Add asset kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f

.gitattributes

@@ -7158,3 +7158,4 @@ dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/mes
 dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f/affordance/affordance_annot.json

@@ -0,0 +1,292 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet shell",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side panels to lift or reposition the drawer unit",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet shell to stabilize the unit while opening a drawer",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "enclose drawers",
+                "support the overall structure",
+                "provide side and top surfaces",
+                "protect stored contents"
+            ],
+            "semantic_description": "Large dark navy-blue outer cabinet body with smooth hard side panels and a flat light gray top, forming the main housing around the drawers.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "frame and legs",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower frame edge to reposition the cabinet slightly",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a leg or lower side frame to stabilize the unit during drawer pulling",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the drawers",
+                "distribute load to the floor",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Bright pink perimeter base frame with four short tapered legs and rounded edges, supporting the cabinet above the floor.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_147": {
+                    "confidence": 0.45402905344963074,
+                    "position": [
+                        0.19085578992962837,
+                        0.09026706838631071,
+                        0.15438182465732098
+                    ],
+                    "orientation": {
+                        "w": 0.20037443873821134,
+                        "xyz": [
+                            0.6547121498099295,
+                            -0.6556802824354201,
+                            -0.31825375475713535
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "open lower drawer box",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer sides to pull or guide the drawer",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the drawer box to remove it for access or cleaning",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "store items",
+                "slide outward for access",
+                "present contents",
+                "support the drawer front"
+            ],
+            "semantic_description": "Large open brown drawer box with visible wood grain on the interior surfaces, a deep rectangular shape, and smooth hard walls extending from the lower front opening.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer front to pull the drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "open drawer",
+                "close drawer",
+                "cover stored contents",
+                "provide front face"
+            ],
+            "semantic_description": "Wide off-white lower drawer face with a smooth hard finish and a curved finger notch along the top edge.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle drawer front",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer front at the notch to pull the drawer open",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "open drawer",
+                "close drawer",
+                "cover stored contents",
+                "provide front face"
+            ],
+            "semantic_description": "Medium-width blue drawer front with a smooth hard finish and a centered curved finger notch, located above the large lower open drawer.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper middle drawer front",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper middle drawer front at the notch to pull it open",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "open drawer",
+                "close drawer",
+                "cover stored contents",
+                "provide front face"
+            ],
+            "semantic_description": "Drawer front below the three small top drawers, with a dark face and a purple-colored segmentation mask, a smooth hard surface, and a centered curved notch.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper left small drawer front",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small upper-left drawer front or its pull to open it",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "push on the small drawer front to close it",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "open small drawer",
+                "close small drawer",
+                "cover small storage compartment",
+                "provide front face"
+            ],
+            "semantic_description": "Small peach-pink upper-left drawer face with a smooth hard finish and a small brass-colored rectangular pull near the center.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper center small drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper-center small drawer front to pull it open",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "push on the small drawer front to close it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "open small drawer",
+                "close small drawer",
+                "cover small storage compartment",
+                "provide front face"
+            ],
+            "semantic_description": "Small upper-center drawer face with a yellow-gold textured or patterned appearance and hard finish, positioned between the left and right top drawers.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper right small drawer front",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper-right small drawer front to pull it open",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "push on the small drawer front to close it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "open small drawer",
+                "close small drawer",
+                "cover small storage compartment",
+                "provide front face"
+            ],
+            "semantic_description": "Small upper-right drawer face with a light cream or pale patterned appearance and hard finish, positioned at the top right of the drawer stack.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slides or side rails",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer alignment",
+                "connect drawers to cabinet"
+            ],
+            "semantic_description": "Thin dark interior strips visible along the drawer sides inside the cabinet, likely rail or slide components that guide the drawers.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base shelf panel",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the bottom shelf surface",
+                "support the cabinet interior base",
+                "provide a resting surface"
+            ],
+            "semantic_description": "Large brown inset panel with visible wood-grain appearance set within the lower base frame, forming the bottom shelf or base surface.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small drawer handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small handle to open a top small drawer",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the handle to guide that drawer closed",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide finger grip",
+                "open drawer",
+                "guide drawer closing"
+            ],
+            "semantic_description": "Small brass-colored rectangular metallic pull attached to one of the top small drawer fronts, with a reflective hard finish.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions mismatch visible colors/materials; one handle part is not uniquely identified; some drawer-front colors are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e5f4cbc2525679f0241957bbf3b278a2ef54c7a9978749a905d92d0ab0ad146
+size 3799800

dataset/kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f/drawer_096.urdf

@@ -50,13 +50,14 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>15</part_count>
+         <part_count>14</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
                <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>YES</PartSegChecker>