Add asset kitchen_supplies/storage/4a8bbdbce7b75f8c9c6bfa1403c14b23

.gitattributes

@@ -7105,3 +7105,4 @@ dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/mes
 dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4a8bbdbce7b75f8c9c6bfa1403c14b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4a8bbdbce7b75f8c9c6bfa1403c14b23/affordance/affordance_annot.json

@@ -0,0 +1,234 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edges to lift or reposition the drawer unit",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while another gripper opens a drawer",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide a top surface",
+                "cover the cabinet frame",
+                "support small items",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Large off-white wooden top panel with a matte painted finish, subtle raised wood-grain texture, and a broad rectangular shape forming the upper surface of the cabinet.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cabinet frame",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side wall of the cabinet to lift or carry the drawer unit",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the frame to stabilize the unit while opening or closing a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support drawers",
+                "enclose the storage space",
+                "provide structural body",
+                "stabilize the furniture"
+            ],
+            "semantic_description": "Main off-white wooden carcass with a matte painted finish, smooth hard surfaces, and a boxy medium-sized form surrounding the drawers, with framed side panels and slightly rounded top edges.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer sides to pull it farther out or remove it",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "grasp the drawer body to reinsert or align it with the slides",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide accessible storage",
+                "support drawer contents"
+            ],
+            "semantic_description": "Light tan wooden drawer interior and box with flat rectangular panels, a matte smooth finish, and an open box form visible when the drawers are pulled out.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.764134407043457,
+                    "position": [
+                        0.33870796114206314,
+                        -0.06835035141557455,
+                        -0.09541678940877318
+                    ],
+                    "orientation": {
+                        "w": 0.7212781656921764,
+                        "xyz": [
+                            -0.035654360193935794,
+                            -0.691653800329059,
+                            -0.010079423855588899
+                        ]
+                    }
+                },
+                "grasp_73": {
+                    "confidence": 0.6769468784332275,
+                    "position": [
+                        0.33463139086961746,
+                        -0.057841221801936626,
+                        -0.06563961273059249
+                    ],
+                    "orientation": {
+                        "w": 0.6816579147732289,
+                        "xyz": [
+                            -0.16321608596895681,
+                            -0.7047117922409837,
+                            -0.10992855127076018
+                        ]
+                    }
+                },
+                "grasp_74": {
+                    "confidence": 0.6759329438209534,
+                    "position": [
+                        0.33870796114206314,
+                        0.038930789567530155,
+                        -0.09331859415397048
+                    ],
+                    "orientation": {
+                        "w": 0.0532693950546373,
+                        "xyz": [
+                            -0.6371679884786539,
+                            0.10064769893559689,
+                            0.7622659422455846
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front edge to pull the drawer open when the knob is unavailable",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "present the drawer face",
+                "shield stored contents",
+                "provide a pushing surface"
+            ],
+            "semantic_description": "Off-white wooden drawer face with a matte painted finish, visible raised wood-grain texture, and a flat rectangular shape at the front of each drawer.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Green",
+            "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": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point",
+                "pull the drawer open",
+                "guide drawer motion",
+                "indicate drawer front center"
+            ],
+            "semantic_description": "Small rounded light wood or beige knob with a smooth hard surface, centered on the drawer front and protruding enough for fingertip or gripper pinching.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.7319172024726868,
+                    "position": [
+                        0.2788200005888939,
+                        -0.12658378388732672,
+                        0.1333289914764464
+                    ],
+                    "orientation": {
+                        "w": 0.3736094523276121,
+                        "xyz": [
+                            -0.5618238399880201,
+                            -0.5675518411918326,
+                            0.4718631766861432
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.6436105966567993,
+                    "position": [
+                        0.2735869064927101,
+                        -0.1360876029357314,
+                        0.1258376115001738
+                    ],
+                    "orientation": {
+                        "w": 0.467418253157852,
+                        "xyz": [
+                            0.5443492307652994,
+                            -0.515402382544582,
+                            -0.4685770754608646
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to lift or reposition the cabinet from below",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold a leg to stabilize the furniture during manipulation",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body",
+                "provide floor contact",
+                "improve stability"
+            ],
+            "semantic_description": "Short carved off-white wooden leg with a matte painted finish, hard smooth texture, and a chunky footed shape located at the lower corners of the cabinet.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask colors and part descriptions mismatch visible segmented parts, especially drawer front/box/knob/leg colors."
+    }
+}

dataset/kitchen_supplies/storage/4a8bbdbce7b75f8c9c6bfa1403c14b23/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06063a7a3547ee3b4859da53332a0c65cb5792ef281c22316ff30805dbb7bbfd
+size 3826384

dataset/kitchen_supplies/storage/4a8bbdbce7b75f8c9c6bfa1403c14b23/drawer_065.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>6</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":"Over-fragmented; same functional parts use multiple colors across drawers and feet.","merge_groups":[{"colors":["Orange","Magenta"],"target_part":"main cabinet body","reason":"top and carcass are one housing structure"},{"colors":["Brown","Lime Green"],"target_part":"drawers","reason":"both colors split the same drawer components"},{"colors":["Green","Violet"],"target_part":"feet/knobs","reason":"small support/handle pieces are inconsistently separated"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>