Add asset kitchen_supplies/storage/e4f292e9b8d65705a2871acb961df117

.gitattributes

@@ -7180,4 +7180,4 @@ dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mes
 dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e4f292e9b8d65705a2871acb961df117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e4f292e9b8d65705a2871acb961df117/affordance/affordance_annot.json

@@ -0,0 +1,118 @@
+{
+    "affordances": [
+        {
+            "part_name": "drawers",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front or side of an extended drawer to pull it open further",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold an extended drawer at the side or front to guide it while closing or stabilizing it",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide in and out of the cabinet",
+                "provide access to contents"
+            ],
+            "semantic_description": "Cream or off-white painted wooden drawers with a matte to satin finish and smooth hard surfaces, rectangular in shape, located at the front of the nightstand as two stacked pull-out compartments with plain interior surfaces visible when open.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.717360258102417,
+                    "position": [
+                        0.3340943716466427,
+                        0.015054784249514341,
+                        -0.09016267443075776
+                    ],
+                    "orientation": {
+                        "w": 0.8284321454749004,
+                        "xyz": [
+                            -0.10857631543407638,
+                            -0.546656227696597,
+                            -0.0554827251596288
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top surface",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite edges of the top to help lift or reposition the nightstand",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the top edge to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support placed items",
+                "provide a flat upper surface",
+                "serve as the cabinet top cover"
+            ],
+            "semantic_description": "Large cream-colored wooden top with a smooth matte finish, rounded rectangular shape, and a shallow raised border detail around the perimeter.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body and legs",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side panels to lift or carry the nightstand",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while another gripper opens a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the whole cabinet",
+                "house the drawers",
+                "provide structural frame",
+                "elevate the unit on legs"
+            ],
+            "semantic_description": "Cream-painted wooden cabinet carcass with curved decorative legs, smooth hard surfaces, paneled sides, and carved ornamental details forming the main outer structure around the drawer opening.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small central knob to pull a drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "open the drawer",
+                "help close the drawer"
+            ],
+            "semantic_description": "Small round drawer knobs centered on each drawer front, appearing light brown or brass-toned with a slight sheen and compact protruding shape.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors are mismatched: knobs are not orange and orange also includes drawer interiors; top surface annotation uses wrong segmented region."
+    }
+}

dataset/kitchen_supplies/storage/e4f292e9b8d65705a2871acb961df117/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e62a577cd8d432492396a15457f2a818340434f2dbddd93a0f001a8969ea57
+size 3778980

dataset/kitchen_supplies/storage/e4f292e9b8d65705a2871acb961df117/drawer_059.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>4</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Drawer fronts and pull areas are merged with drawer boxes; functional boundaries are missed and not fixable by merging.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>