short tapered medium-brown wooden leg with a matte smooth surface, hard and slightly angled, located under the rear-right portion of the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part identities are wrong; side protrusions are mislabeled as legs and drawer front/rails colors mismatch."
+    }
+}

dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38052aeec880df0e6dde1952e419dda2cb2f9b0039d645ed4aede8ac5039d5d
+size 3793408

dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/drawer_104.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":"Legs and side knobs are inconsistently split into multiple colors; functional parts are fragmented.","merge_groups":[{"colors":["Green","Maroon"],"target_part":"legs","reason":"same support function, only instance color split"},{"colors":["Green","Burnt Orange"],"target_part":"side knobs/handles","reason":"same protruding side grip part across views"}]}</PartSegChecker>