Add asset kitchen_supplies/storage/e6eda01ea2af52f5ae3da9b505f04917

.gitattributes

@@ -7185,3 +7185,4 @@ dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/mes
 dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6aea63e88ad55c4b7610cf4a80f1296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e6eda01ea2af52f5ae3da9b505f04917/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e6eda01ea2af52f5ae3da9b505f04917/affordance/affordance_annot.json

@@ -0,0 +1,297 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to reposition the small cabinet",
+                    "confidence": 0.65
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the cabinet top",
+                "provide structural rigidity",
+                "support light items on top"
+            ],
+            "semantic_description": "Flat rectangular dark brown wooden top with a smooth satin-like finish, forming the upper surface of the small drawer cabinet.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.6411528587341309,
+                    "position": [
+                        -0.029603511095046997,
+                        -0.13379312842153013,
+                        0.24521759804338217
+                    ],
+                    "orientation": {
+                        "w": 0.12297200217838784,
+                        "xyz": [
+                            0.6919290813752768,
+                            -0.7113584233899054,
+                            -0.009012574528498444
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side frame to lift or reposition the cabinet",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the side frame to stabilize the cabinet while pulling a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support drawers",
+                "enclose the storage bays",
+                "provide structural body",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Boxy cabinet body with dark brown to gray-brown wooden side panels and a smooth finish, forming the main structure around the drawers.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base and feet",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower base edge to tilt or reposition the cabinet",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold a bottom corner to steady the unit during drawer manipulation",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "support weight",
+                "elevate the cabinet",
+                "contact the floor",
+                "improve stability"
+            ],
+            "semantic_description": "Dark brown wooden lower base with four short curved feet around the bottom perimeter, supporting the cabinet above the floor.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer knob or front edge to pull the drawer open",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "push on the upper drawer front to close the drawer",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "cover the upper drawer contents",
+                "provide access to upper storage",
+                "transmit pulling force to the drawer body"
+            ],
+            "semantic_description": "Shallow upper drawer front in a coral or salmon pink tone with a smooth painted finish and a centered round gold-colored knob.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer knob or front edge to pull the drawer open",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "cover the lower drawer contents",
+                "provide access to lower storage",
+                "transmit pulling force to the drawer body"
+            ],
+            "semantic_description": "Larger lower drawer front in a pale cream or light beige tone with a smooth painted finish and a centered round gold-colored knob.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point",
+                "enable drawer opening",
+                "assist drawer closing"
+            ],
+            "semantic_description": "Small round gold-colored knob with a shiny reflective finish, centered on each drawer front as the main handle.",
+            "id": 21,
+            "grasp_group": {
+                "grasp_152": {
+                    "confidence": 0.5835983157157898,
+                    "position": [
+                        0.33817216008901596,
+                        0.0674537590239197,
+                        -0.011771553196012974
+                    ],
+                    "orientation": {
+                        "w": 0.6692889702612936,
+                        "xyz": [
+                            0.02406743611631589,
+                            -0.738386994983898,
+                            0.07910548934185098
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side to pull an open drawer farther out",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the drawer side to guide alignment while closing",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "form drawer wall",
+                "contain stored items",
+                "support drawer structure"
+            ],
+            "semantic_description": "One exposed inner drawer side panel, visible when a drawer is open, with a smooth painted finish and a narrow rectangular shape forming part of the drawer box wall.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side to manipulate an open drawer",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the side wall to guide the drawer closed",
+                    "confidence": 0.47
+                }
+            ],
+            "functional_labels": [
+                "form drawer wall",
+                "contain stored items",
+                "support drawer structure"
+            ],
+            "semantic_description": "One exposed inner drawer side panel, visible along an opened drawer, with a smooth painted finish and a narrow rectangular shape.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side to steady the drawer during opening",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the drawer side to guide it closed",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "form drawer wall",
+                "contain stored items",
+                "support drawer structure"
+            ],
+            "semantic_description": "One exposed inner drawer side piece visible inside the open drawer area, with a smooth painted finish and a narrow vertical form making up the drawer box wall.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side to manipulate the open drawer",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "hold the side wall to stabilize the drawer during closing",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "form drawer wall",
+                "contain stored items",
+                "support drawer structure"
+            ],
+            "semantic_description": "One exposed inner drawer side panel with a smooth painted finish, visible at the side of an opened drawer and forming part of the drawer box.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed drawer side to assist drawer repositioning",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold the side wall while aligning the drawer on its runners",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "form drawer wall",
+                "contain contents",
+                "support drawer box"
+            ],
+            "semantic_description": "One exposed inner drawer side wall visible along an open drawer, with a smooth painted finish and a narrow rectangular shape helping define the drawer cavity.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions misstate colors/materials; lower drawer front and top/frame descriptions conflict with RGB appearance."
+    }
+}

dataset/kitchen_supplies/storage/e6eda01ea2af52f5ae3da9b505f04917/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9a1becfcad596de513511c1c080de74cfcfcd943aeda21dd62b4f520b39b57
+size 3814920

dataset/kitchen_supplies/storage/e6eda01ea2af52f5ae3da9b505f04917/drawer_100.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>14</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>