Add asset kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81

.gitattributes

@@ -7096,3 +7096,4 @@ dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mes
 dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/320542dd69b3510da19f71b6616f7d81/affordance/affordance_annot.json

@@ -0,0 +1,311 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the nightstand",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "provide a flat top surface",
+                "support items placed above",
+                "cover the cabinet body",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Large light beige to taupe wooden top with a matte smooth finish, subtle visible wood grain, and a flat rectangular shape covering the cabinet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp or pinch the upper drawer knob/front to pull the drawer open",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "push on the upper drawer front to close the drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer opening",
+                "provide the visible front face of the upper drawer",
+                "protect stored items",
+                "transmit pulling and pushing force to the drawer"
+            ],
+            "semantic_description": "Small light wood drawer face with a matte smooth finish, visible horizontal grain, and a rectangular shape at the upper front of the nightstand.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer knob/front to pull the larger drawer open",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "push on the lower drawer front to close the drawer",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer opening",
+                "provide the visible front face of the lower drawer",
+                "protect stored items",
+                "transmit pulling and pushing force to the drawer"
+            ],
+            "semantic_description": "Larger light wood drawer face with a matte smooth finish, visible grain, and a rectangular shape across the lower front of the cabinet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the round knob to pull a drawer open",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a finger pull",
+                "enable drawer opening",
+                "aid drawer closing",
+                "serve as a drawer handle"
+            ],
+            "semantic_description": "Small round gold-colored metal knob with a glossy reflective finish, centered on each drawer front.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior tray",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the open drawer tray at its sides or front edge to slide it open or closed",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the drawer cavity",
+                "support drawer contents"
+            ],
+            "semantic_description": "Open-topped rectangular drawer box with darker brown interior surfaces and a smooth hard finish, visible when a drawer is pulled out.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side to lift or reposition the nightstand",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet during drawer use",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "enclose one side of the cabinet",
+                "support the frame",
+                "protect contents laterally",
+                "provide structural stiffness"
+            ],
+            "semantic_description": "Large light beige wooden side panel with a matte smooth finish, visible vertical grain, and a broad rectangular inset appearance on one side of the cabinet.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet side to lift or reposition the nightstand",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the cabinet during drawer use",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "enclose one side of the cabinet",
+                "support the frame",
+                "protect contents laterally",
+                "provide structural stiffness"
+            ],
+            "semantic_description": "Large light beige wooden side panel with a matte smooth finish, visible vertical grain, and a broad rectangular inset appearance on the opposite side of the cabinet.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the back of the cabinet",
+                "retain the cabinet structure",
+                "stiffen the frame",
+                "provide rear enclosure"
+            ],
+            "semantic_description": "Large medium beige to brown wooden back panel with a matte smooth surface and broad flat shape across the rear of the cabinet.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front frame rail",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "frame the upper drawer opening",
+                "separate the upper drawer from surrounding structure",
+                "support the front opening",
+                "stiffen the front face"
+            ],
+            "semantic_description": "Narrow light wood front framing strip around the upper drawer opening, with a smooth matte finish and straight rectangular shape.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer motion",
+                "support drawer weight",
+                "align drawer travel",
+                "enable sliding opening and closing"
+            ],
+            "semantic_description": "Slim metallic drawer slide mounted along the inside of the cabinet near the drawer sides, with a smooth hard reflective surface and elongated shape.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base apron",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the cabinet base",
+                "connect lower structure",
+                "raise the cabinet body off the floor",
+                "add structural rigidity"
+            ],
+            "semantic_description": "Low light beige wooden apron along the lower front and side perimeter, with a matte smooth finish and gently curved lower edge above the feet.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "briefly grasp a corner foot to adjust the cabinet position slightly",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "hold a foot to steady the cabinet during manipulation",
+                    "confidence": 0.27
+                }
+            ],
+            "functional_labels": [
+                "support the furniture",
+                "elevate the cabinet",
+                "stabilize on the floor"
+            ],
+            "semantic_description": "Small tapered light wood foot with a matte smooth hard surface, located at the lower corners of the cabinet.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom support rail",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lower edges of the cabinet",
+                "support the lower structure",
+                "add rigidity",
+                "help distribute load near the base"
+            ],
+            "semantic_description": "Light-colored narrow structural rail running along the lower side and front-to-back edges near the floor, with a thin elongated shape.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner bracket",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish and reinforce the front top corner",
+                "join adjacent trim members",
+                "protect the cabinet corner"
+            ],
+            "semantic_description": "Small rounded trim-like corner piece at the upper front corner of the cabinet side, visible as a compact light-colored connector where the front trim meets the top edge.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front side trim",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the front side edge",
+                "protect panel edges",
+                "visually frame the side panel"
+            ],
+            "semantic_description": "Narrow light wood trim strip running vertically along the front edge of each side panel, with a slim rectangular profile.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side top/inner panel",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the upper side-facing structure near the top",
+                "provide a finished exterior/interior side-adjacent surface",
+                "connect the top and side structure"
+            ],
+            "semantic_description": "Light beige panel region visible near the top edge and inner side area from angled views, with a smooth wooden appearance and flat polygonal shape.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified or wrongly described, especially rear/top-inner panels, front frame rail, and side/trim color-part mappings."
+    }
+}

dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10378025d95cb601d94688091da3ba90c3958a7d34a269972880cd213e19afa7
+size 3816948

dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/drawer_014.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>21</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>