Add asset kitchen_supplies/storage/93d9299afe5d5cacae2382007cd033d1

.gitattributes

@@ -7137,4 +7137,4 @@ dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mes
 dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/93d9299afe5d5cacae2382007cd033d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/93d9299afe5d5cacae2382007cd033d1/affordance/affordance_annot.json

@@ -0,0 +1,205 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panels or lower body to lift and reposition the small cabinet",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the overall structure",
+                "house the drawers",
+                "provide external surfaces for stabilization",
+                "bear load from drawers and contents"
+            ],
+            "semantic_description": "Main outer cabinet body with blue painted wooden side panels and frame, smooth hard surfaces, paneled sides, and short rounded legs forming a compact boxy nightstand-like structure.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite edges of the top panel to help lift or reposition the cabinet",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push or hold the top panel to steady the cabinet during drawer operation",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet from above",
+                "add structural rigidity",
+                "support small items placed on top"
+            ],
+            "semantic_description": "Broad dark blue painted wooden top with a smooth finish, flat rectangular surface, rounded corners, and a slight overhang above the cabinet body.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front together with the knob area to pull the drawer open",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "close the front of the drawer",
+                "provide a face for pushing and pulling the drawer",
+                "support the drawer knob",
+                "contribute to the cabinet's appearance"
+            ],
+            "semantic_description": "Pale peach to cream colored rectangular drawer front panel with molded decorative trim on each drawer, smooth painted wooden surface, located at the front of the cabinet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the round knob to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer shut",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold for opening",
+                "provide a handhold for closing",
+                "mark the drawer center",
+                "enable drawer manipulation"
+            ],
+            "semantic_description": "Small round golden knob with a smooth slightly glossy hard surface projecting from the center of each drawer front.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support sliding movement",
+                "align the drawer during travel",
+                "reduce wobble while opening and closing"
+            ],
+            "semantic_description": "Slim silver-gray metal slide rail with a reflective smooth finish mounted along the drawer side, forming the drawer track visible when drawers are open.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small stored bin",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small bin body from exposed sides to remove it from the drawer",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the bin to rearrange drawer contents",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain small items",
+                "organize drawer contents",
+                "partition storage space"
+            ],
+            "semantic_description": "Small rectangular reddish-brown container or bin visible inside the lower drawer, with hard smooth sides and a compact boxy shape.",
+            "id": 12,
+            "grasp_group": {
+                "grasp_55": {
+                    "confidence": 0.6189733743667603,
+                    "position": [
+                        0.33275628462433815,
+                        0.06352679114206694,
+                        -0.10865690838545561
+                    ],
+                    "orientation": {
+                        "w": 0.09243313398923474,
+                        "xyz": [
+                            0.6013676313912876,
+                            -0.017233701842449323,
+                            -0.793420498333996
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "small stored bin",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small bin body to remove it from the upper drawer",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the bin to rearrange drawer contents",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain small items",
+                "organize drawer contents",
+                "partition storage space"
+            ],
+            "semantic_description": "Small rectangular light blue-gray container with hard smooth sides and a compact boxy shape sitting inside the upper drawer.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small stored compartment",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small organizer body to lift it out of the drawer",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "pinch the organizer to reposition it inside the drawer",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "organize small items",
+                "separate contents",
+                "provide internal storage"
+            ],
+            "semantic_description": "Small dark blue to purple rectangular organizer with a hard smooth surface and compact upright shape located inside the upper drawer.",
+            "id": 25,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and colors mismatch masks; drawer fronts/knobs not separately segmented, body color description wrong."
+    }
+}

dataset/kitchen_supplies/storage/93d9299afe5d5cacae2382007cd033d1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c753c56a4a2e8034524cb7e290c529137918793edd1d31bfe6d28bc6baa6c98
+size 3793756

dataset/kitchen_supplies/storage/93d9299afe5d5cacae2382007cd033d1/drawer_091.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>8</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>NO: {"summary":"Major functional parts are merged; drawers, handles, legs, and body are not distinctly segmented.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>