Add asset kitchen_supplies/storage/b138efeab8795782be4d598d05695934

.gitattributes

@@ -7154,3 +7154,4 @@ dataset/kitchen_supplies/storage/acc05ea68ff55f729b841ca632cdbfc0/affordance/mes
 dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/affordance_annot.json

@@ -0,0 +1,221 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels of the cabinet body to lift or reposition the drawer unit",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "support the drawers",
+                "form the main structure",
+                "enclose drawer cavities",
+                "provide side surfaces for stabilizing"
+            ],
+            "semantic_description": "Large blue-gray cabinet shell with a matte smooth painted finish, flat rectangular side and back faces, forming the main outer structure around the drawers.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.7933749556541443,
+                    "position": [
+                        0.04255595337599516,
+                        -0.058853753842413425,
+                        0.24057254660874605
+                    ],
+                    "orientation": {
+                        "w": 0.08119119799446088,
+                        "xyz": [
+                            0.43364344482215633,
+                            0.8973141900108922,
+                            -0.013733045404953396
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.7414566278457642,
+                    "position": [
+                        0.13535315170884132,
+                        0.05455904733389616,
+                        0.21619023848325014
+                    ],
+                    "orientation": {
+                        "w": 0.1163830839521434,
+                        "xyz": [
+                            0.5755317447823024,
+                            -0.8081856927838701,
+                            -0.045321898648268015
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the drawer unit",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "press down on the top to stabilize the cabinet while operating a drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cap the cabinet",
+                "support light items",
+                "stabilize the frame"
+            ],
+            "semantic_description": "Flat blue-gray top panel with a matte smooth painted surface, broad rectangular shape, positioned horizontally at the top of the cabinet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout on the top drawer front to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the top drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open the top drawer",
+                "close the top drawer",
+                "provide front access",
+                "cover stored contents"
+            ],
+            "semantic_description": "Upper drawer front in light natural wood with visible wood grain, a smooth finish, a rectangular face with a semicircular cutout near the top edge, and a small centered brass-colored pull.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout on the middle drawer front to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on the middle drawer front to close the drawer",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "open the middle drawer",
+                "close the middle drawer",
+                "provide front access",
+                "cover stored contents"
+            ],
+            "semantic_description": "Middle drawer front in medium gray-brown wood tone with visible wood grain and a smooth finish, rectangular face, a semicircular cutout near the top edge, and a small centered brass-colored pull.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular cutout on the bottom drawer front to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the bottom drawer front to close the drawer",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "open the bottom drawer",
+                "close the bottom drawer",
+                "provide front access",
+                "cover stored contents"
+            ],
+            "semantic_description": "Lower drawer front in off-white or cream paint with a smooth finish, rectangular face, a semicircular cutout near the top edge, and a small centered brass-colored pull.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front left leg",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the unit",
+                "maintain balance",
+                "contact the floor"
+            ],
+            "semantic_description": "Short tapered light wood leg with a smooth finish at the front left corner of the cabinet base.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the unit",
+                "maintain balance",
+                "contact the floor"
+            ],
+            "semantic_description": "Short tapered light wood leg with a smooth finish at the rear left corner of the cabinet base.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the unit",
+                "maintain balance",
+                "contact the floor"
+            ],
+            "semantic_description": "Short tapered light wood leg with a smooth finish at the rear right corner of the cabinet base.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front right leg",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the unit",
+                "maintain balance",
+                "contact the floor"
+            ],
+            "semantic_description": "Short tapered light wood leg with a smooth finish at the front right corner of the cabinet base.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer fronts incorrectly described as having brass pulls; no visible pulls in RGB image."
+    }
+}

dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8fd78f8676ca87c1caf5a25045dec3dafec049954fca8bf6ae8e41fd7a9a4c
+size 3806380

dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/drawer_071.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>