Add asset kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1

.gitattributes

@@ -7164,4 +7164,4 @@ dataset/kitchen_supplies/storage/bd6e0924a106522a99340996d8d0388c/affordance/mes
 dataset/kitchen_supplies/storage/bebf9a45875550d5abcafeb08554c666/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/c82c65d8d97656e4b58f4c9cee4c00c5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/affordance/affordance_annot.json

@@ -0,0 +1,245 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the nightstand",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the top to stabilize the cabinet while pulling the drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet body",
+                "support small items",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Flat off-white painted wooden top with a matte smooth finish, rectangular shape, and recessed-panel molding forming the uppermost surface of the cabinet.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer sidewalls after opening to remove or support the drawer",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the drawer box to align it with the slides during reinsertion",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "support stored contents",
+                "form the interior drawer compartment"
+            ],
+            "semantic_description": "Light tan wooden drawer box with a matte finish and smooth flat panels, forming the interior storage compartment behind the decorative front.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front panel edges to pull the drawer open",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "push on the front panel to close the drawer",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "steady the drawer by holding the front while aligning it",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide the decorative drawer face",
+                "protect stored contents",
+                "transmit pull and push force to the drawer"
+            ],
+            "semantic_description": "Off-white painted wooden drawer face with a matte smooth finish, rectangular recessed molding, and a small central round knob on the front of the sliding drawer.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "pull the drawer",
+                "guide drawer motion",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round golden-beige knob with a smooth finish and bulbous shape centered on the drawer front.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side to lift or reposition the unit",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet while opening the drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "support the frame",
+                "provide structural rigidity",
+                "define outer shape"
+            ],
+            "semantic_description": "Off-white painted wooden side panel with a matte smooth finish and raised decorative molding, forming a large vertical outer wall of the cabinet.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front leg",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to help reposition the cabinet carefully",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold a leg to stabilize the unit during transport",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body",
+                "stabilize on the floor",
+                "provide decorative footing"
+            ],
+            "semantic_description": "Short carved off-white painted wooden leg with a matte finish, rounded tapered shape, and smooth hard surface located at a front corner beneath the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear leg",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a rear leg to assist in lifting or rotating the cabinet",
+                    "confidence": 0.35
+                },
+                {
+                    "scenario": "hold the leg to steady the cabinet during placement",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body",
+                "stabilize on the floor",
+                "provide rear footing"
+            ],
+            "semantic_description": "Short off-white painted wooden rear leg with a matte smooth finish and tapered carved form positioned at a back corner under the cabinet.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet frame from the sides to lift or move the unit",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the frame to stabilize the cabinet while the drawer is operated",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "support the whole structure",
+                "house the drawer",
+                "provide exterior enclosure",
+                "stabilize the furniture body"
+            ],
+            "semantic_description": "Main off-white painted wooden carcass with a matte smooth finish, curving apron details, thick frame members, and sturdy hard surfaces surrounding the drawer cavity.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom shelf panel",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support items or structure at the bottom",
+                "span the lower frame",
+                "add structural bracing"
+            ],
+            "semantic_description": "Flat off-white lower shelf or base panel with a matte smooth finish, broad rectangular shape, and hard surface set above the floor within the lower frame.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom stretcher",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lower legs",
+                "reinforce the base",
+                "stabilize the cabinet"
+            ],
+            "semantic_description": "Curved off-white painted wooden stretcher with a matte smooth finish, slender elongated form, and decorative profile running along the lower base.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Light Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the rear of the cabinet",
+                "add structural bracing",
+                "prevent items from passing through the back"
+            ],
+            "semantic_description": "Flat off-white painted rear cabinet panel with a matte finish and broad rectangular shape closing the back of the nightstand body.",
+            "id": null
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part-mask identities are wrong: drawer front/knob merged, legs mislabeled, side panels swapped, bottom shelf and stretcher colors mismatched."
+    }
+}

dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8173308341b637a7d8d578b977278760900c0361b6ed02dca517ad9bb5d143b
+size 3820520

dataset/kitchen_supplies/storage/c48a197f44a25b2891fadc1f294878e1/drawer_021.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>20</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>