Add asset kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472

.gitattributes

@@ -7111,4 +7111,4 @@ dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mes
 dataset/kitchen_supplies/storage/529a38be95275c82bcbab6b941208a70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/affordance_annot.json

@@ -0,0 +1,151 @@
+{
+    "affordances": [
+        {
+            "part_name": "drawer front and box",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front or exposed drawer sides after opening to pull the drawer farther out",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the drawer box from the sides to stabilize it during reinsertion",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide the front face of the drawer",
+                "support attachment of the knob"
+            ],
+            "semantic_description": "Light tan wooden drawer assembly including the front panel and box sides, with a matte smooth finish and visible wood grain; medium-sized and protruding from the cabinet opening when open.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet sides or lower body to lift and reposition the nightstand",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize the unit while opening or closing the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the furniture",
+                "house the drawer cavity",
+                "provide structural frame",
+                "support the top and base"
+            ],
+            "semantic_description": "Large light tan wooden outer cabinet structure with a matte finish, paneled side surfaces, molded lower base, and short feet, surrounding the drawer cavity.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.8074425458908081,
+                    "position": [
+                        0.07370137702673674,
+                        0.15963787026703358,
+                        0.20684070140123367
+                    ],
+                    "orientation": {
+                        "w": 0.0836042258954241,
+                        "xyz": [
+                            -0.7040660914117168,
+                            -0.700383861229925,
+                            0.08224183403424495
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to help lift or reposition the nightstand",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "press on the top panel to stabilize the cabinet while operating the drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a flat surface",
+                "support placed items",
+                "cap the cabinet structure",
+                "aid stabilization from above"
+            ],
+            "semantic_description": "Flat rectangular light tan wooden top with a smooth matte surface, subtle wood grain, and a slightly overhanging edge profile.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_48": {
+                    "confidence": 0.9116876721382141,
+                    "position": [
+                        0.106504219584167,
+                        0.2666216064244509,
+                        0.10788275301456451
+                    ],
+                    "orientation": {
+                        "w": 0.47751909099093504,
+                        "xyz": [
+                            0.5281931334391365,
+                            0.4639582322572211,
+                            -0.5270012241424983
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer interior bottom panel",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items inside the drawer",
+                "form the base of the drawer interior",
+                "add rigidity to the drawer box"
+            ],
+            "semantic_description": "Flat panel forming the inside bottom surface of the drawer, appearing light tan to off-white with a smooth matte finish, visible when the drawer is open.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull knob",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "open the drawer",
+                "close the drawer"
+            ],
+            "semantic_description": "Small round brass-colored metal knob with a slightly reflective finish, centered on the drawer front and protruding for fingertip or gripper contact.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Pink part is misidentified; mask marks open drawer/front, not full drawer box. White part description/color also mismatches visible interior panel."
+    }
+}

dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84774788e312b774e9c06a2400300db3a5bf2570291e6387cc797c9c3f29675b
+size 3789768

dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/drawer_024.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":"Drawer front is merged with outer body; mask also uses inconsistent side colors across same body surfaces.","merge_groups":[]}</PartSegChecker>