Add asset kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63

.gitattributes

@@ -7091,4 +7091,4 @@ dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mes
 dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/25b96c463c3b5e5dac59cea7e42a9acc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/2d03291b6cf95fa6a0c9abdb764c74c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/affordance_annot.json

@@ -0,0 +1,306 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body and top",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side or top edge to stabilize the unit while another gripper opens a drawer",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the cabinet body to reposition the small drawer unit",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "main structural body",
+                "support drawers",
+                "provide top surface",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large light cream or beige painted wooden cabinet body with a smooth matte finish, rectangular form, and outer shell surrounding the drawers and supporting the top.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the knob or top edge of the top drawer front to pull the drawer open",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "push on the drawer front to close the top drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "open the top drawer",
+                "close the top drawer",
+                "front face of top storage compartment"
+            ],
+            "semantic_description": "Light cream painted wooden drawer front near the top, rectangular with a smooth finish and a small central round knob.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the knob or edge of the middle drawer front to pull the drawer open",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "push on the drawer front to close the middle drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "open the middle drawer",
+                "close the middle drawer",
+                "front face of middle storage compartment"
+            ],
+            "semantic_description": "Light cream painted wooden drawer front at mid height, rectangular with a smooth finish, decorative printed face, and a small central round knob.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_83": {
+                    "confidence": 0.5355258584022522,
+                    "position": [
+                        0.3592841625213623,
+                        0.019494850654155016,
+                        -0.05599193088710308
+                    ],
+                    "orientation": {
+                        "w": 0.7210777816995639,
+                        "xyz": [
+                            -0.19782473421033261,
+                            -0.6559526364115492,
+                            -0.10314235821710606
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the knob or edge of the bottom drawer front to pull the drawer open",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "push on the drawer front to close the bottom drawer",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "open the bottom drawer",
+                "close the bottom drawer",
+                "front face of lower storage compartment"
+            ],
+            "semantic_description": "Light cream painted wooden drawer front at the bottom, rectangular with a smooth finish, decorative printed face, and a small central round knob.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer box interior/base",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer box from inside or along its side walls to guide reinsertion",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the drawer box while sliding it outward for removal",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support drawer contents",
+                "slide in and out for access"
+            ],
+            "semantic_description": "Light beige wooden interior of the open bottom drawer, forming a shallow rectangular box extending out from the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed side wall of the open drawer to guide it during opening or closing",
+                    "confidence": 0.61
+                },
+                {
+                    "scenario": "pinch the drawer side while removing the drawer from the cabinet",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "retain drawer contents",
+                "provide lateral structure",
+                "form side wall of drawer box"
+            ],
+            "semantic_description": "Narrow light beige wooden side wall with a smooth finish, elongated rectangular shape along the side of the open drawer box.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_59": {
+                    "confidence": 0.6217772364616394,
+                    "position": [
+                        0.211795836687088,
+                        0.1346859741024673,
+                        -0.23076906614005566
+                    ],
+                    "orientation": {
+                        "w": 0.5890489923360899,
+                        "xyz": [
+                            0.15286796833580746,
+                            -0.007179877600067552,
+                            -0.7934740816449947
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "middle drawer box side/interior panel",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the middle drawer box",
+                "retain drawer contents",
+                "support drawer structure"
+            ],
+            "semantic_description": "Light beige wooden panel visible on the partially opened middle drawer, appearing as a narrow interior or side surface.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior/side panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of a drawer box",
+                "retain contents",
+                "support drawer structure"
+            ],
+            "semantic_description": "Small light beige wooden interior or side panel visible near the open drawers, appearing as a thin structural surface rather than an exterior handle area.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base apron/skirt",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower apron area to steady the cabinet during drawer manipulation",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "hold the base skirt while slightly repositioning the unit",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "support lower frame",
+                "connect lower body elements",
+                "stiffen the base",
+                "provide decorative base trim"
+            ],
+            "semantic_description": "Curved light cream painted wooden base skirt or apron with a smooth finish, running around the lower edge beneath the cabinet body.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_117": {
+                    "confidence": 0.6498746275901794,
+                    "position": [
+                        0.3330521881580353,
+                        0.12834988115355372,
+                        -0.057306014001369476
+                    ],
+                    "orientation": {
+                        "w": 0.7247001702227615,
+                        "xyz": [
+                            -0.00977708193741886,
+                            -0.6872992987634904,
+                            -0.04830885909545089
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to steady the cabinet while another gripper opens a drawer",
+                    "confidence": 0.35
+                },
+                {
+                    "scenario": "lift or tilt the small cabinet slightly by a sturdy leg",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate from the floor",
+                "provide footing"
+            ],
+            "semantic_description": "Small turned light cream painted wooden leg with a rounded foot, positioned at a cabinet corner to support the drawer unit above the floor.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front corner foot/leg",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front corner foot to stabilize the cabinet at floor level",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "stabilize the base",
+                "provide footing"
+            ],
+            "semantic_description": "Light cream painted front corner foot or leg element with a curved profile, located near the lower front corner of the cabinet.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel inset",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "provide decorative side surface",
+                "stiffen the side wall"
+            ],
+            "semantic_description": "Tall light cream painted inset side panel with a smooth finish, flat rectangular shape centered within the cabinet side frame.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and graspability labels mismatch masks/images, especially brown/cyan drawer panels and red body-top grouping."
+    }
+}

dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e3134d3db45d13f5d419685d75e72faa4489c463e335949d35779dcf7d0edd
+size 3834180

dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/drawer_026.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>YES</PartSegChecker>