Add asset kitchen_supplies/storage/58ea648200ac5759bc4ec41b7e0522b6

.gitattributes

@@ -7112,3 +7112,4 @@ dataset/kitchen_supplies/storage/529a38be95275c82bcbab6b941208a70/affordance/mes
 dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5319f13f6c135065ae03fdf7b89f1ecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/58ea648200ac5759bc4ec41b7e0522b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/58ea648200ac5759bc4ec41b7e0522b6/affordance/affordance_annot.json

@@ -0,0 +1,228 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body frame",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls/frame to lift and carry the organizer",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening a drawer or side compartment",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "grasp the lower body to reposition the organizer on a shelf or floor",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide main structure",
+                "support drawers and compartments",
+                "protect stored items",
+                "offer broad grasp surfaces",
+                "support placement on surfaces"
+            ],
+            "semantic_description": "Large rectangular outer frame with white plastic trim and beige to tan wood-look panel inserts on the sides, plus a dark underside base. The surfaces are mostly matte, rigid, and flat, forming most of the object's volume.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.8032238483428955,
+                    "position": [
+                        -0.020962939597666264,
+                        0.23158116033300757,
+                        -0.125705576967448
+                    ],
+                    "orientation": {
+                        "w": 0.5256396100185721,
+                        "xyz": [
+                            0.5019256905178647,
+                            0.4808318900499978,
+                            -0.49048373580439386
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim from opposite sides to lift and reposition the organizer",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "press or hold the top surface to steady the organizer during drawer access",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "form the top surface",
+                "cover the upper structure",
+                "add rigidity to the frame",
+                "provide a flat placement surface"
+            ],
+            "semantic_description": "Broad top surface with a white plastic border and tan wood-textured insert, including several small white rectangular sections at one side. It appears hard, matte, and slightly recessed within the rim.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front drawer handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the centered front pull to open the lower front drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to slide the drawer closed",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "pinch the handle to partially open the drawer for inspection",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "pull open front drawer",
+                "push front drawer closed",
+                "provide front grip",
+                "indicate drawer access point"
+            ],
+            "semantic_description": "Small centered pull tab on the front drawer face, light tan to beige in color, with a compact rectangular protruding shape sized for fingertip or gripper engagement.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.7435709834098816,
+                    "position": [
+                        0.10201103333383799,
+                        0.11334940185770392,
+                        -0.21771395904943347
+                    ],
+                    "orientation": {
+                        "w": 0.7238612402455831,
+                        "xyz": [
+                            0.008014607829181413,
+                            0.018652575453595444,
+                            -0.6896468316177625
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.6805039644241333,
+                    "position": [
+                        0.09173905197530985,
+                        0.09953843941912055,
+                        -0.2248939643613994
+                    ],
+                    "orientation": {
+                        "w": 0.7196018271277886,
+                        "xyz": [
+                            0.014294339278915791,
+                            0.022315373478269285,
+                            -0.6938810462647421
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side compartment handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrow side pull to open the side compartment",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the side pull to slide the side compartment closed",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "use the handle as a lateral manipulation point while aligning the compartment",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "pull open side compartment",
+                "push side compartment closed",
+                "provide lateral grip",
+                "indicate side access point"
+            ],
+            "semantic_description": "Slim vertical handle on the side of the organizer, light beige to tan in the RGB image. It is a narrow, hard, matte pull mounted near the side opening and sized for a pinch grasp.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_10": {
+                    "confidence": 0.7435709834098816,
+                    "position": [
+                        0.10201103333383799,
+                        0.11334940185770392,
+                        -0.21771395904943347
+                    ],
+                    "orientation": {
+                        "w": 0.7238612402455831,
+                        "xyz": [
+                            0.008014607829181413,
+                            0.018652575453595444,
+                            -0.6896468316177625
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.6805039644241333,
+                    "position": [
+                        0.09173905197530985,
+                        0.09953843941912055,
+                        -0.2248939643613994
+                    ],
+                    "orientation": {
+                        "w": 0.7196018271277886,
+                        "xyz": [
+                            0.014294339278915791,
+                            0.022315373478269285,
+                            -0.6938810462647421
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side drawer/compartment panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the extended side compartment body to pull it farther open",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "push on the side compartment panel to close it into the frame",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the compartment while accessing contents",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "form the side storage compartment",
+                "enclose stored items",
+                "slide in and out of the main body",
+                "provide a broad pushing surface"
+            ],
+            "semantic_description": "Box-like side compartment visible protruding from one side when open, with tan to brown wood-look outer faces and a dark gray interior tray surface. It has flat matte surfaces and a shallow rectangular storage form.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red mask merges top and drawer panels; yellow mask includes multiple handles, so part identities and colors are inconsistent."
+    }
+}

dataset/kitchen_supplies/storage/58ea648200ac5759bc4ec41b7e0522b6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0733f69cb17caf7fa56d5138dcb1a96c5f798597d7dc0173823c62b8513dbf78
+size 3832788

dataset/kitchen_supplies/storage/58ea648200ac5759bc4ec41b7e0522b6/storage_bin_037.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":"Front drawer/bin and outer body are merged; colors do not align with clear functional parts.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>