Add asset kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a

.gitattributes

@@ -7162,3 +7162,4 @@ dataset/kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f/affordance/mes
 dataset/kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bd6e0924a106522a99340996d8d0388c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bebf9a45875550d5abcafeb08554c666/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/affordance_annot.json

@@ -0,0 +1,99 @@
+{
+    "affordances": [
+        {
+            "part_name": "top carry handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to carry or reposition the small storage cabinet",
+                    "confidence": 0.97
+                }
+            ],
+            "functional_labels": [
+                "carry the cabinet",
+                "provide handhold",
+                "assist repositioning"
+            ],
+            "semantic_description": "Brown wood-look arched handle mounted on the top panel, with a hard smooth matte surface and matching brown mounting feet.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main cabinet body",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the cabinet body to lift or stabilize it",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the cabinet body while another gripper opens a drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support drawers",
+                "provide structure",
+                "enclose contents",
+                "stabilize the assembly"
+            ],
+            "semantic_description": "Light to medium brown wooden cabinet body with matte finish, hard mostly smooth surfaces, visible wood grain, and a box-shaped outer shell around the drawers.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "dark fabric drawer front",
+            "mask_color": "Midnight Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the semicircular cutout on the dark fabric drawer to pull it open",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the drawer front edges to remove the fabric bin from the cabinet",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain small items",
+                "slide in and out",
+                "organize contents",
+                "provide removable storage"
+            ],
+            "semantic_description": "Dark gray fabric-faced rectangular drawer/bin on the front lower-left area, with a soft textured surface and a black semicircular pull cutout centered near the top edge.",
+            "id": 31,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small drawer pull label/handle",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the small horizontal pull on the narrow drawer to open it",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "use the pull to slightly pull and align the small drawer",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "pull drawer open",
+                "provide fingertip grip point",
+                "identify the small drawer front"
+            ],
+            "semantic_description": "Small horizontal light gray to pale blue rectangular pull or label-handle centered on a narrow drawer front, with a smooth hard appearance.",
+            "id": 19,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part matches are wrong; main body and drawers are mislabeled or merged inconsistently."
+    }
+}

dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b07ba1f4ea2c22a59b2362289ba8f38df5613f7e09cb57bc6e3f57dbf731a8
+size 3819472

dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/storage_bin_059.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>4</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":"Functional parts are inconsistently split and merged; main body, bottom, drawers, and corner protectors are confused.","merge_groups":[{"colors":["Red","Gainsboro"],"target_part":"main body/frame","reason":"Large exterior surfaces are arbitrarily split"},{"colors":["Jade","Gainsboro"],"target_part":"drawer/front panel","reason":"Same drawer face appears in two colors"},{"colors":["Midnight Blue","Gainsboro"],"target_part":"drawer/bin front","reason":"Blue drawer front is fragmented by white"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>