Add asset kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b

.gitattributes

@@ -7170,4 +7170,4 @@ dataset/kitchen_supplies/storage/c8cd63d9698a586a8602d8872988de9d/affordance/mes
 dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/d2890164c2175f3093aa6e000961d9d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/affordance_annot.json

@@ -0,0 +1,290 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet at the top edges to lift or reposition it",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while pulling a drawer",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "support placed items",
+                "stiffen the cabinet structure"
+            ],
+            "semantic_description": "Flat medium-brown wooden top with a matte smooth finish and subtle wood grain, forming the broad upper horizontal surface of the small drawer cabinet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the left side to lift or reposition the cabinet",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "support the structure",
+                "protect drawer contents laterally",
+                "provide a side contact surface"
+            ],
+            "semantic_description": "Large medium-brown wooden side panel with a matte smooth finish and visible grain, forming one broad vertical outer wall of the cabinet.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Light Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the right side to lift or reposition the cabinet",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "support the structure",
+                "protect drawer contents laterally",
+                "provide a side contact surface"
+            ],
+            "semantic_description": "Large medium-brown wooden side panel with a matte smooth finish and visible grain, forming the opposite broad vertical outer wall of the cabinet.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back side to reposition the cabinet",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the back panel to steady the unit during manipulation",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "close the rear of the cabinet",
+                "support the frame",
+                "prevent rear access",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Medium-brown wooden rear panel with a matte finish and fine wood grain, covering the back face of the small drawer cabinet.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base frame and legs",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower frame to lift the cabinet from underneath",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold a leg or lower rail to stabilize the unit during drawer motion",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate from the floor",
+                "distribute load",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Darker brown wooden lower frame with integrated short legs, matte finish, smooth hard surfaces, and rounded cutout openings supporting the cabinet near the floor.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom shelf panel",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form a lower shelf",
+                "add rigidity to the base"
+            ],
+            "semantic_description": "Flat medium-brown wooden panel with a matte smooth finish and visible grain, recessed within the lower frame as a bottom shelf surface.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Light Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer front edge to pull the drawer open",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "close the front of the upper drawer",
+                "provide a surface to pull or push the drawer",
+                "protect drawer contents"
+            ],
+            "semantic_description": "Rectangular medium-brown wooden upper drawer face with a matte finish and visible grain, forming the front panel of the top drawer without a separate knob.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer box",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer sides after opening to remove or align the drawer",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the upper drawer body while servicing the slides",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support drawer contents"
+            ],
+            "semantic_description": "Box-shaped medium-brown wooden upper drawer with matte smooth surfaces, straight edges, and medium depth nested inside the cabinet.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the knob and front to pull the lower drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "close the front of the lower drawer",
+                "provide a pulling surface",
+                "protect drawer contents",
+                "indicate drawer position"
+            ],
+            "semantic_description": "Rectangular medium-brown wooden lower drawer face with a matte finish and clear wood grain, centered with a small round light wood knob and positioned at the lower front of the cabinet.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer box",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer sides after opening to remove or align the drawer",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the lower drawer body while loading or unloading it",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide outward for access",
+                "support drawer contents"
+            ],
+            "semantic_description": "Boxy medium-brown wooden lower drawer with matte smooth surfaces and straight side walls, extending outward when opened.",
+            "id": 10,
+            "grasp_group": {
+                "grasp_58": {
+                    "confidence": 0.8177262544631958,
+                    "position": [
+                        0.15253742411732674,
+                        -0.1544402195577277,
+                        0.01985521800816059
+                    ],
+                    "orientation": {
+                        "w": 0.5141867560513764,
+                        "xyz": [
+                            -0.7790111382046955,
+                            -0.33473030842187157,
+                            0.12926425290151278
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the lower drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the knob to control drawer motion while closing",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a pinch grip",
+                "pull the drawer open",
+                "guide drawer closing",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round light wood knob with a smooth hard finish, centered on the lower drawer front and protruding for easy pinching.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slides",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding load",
+                "align the drawers",
+                "limit drawer wobble"
+            ],
+            "semantic_description": "Slim metallic slide rails with a reflective light finish mounted along the drawer sides inside the cabinet, providing linear drawer movement.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and some part identities mismatch; upper drawer front lacks knob, back panel color wrong."
+    }
+}

dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cf1c43534b615a515d3fc4e53e693c52c4b6798984be3a7e3af3325180a249f
+size 3823132

dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/drawer_013.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>18</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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>