Add asset kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67

.gitattributes

@@ -7116,4 +7116,4 @@ dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/affordance/mes
 dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/60ebf271bd015e1a88e48da950bb7910/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/affordance_annot.json

@@ -0,0 +1,119 @@
+{
+    "affordances": [
+        {
+            "part_name": "top surface",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a flat placement surface",
+                "cover the cabinet body",
+                "support small items on top"
+            ],
+            "semantic_description": "Large off-white painted wooden top panel with a smooth matte finish, hard rectangular surface, and a slightly overhanging molded edge at the cabinet top.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the small drawer cabinet",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "house the drawers",
+                "provide side surfaces for stabilization",
+                "bear load from the top"
+            ],
+            "semantic_description": "Main off-white painted wooden frame with a smooth matte finish, forming the side panels, rear structure, and lower decorative support area, with curved lower trim and short rounded legs.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper and middle drawer fronts",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp or hook fingers at the knob or front edge of either upper drawer to pull it open",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "push on either drawer front to close the drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "lightly hold a drawer front to guide it during partial opening or closing",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide two small upper storage compartments",
+                "serve as drawer front faces for opening and closing",
+                "contain small items",
+                "close the upper cabinet openings"
+            ],
+            "semantic_description": "Two small stacked drawer fronts in off-white painted wood with smooth matte surfaces; the top front has pale blue and gold ornamental floral detailing with a central decorative pull, while the middle front is lighter and plainer with a small round knob.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front or knob area to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the open lower drawer sides or front to guide and align it during insertion",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "provide main storage compartment",
+                "pull out for access",
+                "support contained items",
+                "close the lower cabinet opening"
+            ],
+            "semantic_description": "Large lower drawer in off-white painted wood with ornate gold floral decoration on the front, a smooth matte finish, and a box-like form that protrudes when opened.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_16": {
+                    "confidence": 0.7622032761573792,
+                    "position": [
+                        0.3056996110826731,
+                        0.0068633995251730084,
+                        -0.10250970907509327
+                    ],
+                    "orientation": {
+                        "w": 0.6271779646265663,
+                        "xyz": [
+                            -0.007077299747465059,
+                            -0.7788270269432712,
+                            -0.005116113551041121
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask/color-part mapping and drawer identity are incorrect; cyan covers all drawer fronts, purple includes lower drawer and bottom shelf/base."
+    }
+}

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6006ee44c2e217a2db274fc8cc3030c1c34424efd4c0caf3709f68a8001471c
+size 3801376

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/drawer_051.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":"Drawers are merged with lower body and front/back body parts are inconsistently split.","merge_groups":[{"colors":["Purple","Teal"],"target_part":"main body","reason":"Lower shell, legs, and front apron are one furniture body"}]}</PartSegChecker>