Add asset kitchen_supplies/storage/82ab7312798455f3b62380ed72733dcd

.gitattributes

@@ -7126,4 +7126,4 @@ dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mes
 dataset/kitchen_supplies/storage/77e6760085b5540a80f6590650f08481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/82ab7312798455f3b62380ed72733dcd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/82ab7312798455f3b62380ed72733dcd/affordance/affordance_annot.json

@@ -0,0 +1,250 @@
+{
+    "affordances": [
+        {
+            "part_name": "frame and corner protectors",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid outer frame to lift or reposition the storage box",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the frame edges to stabilize the box while opening the front drawers",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "support structure",
+                "protect corners",
+                "reinforce edges",
+                "provide main handling surface"
+            ],
+            "semantic_description": "Rigid blue-gray outer frame with smooth rails and beige corner protectors, forming thick edge bands and chunky corner caps around the rectangular box.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top lid panel",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "place a gripper on the broad top panel to steady the box while manipulating the front drawers",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "push on the top surface to slide or reposition the box on a table",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "cover top opening",
+                "provide top surface",
+                "protect contents from above"
+            ],
+            "semantic_description": "Flat cream lid panel with a floral patterned print and smooth finish, rectangular and spanning most of the upper surface.",
+            "id": 16,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.7370439171791077,
+                    "position": [
+                        -0.02394582564011216,
+                        -0.26978085841983557,
+                        0.09466921479906887
+                    ],
+                    "orientation": {
+                        "w": 0.46645254818626736,
+                        "xyz": [
+                            -0.5584892502774842,
+                            0.46356237362981156,
+                            0.5055904502358867
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side wall together with the frame to lift or drag the lightweight box",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the box during drawer access",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "enclose contents",
+                "form side boundary",
+                "provide lateral support"
+            ],
+            "semantic_description": "Cream decorative side panel with floral print, smooth finish, broad rectangular shape, positioned on the side and rear surfaces inside the frame.",
+            "id": 20,
+            "grasp_group": {
+                "grasp_58": {
+                    "confidence": 0.7276598811149597,
+                    "position": [
+                        -0.09386364789679646,
+                        -0.26054452266544104,
+                        0.0696037778398022
+                    ],
+                    "orientation": {
+                        "w": 0.15006486681458225,
+                        "xyz": [
+                            -0.08774498025000511,
+                            -0.732720952628482,
+                            -0.657952399317806
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front compartment faces",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a front compartment face or its lower edge area to pull open the front section",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the front face to close the front compartment",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide compartment access",
+                "cover compartment openings",
+                "support opening and closing interaction"
+            ],
+            "semantic_description": "Front-facing cream decorative panel sections with patterned surfaces, arranged on the front of the box.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side vertical trim strip",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish edge",
+                "cover side seam",
+                "provide visual trim"
+            ],
+            "semantic_description": "Narrow light beige vertical strip with a smooth finish running along the front-side edge as slim trim.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top front rim",
+            "mask_color": "Midnight Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front top rim to pull or reposition the box",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the rim to steady the box while opening the front drawers",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "stiffen top edge",
+                "provide front handling edge",
+                "protect upper front edge"
+            ],
+            "semantic_description": "Dark blue-gray narrow horizontal rim with a smooth finish extending across the upper front edge as slim structural trim.",
+            "id": 31,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle pad",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate lid",
+                "provide raised tactile detail"
+            ],
+            "semantic_description": "Small peach-colored rounded rectangular raised pad centered on the lid, with a smooth surface and layered inset detailing.",
+            "id": 16,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.7370439171791077,
+                    "position": [
+                        -0.02394582564011216,
+                        -0.26978085841983557,
+                        0.09466921479906887
+                    ],
+                    "orientation": {
+                        "w": 0.46645254818626736,
+                        "xyz": [
+                            -0.5584892502774842,
+                            0.46356237362981156,
+                            0.5055904502358867
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Dark Slate Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front edge to pull the drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide drawer access",
+                "pull open storage compartment",
+                "push closed storage compartment",
+                "cover compartment opening"
+            ],
+            "semantic_description": "Small front-facing drawer panels with dark blue-gray borders and cream decorative centers, smooth and rectangular, arranged on the upper front area.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob and latch hardware",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front knob or latch to open a drawer or small compartment",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "use the hardware to pull closed or secure the front compartment",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide pull point",
+                "operate closure",
+                "assist opening",
+                "assist closing"
+            ],
+            "semantic_description": "Small beige-gold hardware pieces with a smooth slightly reflective finish, including round knobs and a central latch on the front face.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-part mapping wrong: Brown is whole frame/base, Crimson includes lid and handle pad, front compartment faces mislabeled, hardware not Brown."
+    }
+}

dataset/kitchen_supplies/storage/82ab7312798455f3b62380ed72733dcd/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a179df38336ee1c244af831b0c95efd248c7a0154286bc9bbefd9c48df43ba
+size 3836720

dataset/kitchen_supplies/storage/82ab7312798455f3b62380ed72733dcd/storage_bin_012.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>9</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":"Overmerged frame/base with corners and drawers; several clear parts cannot be separated by merging alone.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>