Add asset kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b

.gitattributes

@@ -7159,4 +7159,4 @@ dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mes
 dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bb5190ffba405118bd7de95dd7a2c945/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bb8c54a30c5c578e9b4f62fb8938f19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/bc4ec8bb1eeb58268e3bb89064af37d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b/affordance/affordance_annot.json

@@ -0,0 +1,245 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the bin",
+                "protect contents",
+                "provide top closure",
+                "support the top handle"
+            ],
+            "semantic_description": "Flat off-white plastic lid with a matte smooth hard surface, large and rectangular on the top, with rounded reinforced corners and a centered carry handle.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top carry handle",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the storage bin",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the top handle to reposition the bin on a shelf or table",
+                    "confidence": 0.93
+                }
+            ],
+            "functional_labels": [
+                "carry the bin",
+                "lift from above",
+                "provide a secure handhold",
+                "assist repositioning"
+            ],
+            "semantic_description": "U-shaped taupe-gray plastic handle with a matte smooth hard finish, medium-sized and mounted at the center of the lid, raised for overhead gripping.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges",
+                "absorb bumps"
+            ],
+            "semantic_description": "Small rounded light gray plastic corner protectors with a matte hard smooth surface, located at the lid corners and body corners as protective reinforcements.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer front to pull the drawer open",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the upper drawer front to push the drawer closed",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer",
+                "provide drawer pulling surface",
+                "indicate the upper compartment",
+                "support access to stored items"
+            ],
+            "semantic_description": "Rectangular off-white textured front panel with a slightly pebbled matte finish, medium-sized on the upper front section, fitted with a recessed pull and a label holder.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer handle",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the upper drawer handle to open the upper drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the upper drawer handle to close or align the drawer",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "pull the upper drawer",
+                "push the drawer closed",
+                "provide a localized grip",
+                "assist drawer manipulation"
+            ],
+            "semantic_description": "Short horizontal taupe-gray plastic recessed pull with a matte smooth hard surface, centered on the upper drawer front and sized for fingertip or gripper engagement.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front to pull the drawer open",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the lower drawer front to push the drawer closed",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer",
+                "provide drawer pulling surface",
+                "indicate the lower compartment",
+                "support access to stored items"
+            ],
+            "semantic_description": "Rectangular off-white front panel with a wavy embossed texture and matte finish, medium-sized on the lower front section with a centered recessed pull.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lower drawer handle to open the lower drawer",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp the lower drawer handle to close or straighten the drawer",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "pull the lower drawer",
+                "push the drawer closed",
+                "provide a localized grip",
+                "assist drawer manipulation"
+            ],
+            "semantic_description": "Short horizontal taupe-gray plastic recessed pull with a matte smooth hard surface, centered on the lower drawer front and projecting slightly for grasping.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper side panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form side wall",
+                "contain stored items",
+                "provide enclosure",
+                "support the frame"
+            ],
+            "semantic_description": "Large off-white side panel with a matte hard finish and fine textured surface, positioned on the upper side walls beneath the lid as part of the bin enclosure.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main body panel",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the main container wall",
+                "contain contents",
+                "provide structural volume",
+                "support the base"
+            ],
+            "semantic_description": "Large off-white plastic body panels with a matte hard textured surface, covering the lower sides and base area of the storage bin.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side carry handle",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side handle to slide or reposition the bin laterally",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "use a side handle to stabilize the bin while opening a drawer",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "two-sided grasp using both side handles to lift the bin",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist lateral repositioning",
+                "stabilize during drawer use",
+                "support two-handed carrying"
+            ],
+            "semantic_description": "Slim taupe-gray plastic side handle with a matte smooth hard surface, mounted horizontally on each side near the upper drawer area and sized for a partial side grip.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "label holder",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold an identification label",
+                "indicate contents",
+                "support organization",
+                "mark drawer category"
+            ],
+            "semantic_description": "Small rectangular taupe-gray plastic plaque with a matte smooth finish on the upper drawer front, shallow and flat for displaying a label.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "frame trim",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce panel edges",
+                "connect structural parts",
+                "protect edges",
+                "define drawer boundaries"
+            ],
+            "semantic_description": "Narrow taupe-gray plastic trim rails with a matte hard smooth finish, running horizontally around the upper body and drawer boundaries to frame panels and separate sections.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Multiple mask-part mismatches and wrong graspability; lid/front panels and side handle annotations are inconsistent with images."
+    }
+}

dataset/kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3bc825ba078f2f9ae4bec1e4474a19a362952a688dea01f5d53ae8580ec8aea
+size 3833108

dataset/kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b/storage_bin_026.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>12</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":"Too fragmented across drawer fronts and frame surfaces; several same-function panels use inconsistent colors.","merge_groups":[{"colors":["Blue","Jade","Orange"],"target_part":"upper drawer/front panel surfaces","reason":"same drawer-side/front surfaces split by view/side"},{"colors":["White","Indigo"],"target_part":"main bin body/frame","reason":"body shell and frame merged functionally as container structure"},{"colors":["Green","Gold"],"target_part":"lower drawer/front panel surfaces","reason":"same lower drawer area split into separate colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>