Add asset kitchen_supplies/storage/3eadc82f6e22522bbba3adcab2bc45a1

.gitattributes

@@ -7100,4 +7100,4 @@ dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mes
 dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/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/37c9c9934b795722981ad10f0493505d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/3917a38a71dc54e8bcfc0fe6aa9e1d45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3eadc82f6e22522bbba3adcab2bc45a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3eadc82f6e22522bbba3adcab2bc45a1/affordance/affordance_annot.json

@@ -0,0 +1,251 @@
+{
+    "affordances": [
+        {
+            "part_name": "top lid panel",
+            "mask_color": "Light Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge or top surface near an edge to lift and open the box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the closed lid from above to stabilize the object during repositioning",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "cover the main compartment",
+                "protect stored contents",
+                "provide top access when opened"
+            ],
+            "semantic_description": "Large flat rectangular lid panel on top, muted blue-green with a smooth matte finish, bordered by beige corner protectors and blue-green frame rails.",
+            "id": 36,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "clamp opposing side walls to lift or move the box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "push on a side wall to slide or reposition the box",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main body",
+                "provide side support",
+                "provide a broad pushing surface"
+            ],
+            "semantic_description": "Large tapered side panel with an off-white floral pattern, hard smooth surface, and broad flat shape on the left and right sides of the box.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protector",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce joints",
+                "reduce edge wear",
+                "buffer impacts"
+            ],
+            "semantic_description": "Small beige rounded corner pieces at the edges and corners, likely molded plastic or leather-like covers with a matte finish and raised rivet-like detailing.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim rail",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front rim to help lift the lid",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "use the rim as a stabilizing contact while manipulating the box",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "stiffen the upper edge",
+                "frame the opening",
+                "support lid seating",
+                "provide an edge for manipulation"
+            ],
+            "semantic_description": "Narrow blue-green rail running around the upper perimeter below the lid, with a smooth matte finish and long slender shape.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pull on the recessed handle area to open the upper drawer",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "push on the drawer front to close the upper drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer compartment",
+                "provide drawer front surface",
+                "support drawer opening and closing"
+            ],
+            "semantic_description": "Wide upper front drawer face in cream with floral decoration, smooth matte finish, featuring a centered dark recessed handle opening and a small beige knob below.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer knob",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front knob to pull the upper drawer open",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "pull the upper drawer open",
+                "provide a gripping point",
+                "guide drawer closing"
+            ],
+            "semantic_description": "Small beige rounded knob centered below the recessed opening on the upper drawer front, with a hard smooth finish and slight protrusion.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower left drawer face",
+            "mask_color": "Deep Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the knob on the lower left drawer to pull it open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the drawer face to close it",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "close the lower left drawer compartment",
+                "provide drawer front surface",
+                "support drawer access"
+            ],
+            "semantic_description": "Small lower-left cream drawer front with floral decoration, smooth hard matte surface, occupying the left half of the lower row.",
+            "id": 32,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower right drawer face",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the knob on the lower right drawer to pull it open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on the drawer face to close it",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "close the lower right drawer compartment",
+                "provide drawer front surface",
+                "support drawer access"
+            ],
+            "semantic_description": "Small lower-right cream drawer front with floral decoration, smooth hard matte surface, occupying the right half of the lower row.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small drawer knob",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a lower drawer knob to open one of the small drawers",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the knob to guide a small drawer shut",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "pull a small drawer open",
+                "provide a finger grip",
+                "guide drawer closing"
+            ],
+            "semantic_description": "Small beige round knob centered on each of the two lower drawers, with a hard smooth finish and slight protrusion.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side decorative inset panel",
+            "mask_color": "Dark Slate Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "visually segment the side",
+                "cover a narrow side section"
+            ],
+            "semantic_description": "Narrow vertical blue patterned decorative panel near the front side edge, with a smooth matte surface and ornamental appearance.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower base rail",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the bottom edge",
+                "stiffen the base",
+                "lift the body slightly off the surface"
+            ],
+            "semantic_description": "Thin muted blue-green strip along the lower perimeter, with a matte hard finish and elongated shape forming a shallow base frame.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front vertical frame post",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join panels",
+                "reinforce the vertical edge",
+                "support the frame"
+            ],
+            "semantic_description": "Slim beige vertical structural post at the front side edge, hard and smooth with a matte finish, connecting top, side, and lower sections.",
+            "id": 19,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer front/knob identities and descriptions mismatch mask; one knob mask covers both lower knobs; upper drawer front incorrectly includes knob; side panel color wrong."
+    }
+}

dataset/kitchen_supplies/storage/3eadc82f6e22522bbba3adcab2bc45a1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae8ac310b8e62e554288a7bcd39bdbee8a4428f7ad7ebeb372da129b06f8ae4
+size 3844208

dataset/kitchen_supplies/storage/3eadc82f6e22522bbba3adcab2bc45a1/storage_bin_052.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>15</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":"Main body is over-segmented into decorative panels, trim, and corners rather than functional parts.","merge_groups":[{"colors":["Lawn Green","Hot Pink","Crimson","Burnt Orange","Dark Slate Blue","Navy","Gold","Maroon","Light Sea Green"],"target_part":"main body","reason":"Panels, frame, corners, and drawers form one storage body"},{"colors":["Jade","Deep Pink"],"target_part":"lid","reason":"Top panel and rim belong to same lid"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>