Add asset kitchen_supplies/storage/3204c3abe1ba540da7e2afd9ba47600a

.gitattributes

@@ -7095,4 +7095,4 @@ dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mes
 dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/309270a7341850158ebc512970263d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3204c3abe1ba540da7e2afd9ba47600a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3204c3abe1ba540da7e2afd9ba47600a/affordance/affordance_annot.json

@@ -0,0 +1,190 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side edges of the top panel to lift or reposition the nightstand",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while another gripper opens a drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "cover the cabinet body",
+                "support small items",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Large light tan to medium brown wooden top with a matte smooth finish and subtle wood grain, forming the flat upper surface of the cabinet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body side and front frame",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side panel or front frame edge to carry or reposition the cabinet",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the side of the cabinet steady during drawer opening",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "form the cabinet enclosure",
+                "provide structural side walls",
+                "stabilize the furniture body"
+            ],
+            "semantic_description": "Cream to pale wood frame and side panels with a matte finish, smooth lightly grained surfaces, and a boxy form surrounding the drawers.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front or knob area to pull the drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the front edges to guide the drawer while partially open",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "open the lower drawer",
+                "close the lower drawer",
+                "provide access to lower storage",
+                "serve as the visible drawer face"
+            ],
+            "semantic_description": "Rectangular dark brown wooden drawer front with visible wood grain, a matte finish, and a broad front position on the lower drawer.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.7350764870643616,
+                    "position": [
+                        0.33905357867479324,
+                        0.026080569776240736,
+                        -0.12077429983764887
+                    ],
+                    "orientation": {
+                        "w": 0.8004613119792461,
+                        "xyz": [
+                            0.04534871561682747,
+                            -0.5957967073684074,
+                            -0.04723839016449524
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "legs and base rails",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a lower side rail or leg area to tilt or reposition the cabinet",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "hold the base to stabilize the unit during manipulation",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "support weight",
+                "raise the cabinet off the floor",
+                "stabilize the base",
+                "connect the lower structure"
+            ],
+            "semantic_description": "Dark brown wooden legs and lower rails with a matte finish, smooth hard surfaces, and slightly tapered leg shapes around the bottom perimeter.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer box interior/back panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed upper drawer box side or inner rim when the drawer is open to guide it",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the drawer box interior edge to push the upper drawer closed",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the upper drawer interior",
+                "slide with the upper drawer",
+                "support the upper drawer front"
+            ],
+            "semantic_description": "Light tan wooden interior surfaces of the upper drawer box, including the inner side walls and back panel, with a matte smooth finish visible when the drawer is open.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "open drawers",
+                "close drawers",
+                "mark the center of the drawer front"
+            ],
+            "semantic_description": "Small round light wood knobs with a matte smooth finish, centered on the drawer fronts as compact protruding handles.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_35": {
+                    "confidence": 0.7350764870643616,
+                    "position": [
+                        0.33905357867479324,
+                        0.026080569776240736,
+                        -0.12077429983764887
+                    ],
+                    "orientation": {
+                        "w": 0.8004613119792461,
+                        "xyz": [
+                            0.04534871561682747,
+                            -0.5957967073684074,
+                            -0.04723839016449524
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts use wrong mask colors/identities; red is not drawer interior, blue merges drawer fronts with knobs."
+    }
+}

dataset/kitchen_supplies/storage/3204c3abe1ba540da7e2afd9ba47600a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6053b1e037937a46f91fbe0225a105a7ab18cee2863dbb0ab5154a47ba0d4a27
+size 3800572

dataset/kitchen_supplies/storage/3204c3abe1ba540da7e2afd9ba47600a/drawer_102.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>7</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 are merged with cabinet/base surfaces; functional parts are not separated clearly.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>