Add asset kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85

.gitattributes

@@ -7098,4 +7098,4 @@ dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mes
 dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/3582f13812a2521ebf4888f86ae998bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/affordance/affordance_annot.json

@@ -0,0 +1,341 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the nightstand",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while operating drawers",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "support placed items",
+                "cap the cabinet body",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Flat rectangular light-brown wooden top with a matte finish and subtle wood grain, forming the broad upper surface of the nightstand.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pull on the upper drawer front near the knob to open the drawer",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "push on the upper drawer front to close the drawer",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer opening",
+                "provide the front face of the upper drawer",
+                "transmit opening and closing force",
+                "cover stored contents"
+            ],
+            "semantic_description": "Rectangular light-brown wooden drawer face with a matte finish and visible grain, located on the upper front of the cabinet.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pull on the lower drawer front near the knob to open the drawer",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer opening",
+                "provide the front face of the lower drawer",
+                "transmit opening and closing force",
+                "cover stored contents"
+            ],
+            "semantic_description": "Rectangular light-brown wooden drawer face with a matte finish and visible grain, located on the lower front of the cabinet.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a knob to pull its drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold a knob to guide a drawer closed",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "enable drawer opening",
+                "guide drawer closing",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round light tan wooden knobs with a matte to semi-matte finish, centered on the drawer fronts and protruding for easy pinching.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer box interior",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer box sides during drawer removal or servicing",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "hold the interior of an extended drawer to stabilize it",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support contents",
+                "move in and out with the drawer"
+            ],
+            "semantic_description": "Open rectangular drawer interior in light brown wood with a matte smooth finish, visible when the drawers are extended.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer weight",
+                "enable sliding extension",
+                "align the drawer"
+            ],
+            "semantic_description": "Narrow silver-gray metal rail with a slightly reflective finish, mounted along the drawer sides inside the cabinet.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side to help lift or carry the unit",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet while opening drawers",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "enclose the cabinet side",
+                "support the frame",
+                "protect contents",
+                "provide lateral rigidity"
+            ],
+            "semantic_description": "Large vertical medium-brown wooden side panel with a matte finish and visible grain, forming a broad side wall of the cabinet.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Light Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the rear of the cabinet",
+                "add structural rigidity",
+                "protect contents from behind",
+                "help maintain cabinet shape"
+            ],
+            "semantic_description": "Broad flat light-brown wooden rear panel with a matte finish and subtle grain, spanning most of the back of the cabinet.",
+            "id": null
+        },
+        {
+            "part_name": "front legs",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a front leg to help reposition the small cabinet",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold a front leg to steady the unit during maintenance",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body",
+                "stabilize on the floor",
+                "define front corner contact"
+            ],
+            "semantic_description": "Short turned wooden front legs in darker brown with a matte finish, tapering downward at the front corners.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear legs",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a rear leg to help reposition the small cabinet",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold a rear leg to steady the unit during maintenance",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet",
+                "elevate the body",
+                "stabilize on the floor",
+                "define rear corner contact"
+            ],
+            "semantic_description": "Short turned wooden rear legs in darker brown with a matte finish, located at the back corners.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the cabinet bottom",
+                "support lower structure",
+                "help distribute load",
+                "close the underside of the main body"
+            ],
+            "semantic_description": "Large flat lower panel in light brown wood with a matte finish, spanning the underside of the cabinet body between the side structures.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side frame posts",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a vertical corner post to help lift or rotate the cabinet",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold a post to stabilize the cabinet during drawer use",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "reinforce cabinet corners",
+                "connect top and lower structure",
+                "support side framing",
+                "provide structural rigidity"
+            ],
+            "semantic_description": "Narrow vertical brown wooden corner posts with a matte finish, running down the cabinet edges toward the legs.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front lower apron rail",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the cabinet front",
+                "connect the front lower structure",
+                "maintain frame alignment",
+                "stiffen the base area"
+            ],
+            "semantic_description": "Thin horizontal brown wooden rail with a matte finish, extending across the lower front between the side structures.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper interior back panel",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "bound the back of the upper drawer cavity",
+                "provide internal support",
+                "limit drawer travel space",
+                "help define the interior compartment"
+            ],
+            "semantic_description": "Flat recessed brown interior panel with a matte finish, visible behind the upper drawer cavity when the drawer is open.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner vertical support",
+            "mask_color": "Dark Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the front opening",
+                "help connect internal structure",
+                "reinforce the drawer cavity edge"
+            ],
+            "semantic_description": "Narrow vertical brown wooden support piece with a matte finish, visible inside the front opening near the drawer cavity.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top perimeter trim",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the top perimeter",
+                "protect top edges",
+                "provide visual border",
+                "stiffen the upper edge"
+            ],
+            "semantic_description": "Slim brown wooden trim band with a matte finish running around the perimeter just below the top panel.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side rail",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace the lower frame",
+                "connect lower side structure",
+                "improve rigidity",
+                "support the base area"
+            ],
+            "semantic_description": "Thin horizontal brown wooden rail with a matte finish, mounted low along the cabinet side above the legs.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities/descriptions mismatch mask views; colors and structures like rails, trim, supports, and back panel are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a980e7dae0bc0c90622ab55a9cbde3e659258ccf63a4435fd994c6704cf07264
+size 3826164

dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/drawer_027.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>31</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>