Add asset kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f

.gitattributes

@@ -7132,4 +7132,4 @@ dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mes
 dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/8c17a562c8435e4d867d98bde3da98be/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/8bf2981d3d1a501a81d74c82dd01c11f/affordance/affordance_annot.json

@@ -0,0 +1,452 @@
+{
+    "affordances": [
+        {
+            "part_name": "top cushion layer",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top padded layer from the sides to stabilize or reposition the small furniture unit",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the top cushion while another gripper manipulates an open drawer",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "form the top exterior padded layer",
+                "provide the upper surface of the furniture body",
+                "contribute to the soft upholstered appearance",
+                "offer a broad stabilization surface"
+            ],
+            "semantic_description": "Large light gray padded top section with a matte fabric-like surface, rounded edges, and a cushion-like bulging form at the top of the unit.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle cushion layer",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle padded side band to steady the unit during drawer use",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the middle cushion layer to help reposition the unit",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "form the middle exterior padded layer",
+                "enclose the middle sides of the unit",
+                "support the overall body shape",
+                "provide a soft side surface"
+            ],
+            "semantic_description": "Light gray upholstered middle band with a matte soft-looking surface, rounded rectangular profile, and padded appearance around the middle exterior.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower body panel",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower body panel to stabilize the unit while operating drawers",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the lower body when lifting or sliding the unit slightly",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "form the lower outer body",
+                "support the overall structure",
+                "connect to the legs",
+                "enclose the lower cabinet area"
+            ],
+            "semantic_description": "Large medium-brown wooden lower body panel with a smooth hard finish, rounded boxy shape, and broad area forming the base above the legs.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer front",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top drawer front to pull the drawer open when using a broad contact grasp",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "serve as the front face of the top drawer",
+                "cover drawer contents",
+                "allow drawer opening by push-pull contact",
+                "provide mounting area for the knob"
+            ],
+            "semantic_description": "Rectangular light wood drawer front with a smooth hard surface and visible wood grain, located at the upper front opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer front to pull the drawer open with a broad contact grasp",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "serve as the front face of the middle drawer",
+                "cover drawer contents",
+                "allow drawer opening by push-pull contact",
+                "provide mounting area for the knob"
+            ],
+            "semantic_description": "Rectangular dark brown wood-grain drawer front with a smooth hard finish, centered on the middle of the cabinet front.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer front",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer front to pull the drawer open with a broad contact grasp",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "serve as the front face of the bottom drawer",
+                "cover drawer contents",
+                "allow drawer opening by push-pull contact",
+                "provide mounting area for the knob"
+            ],
+            "semantic_description": "Rectangular light wood drawer front with a smooth hard finish and visible wood grain, located at the lowest front of the cabinet.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top drawer knob",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the top drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a pull handle",
+                "enable drawer opening",
+                "guide drawer closing",
+                "mark the drawer center"
+            ],
+            "semantic_description": "Small round light wood knob with a smooth hard matte finish, centered on the top drawer front.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer knob",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the middle drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide a pull handle",
+                "enable drawer opening",
+                "guide drawer closing",
+                "mark the drawer center"
+            ],
+            "semantic_description": "Small circular pale wood knob with a smooth hard matte finish, mounted centrally on the middle drawer front.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom drawer knob",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the bottom drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide a pull handle",
+                "enable drawer opening",
+                "guide drawer closing",
+                "mark the drawer center"
+            ],
+            "semantic_description": "Small round light wood knob with a smooth hard matte finish, centered on the bottom drawer front.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior tray",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain stored items",
+                "form the drawer bottom",
+                "support contents inside the drawer",
+                "provide interior storage surface"
+            ],
+            "semantic_description": "Flat light tan wooden drawer interior base with a smooth hard surface and shallow rectangular shape, visible inside opened drawers.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side wall",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer side wall when handling a fully extended drawer",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the side wall to steady a drawer during loading",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "contain items laterally",
+                "form the drawer box side",
+                "support drawer structure",
+                "help prevent contents from falling sideways"
+            ],
+            "semantic_description": "Narrow light wood vertical drawer side panel with a smooth hard matte surface, running along the left and right sides of each drawer box.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "connect the drawer to the cabinet body",
+                "maintain drawer alignment"
+            ],
+            "semantic_description": "Thin elongated slide hardware between drawer and cabinet, appearing as narrow rail-like elements with a hard smooth finish.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left front leg",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front left leg from below while repositioning the cabinet",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the leg to steady the unit during inspection",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "transfer load to the ground",
+                "stabilize the stance"
+            ],
+            "semantic_description": "Short tapered light wood leg with a smooth hard finish, located at the front-left lower corner and angled slightly outward.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right front leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front right leg from below while repositioning the cabinet",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the leg to steady the unit during inspection",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "transfer load to the ground",
+                "stabilize the stance"
+            ],
+            "semantic_description": "Short tapered light wood leg with a smooth hard finish, located at the front-right lower corner and angled slightly outward.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear left leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear left leg while repositioning the cabinet",
+                    "confidence": 0.33
+                },
+                {
+                    "scenario": "hold the rear leg to steady the unit during inspection",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "transfer load to the ground",
+                "stabilize the stance"
+            ],
+            "semantic_description": "Short light wood rear leg with a smooth hard finish, partly occluded under the back-left area of the base.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear right leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rear right leg while repositioning the cabinet",
+                    "confidence": 0.33
+                },
+                {
+                    "scenario": "hold the rear leg to steady the unit during inspection",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "raise the body off the floor",
+                "transfer load to the ground",
+                "stabilize the stance"
+            ],
+            "semantic_description": "Short light wood rear leg with a smooth hard finish, partly occluded under the back-right area of the base.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left vertical side frame",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the left front side boundary",
+                "support drawer openings",
+                "stiffen the frame",
+                "provide edge finishing"
+            ],
+            "semantic_description": "Slim light wood vertical frame member along the left side of the drawer stack, with a smooth hard finish and upright rectangular form.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right vertical side frame",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the right front side boundary",
+                "support drawer openings",
+                "stiffen the frame",
+                "provide edge finishing"
+            ],
+            "semantic_description": "Slim light wood vertical frame member along the right side of the drawer stack, with a smooth hard finish and upright rectangular form.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left lower side rail",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the left lower side rail to steady the cabinet during drawer opening",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "hold the rail while slightly repositioning the unit",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "reinforce the lower side structure",
+                "connect lower body elements",
+                "help support the cabinet frame",
+                "provide a side contact edge"
+            ],
+            "semantic_description": "Light wood horizontal lower side rail with a smooth hard finish, extending along the lower left side near the base.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right lower side rail",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the right lower side rail to steady the cabinet during drawer opening",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "hold the rail while slightly repositioning the unit",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "reinforce the lower side structure",
+                "connect lower body elements",
+                "help support the cabinet frame",
+                "provide a side contact edge"
+            ],
+            "semantic_description": "Light wood horizontal lower side rail with a smooth hard finish, extending along the lower right side near the base.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions and identities mismatch images: no lower side rails/frame members visible, rear-leg colors wrong, drawer interior/side labels inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d179493c6b48d26c13663b7d60a1817b20f651bcab8ad756b6b4850515538333
+size 3823440

dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/drawer_067.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>23</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>