Add asset kitchen_supplies/storage/53f53fb19e2b5cbc92e202976a1ca4cc

.gitattributes

@@ -7111,3 +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/53f53fb19e2b5cbc92e202976a1ca4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/53f53fb19e2b5cbc92e202976a1ca4cc/affordance/affordance_annot.json

@@ -0,0 +1,193 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body panels",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels or top edges to lift or reposition the small cabinet",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the body steady while another gripper opens a drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "form the main enclosure",
+                "support the drawers",
+                "provide top surface",
+                "bear structural load",
+                "stabilize the unit"
+            ],
+            "semantic_description": "Large light beige wooden panels with a matte smooth finish and subtle wood grain, forming the top, sides, back, and much of the cabinet shell.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front near the recessed pull to open a drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the front to control drawer motion during partial opening",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "close the drawer openings",
+                "provide access surface for pulling",
+                "protect stored contents",
+                "present the visible drawer face"
+            ],
+            "semantic_description": "Flat light beige wooden drawer faces with a matte smooth finish, subtle horizontal wood grain, and broad rectangular shape on the cabinet front and visible along the drawer sides when open.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer cutout handle",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the semicircular recess to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hook the recess to control drawer motion while closing",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "enable drawer opening",
+                "guide hand or gripper placement",
+                "avoid need for external knob"
+            ],
+            "semantic_description": "Small semicircular recessed pull built into each drawer front, light beige like the surrounding wood with a smooth interior surface centered near the top edge of the face.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "frame rails and corner legs",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side rail or front corner leg to help lift or reposition the cabinet",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold a front leg or rail to stabilize the unit while opening a drawer",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "reinforce the frame",
+                "support body panels",
+                "stabilize corners",
+                "transfer load toward the feet"
+            ],
+            "semantic_description": "Narrow light beige wooden rails and rounded corner leg elements with a matte smooth finish, outlining panel edges and extending down at the front corners.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_65": {
+                    "confidence": 0.7534241676330566,
+                    "position": [
+                        0.2671594209969044,
+                        0.00550859235227108,
+                        -0.053306275978684425
+                    ],
+                    "orientation": {
+                        "w": 0.7053637160661483,
+                        "xyz": [
+                            -0.09738809910191296,
+                            -0.6995390062125887,
+                            -0.06018940934893245
+                        ]
+                    }
+                },
+                "grasp_79": {
+                    "confidence": 0.6918275356292725,
+                    "position": [
+                        0.06408140063285828,
+                        -0.012382869143038988,
+                        0.1822702642530203
+                    ],
+                    "orientation": {
+                        "w": 0.1562415129177425,
+                        "xyz": [
+                            0.0004372013963068248,
+                            0.9875711017565018,
+                            0.017079738626913532
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "metal drawer slides",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer sliding",
+                "support drawer motion",
+                "maintain alignment",
+                "reduce wobble"
+            ],
+            "semantic_description": "Slim metallic gray drawer slide tracks with a slightly reflective smooth finish mounted inside the cabinet sides, visible only in views where drawers are open.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom stretcher rail",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower front rail to steady the cabinet during drawer operation",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "connect lower frame elements",
+                "stiffen the base",
+                "support structural alignment"
+            ],
+            "semantic_description": "Thin light beige wooden rail running along the lower front/base area between the feet, with a matte smooth finish and narrow rectangular profile.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.7065951228141785,
+                    "position": [
+                        0.08704803511500359,
+                        0.11824543355032802,
+                        0.259888282045722
+                    ],
+                    "orientation": {
+                        "w": 0.1678792529432979,
+                        "xyz": [
+                            -0.7566643194974757,
+                            -0.6303683321653183,
+                            -0.043719902032568606
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Two parts have wrong mask colors/identity; drawer cutout and bottom rail annotations do not match segmented parts."
+    }
+}

dataset/kitchen_supplies/storage/53f53fb19e2b5cbc92e202976a1ca4cc/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b97bf68dab5198444e1c7bd2fa5566e4cfddc940b0b7f52bc59976a4e9b082c
+size 3812152

dataset/kitchen_supplies/storage/53f53fb19e2b5cbc92e202976a1ca4cc/drawer_036.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>9</part_count>
+         <part_count>8</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
                <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 fronts are merged with side panels and body surfaces; true drawers are not separately segmented.","merge_groups":[]}</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Drawer fronts, legs, and frame/body are merged or inconsistently split; key functional boundaries are missed.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>