Add asset kitchen_supplies/storage/c82c65d8d97656e4b58f4c9cee4c00c5

.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/c570dc5918355e67ad7bf28771f9551b/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/c82c65d8d97656e4b58f4c9cee4c00c5/affordance/affordance_annot.json

@@ -0,0 +1,260 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels to lift or reposition the cabinet",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening a drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support the drawer assembly",
+                "enclose and guide drawers",
+                "provide structural frame",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Large dark charcoal to black cabinet shell with smooth matte-finished tapered side walls, forming the main outer body around the drawers.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to help lift or reposition the cabinet",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "press or hold the top surface to stabilize the cabinet while operating drawers",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "cover the cabinet top",
+                "provide a flat resting surface",
+                "stiffen the cabinet frame"
+            ],
+            "semantic_description": "Flat dark charcoal to black top panel with a smooth matte surface, rectangular and positioned at the very top.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base and legs",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower frame to reposition the cabinet slightly",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold the base to stabilize the unit during drawer manipulation",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body off the floor",
+                "provide ground contact",
+                "improve stability"
+            ],
+            "semantic_description": "Dark lower frame with short integrated legs and a smooth matte finish, running around the cabinet bottom perimeter and contacting the floor.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer front or its pull to open the drawer",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide drawer face",
+                "cover stored contents",
+                "serve as the front for opening and closing the top drawer"
+            ],
+            "semantic_description": "Light beige wooden drawer face with visible fine horizontal grain, matte finish, and a centered brass-colored pull at the top of the stack.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer front or its pull to open the drawer",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide drawer face",
+                "cover stored contents",
+                "serve as the front for opening and closing the middle drawer"
+            ],
+            "semantic_description": "Dark blue-gray drawer face with a textured wave-like front surface, matte finish, and a centered brass-colored pull, located below the top drawer.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "third drawer front",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the third drawer front or its pull to open the drawer",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide drawer face",
+                "cover stored contents",
+                "serve as the front for opening and closing the third drawer"
+            ],
+            "semantic_description": "Dark blue-gray drawer face with a textured wave-like front surface, matte finish, and a centered brass-colored pull, located below the middle drawer.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer front or its pull to open the large drawer",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "push on the large drawer front to close the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide large drawer face",
+                "cover stored contents",
+                "serve as the front for opening and closing the bottom drawer"
+            ],
+            "semantic_description": "Large lower drawer face in medium brown wood with visible grain, a smooth matte finish, and a centered brass-colored pull near the top edge.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior tray",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer box from the sides or front edge to pull it further out or remove it",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "hold the drawer interior steady while placing or retrieving contents",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide a flat storage surface",
+                "support drawer contents"
+            ],
+            "semantic_description": "Light tan wooden drawer box interior with a matte smooth surface, broad flat rectangular base, and shallow side walls inside the open drawers.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handles",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a brass pull to pull a drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold a brass pull to guide a drawer closed",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide pulling grip",
+                "open drawers",
+                "guide drawer closing",
+                "indicate front access point"
+            ],
+            "semantic_description": "Small centered brass-colored metal pulls with a satin reflective finish, mounted on the drawer fronts for finger or gripper engagement.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer load",
+                "enable sliding extension"
+            ],
+            "semantic_description": "Narrow metallic side rails with a dull slightly reflective finish, mounted along the drawer sides inside the cabinet to guide the drawers.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear panel",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the cabinet back",
+                "retain drawer structure",
+                "stiffen the frame"
+            ],
+            "semantic_description": "Flat light brown wooden back panel with subtle grain and a matte smooth surface, filling the rear opening of the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner support rail",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support drawer alignment",
+                "separate drawer levels",
+                "reinforce interior structure"
+            ],
+            "semantic_description": "Slim light-colored interior support pieces with a matte finish, positioned along the inner sides near the upper drawer openings.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part descriptions mismatch visible parts; top drawer color and body/top mappings are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/c82c65d8d97656e4b58f4c9cee4c00c5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825fb87a0d948f515df8885b4067b16d9c9bd6b60b5cbb1fae68c9e9eee090d5
+size 3814120

dataset/kitchen_supplies/storage/c82c65d8d97656e4b58f4c9cee4c00c5/drawer_074.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>27</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>