Add asset kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44

.gitattributes

@@ -7069,3 +7069,4 @@ dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/affordance/mes
 dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/05b17d1d4aeb5bcb83d0e9b06aa8cb4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/affordance_annot.json

@@ -0,0 +1,318 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the overhanging top edges to lift or reposition the nightstand",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while operating the drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "support placed items",
+                "cover the cabinet body",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Large flat light gray to off-white painted wooden top with a smooth matte finish and slight overhang, located at the uppermost part of the cabinet.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper front panel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the upper front opening area",
+                "provide a finished front face",
+                "support decorative design"
+            ],
+            "semantic_description": "Small rectangular cream-white painted wooden front panel with ornate blue-and-gold floral artwork, positioned above the open lower drawer; the round knob belongs to an adjacent small knob part rather than this whole panel.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front or its knob area to pull the main drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the drawer front to close the main drawer",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the drawer front to guide alignment while sliding",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "open the drawer",
+                "close the drawer",
+                "cover the drawer opening",
+                "present the front face"
+            ],
+            "semantic_description": "Rectangular cream-white wooden drawer face with decorative floral patterning, matte painted finish, and a small round knob near the center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior tray",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer box sides when removing the drawer for servicing",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the drawer box to guide it back onto the runners",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support contents",
+                "slide in and out",
+                "form the drawer cavity"
+            ],
+            "semantic_description": "Box-like light tan or beige wooden drawer interior with smooth hard surfaces and matte finish, recessed behind the main drawer front.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.8578831553459167,
+                    "position": [
+                        0.29884361289441586,
+                        -0.03285831189714372,
+                        -0.1427796594798565
+                    ],
+                    "orientation": {
+                        "w": 0.7480420727384005,
+                        "xyz": [
+                            0.035910948802810316,
+                            -0.6619388977272467,
+                            0.03131065066327442
+                        ]
+                    }
+                },
+                "grasp_44": {
+                    "confidence": 0.8448445200920105,
+                    "position": [
+                        0.30790325067937374,
+                        -0.04050821787677705,
+                        -0.11734304204583168
+                    ],
+                    "orientation": {
+                        "w": 0.713693113279097,
+                        "xyz": [
+                            -0.0019870097648294915,
+                            -0.6992189563680092,
+                            -0.0416058037515955
+                        ]
+                    }
+                },
+                "grasp_52": {
+                    "confidence": 0.8087280988693237,
+                    "position": [
+                        0.31209354661405087,
+                        -0.018609311198815703,
+                        -0.11002828180789948
+                    ],
+                    "orientation": {
+                        "w": 0.007336746754826923,
+                        "xyz": [
+                            -0.6959541190870155,
+                            0.026605884936311774,
+                            0.7175556864520186
+                        ]
+                    }
+                },
+                "grasp_57": {
+                    "confidence": 0.7935582399368286,
+                    "position": [
+                        0.2940926756709814,
+                        -0.07968244305811822,
+                        -0.12038647755980492
+                    ],
+                    "orientation": {
+                        "w": 0.6774099302545922,
+                        "xyz": [
+                            -0.17286025516135414,
+                            -0.705723374925793,
+                            -0.11484614343271535
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer runner",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding",
+                "align drawer travel",
+                "connect drawer to cabinet"
+            ],
+            "semantic_description": "Narrow metal rail hardware mounted along the drawer sides inside the cabinet, visible when the main drawer is open.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel area to help lift or carry the cabinet",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "press against the side to stabilize the furniture while opening the drawer",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "provide structural support",
+                "protect contents",
+                "offer stabilization surface"
+            ],
+            "semantic_description": "Large cream-white painted wooden side panel with recessed molding, smooth matte finish, and broad rectangular shape on one side of the cabinet.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel area to help lift or carry the cabinet",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "press against the side to stabilize the furniture while opening the drawer",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "provide structural support",
+                "protect contents",
+                "offer stabilization surface"
+            ],
+            "semantic_description": "Large cream-white painted wooden side panel with recessed molding, smooth matte finish, and broad rectangular shape on the opposite side of the cabinet.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower back edge to reposition the cabinet",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the back panel area to steady the furniture during transport",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "enclose the rear",
+                "add structural support",
+                "protect stored contents",
+                "provide a rear surface"
+            ],
+            "semantic_description": "Broad brown wood-toned rear panel with a smooth surface, spanning most of the back opening above the lower frame.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front frame and legs",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a lower side of the frame to lift or reposition the cabinet",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the front frame to stabilize the furniture while operating the drawer",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate from the floor",
+                "stabilize structure",
+                "provide base frame"
+            ],
+            "semantic_description": "Curved cream-white painted wooden lower front frame with short legs, smooth matte finish, and decorative contours around the base.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front vertical stiles",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the cabinet front",
+                "support the opening",
+                "connect top and base",
+                "provide structure around the drawer area"
+            ],
+            "semantic_description": "Narrow cream-white painted wooden uprights with smooth matte finish, running vertically along the front edges beside the drawer opening.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner side panel",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "line the interior side",
+                "support drawer hardware",
+                "define cabinet cavity",
+                "protect contents"
+            ],
+            "semantic_description": "Thin interior side wall visible just inside the cabinet near the drawer opening, cream-white painted wood with a smooth matte finish.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear side trim",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the rear corner",
+                "cover structural edge",
+                "stiffen the rear side area"
+            ],
+            "semantic_description": "Slim cream-white painted wooden vertical section near the back corner, with a smooth matte hard surface and narrow rectangular shape.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified or mismatched to masks, especially back panel, upper front panel, side trims, and graspability claims."
+    }
+}

dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3796056