Add asset kitchen_supplies/storage/90780058be015b1cbcab993f3687902a

.gitattributes

@@ -7134,4 +7134,4 @@ dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mes
 dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/90520f7a88a056e3af9ac726d263031f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/affordance_annot.json

@@ -0,0 +1,209 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet carcass",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels to lift or reposition the small drawer cabinet",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing drawers",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "support the drawer stack",
+                "provide structural enclosure",
+                "mount drawer slides",
+                "stabilize the furniture body"
+            ],
+            "semantic_description": "Large dark charcoal cabinet body with likely painted wood panels, a matte smooth hard finish, broad flat side panels, and the main outer structure surrounding the drawers.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the cabinet",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "press on the top panel to steady the cabinet during drawer operation",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet",
+                "add structural rigidity",
+                "support light items"
+            ],
+            "semantic_description": "Flat dark gray top panel with a matte smooth hard surface, likely painted wood, forming the uppermost rectangular cap of the cabinet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer fronts",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge or face to pull a middle drawer open",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "push on a middle drawer front to close the drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "close drawer openings",
+                "provide drawer pulling surfaces",
+                "retain stored contents",
+                "present the drawer facades"
+            ],
+            "semantic_description": "White ribbed middle drawer fronts with round knobs, hard finished surfaces, located between the top natural wood drawer and the darker lower drawer.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_63": {
+                    "confidence": 0.8156366944313049,
+                    "position": [
+                        0.13379357010126114,
+                        -0.0394930406473577,
+                        -0.25032420828938484
+                    ],
+                    "orientation": {
+                        "w": 0.4855189190455974,
+                        "xyz": [
+                            -0.13109319944573547,
+                            0.05291025428222507,
+                            0.8627203818733304
+                        ]
+                    }
+                },
+                "grasp_64": {
+                    "confidence": 0.8054697513580322,
+                    "position": [
+                        0.17784254252910614,
+                        0.04881493607535958,
+                        -0.2189648188650608
+                    ],
+                    "orientation": {
+                        "w": 0.8807064245565683,
+                        "xyz": [
+                            0.122784573796163,
+                            -0.11616217379892846,
+                            -0.44247767351674105
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "second-from-bottom drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front to pull the drawer open",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide a drawer pulling surface",
+                "retain stored contents",
+                "present the drawer facade"
+            ],
+            "semantic_description": "Dark brown wooden drawer front just above the bottom drawer, with a smooth hard finish and a round knob at the center.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer front to pull the drawer open",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "push on the bottom drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "close the bottom drawer opening",
+                "provide a drawer pulling surface",
+                "retain stored contents",
+                "present the drawer facade"
+            ],
+            "semantic_description": "Bottom-most drawer front with a blue-green face and horizontal ridged texture, located at the base of the cabinet front.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panels",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer sides to pull an opened drawer farther out",
+                    "confidence": 0.53
+                },
+                {
+                    "scenario": "hold drawer side walls to stabilize a removed or extended drawer",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form drawer walls",
+                "support drawer contents",
+                "maintain drawer shape"
+            ],
+            "semantic_description": "Light wood drawer side panels with a matte to satin smooth hard finish and visible wood grain, forming the box walls inside each drawer.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base and feet",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower side edges near the feet to help reposition the cabinet",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold the base area to stabilize the cabinet during transport or setup",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet on the floor",
+                "elevate the body",
+                "improve stability",
+                "provide ground clearance"
+            ],
+            "semantic_description": "Light beige carved feet and lower trim with a smooth painted wood finish, located at the bottom corners and along the lower edge to support the cabinet.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Base/feet mask color is wrong and shares cyan with carcass; drawer side panels color also mismatched."
+    }
+}

dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b3012aef21a927e482b40f2f9d6304b7d833cf55e532f6661c0d27539b09c9
+size 3802692

dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/drawer_076.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>8</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":"Top and drawers are over-merged or mis-segmented; only some fragmentation is fixable by merging.","merge_groups":[{"colors":["Green","Jade"],"target_part":"middle drawer front","reason":"same drawer front split into two colors"},{"colors":["Teal","Jade"],"target_part":"bottom drawer front","reason":"bottom front surface fragmented"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>