Add asset bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4

.gitattributes

@@ -8107,4 +8107,4 @@ dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/mes
 dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b3a12888d80752ef812b0679d00791b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/affordance/affordance_annot.json

@@ -0,0 +1,174 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the box after releasing the front latch",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the closed lid to stabilize the box during carrying or unlatching",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "protect contents",
+                "provide top opening surface",
+                "support the carrying handle"
+            ],
+            "semantic_description": "Flat rectangular off-white painted metal lid with a worn semi-gloss finish, smooth hard surface, rust stains along edges and corners, and a red cross marking on top.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the box to lift or pick up the container",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening the front latch",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "clamp the body for pick-and-place repositioning",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid",
+                "provide main structural shell",
+                "protect contents"
+            ],
+            "semantic_description": "Rectangular off-white painted metal box body with worn smooth surfaces, rust along seams and edges, and red first-aid markings and characters on the front face.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the narrow end panel area to steady or reorient the box",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "press against the end panel to stabilize the box during opening",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "enclose contents at the end",
+                "provide side support",
+                "define the box end surface",
+                "offer lateral contact surface"
+            ],
+            "semantic_description": "Flat rectangular off-white painted metal end panel with a worn smooth finish, rounded edges, and visible rust near the seams; located on one narrow side of the box.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors and feet",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reduce impact damage",
+                "provide wear resistance",
+                "slightly elevate contact points"
+            ],
+            "semantic_description": "Small rounded brown metal corner caps with a dull worn finish and smooth hard surfaces, attached at the box corners as protective reinforcements.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "carrying handle",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to carry or lift the box",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to reposition the box on a surface",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the box",
+                "reposition the box",
+                "support transport"
+            ],
+            "semantic_description": "Arched twisted brown handle with a rope-like wrapped appearance and worn matte surface, spanning the top of the lid between two mounts.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle mount plates",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the handle",
+                "transfer lifting load into the lid",
+                "reinforce handle attachment points"
+            ],
+            "semantic_description": "Two small rectangular brown metal mounting plates on top of the lid beneath the ends of the carrying handle, with worn smooth surfaces.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the latch to open the box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold and press the latch closed to secure the lid",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "release the lid",
+                "provide front closure"
+            ],
+            "semantic_description": "Small brass-colored metal latch at the front center with a worn reflective finish, smooth hard surface, and a keyhole-shaped opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hinges",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to body",
+                "enable lid rotation",
+                "keep the cover aligned"
+            ],
+            "semantic_description": "Small metal hinge pieces mounted along the rear seam of the box, appearing as worn brownish hardware that allows the lid to swing open.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle mount plates use wrong mask color and side panel description mismatches mask extent/shape."
+    }
+}

dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a2c7cf56a3145ddaba8b6689a7ef3fd0a2abd774afd39167c2485800a159505
+size 3802412

dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/pill_organizer_007.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>8</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":"Latch and side panel are inconsistently fragmented; some corner/edge pieces are noise.","merge_groups":[{"colors":["Green","Yellow"],"target_part":"main body","reason":"Side panel and case shell share one rigid storage body."},{"colors":["Crimson","Yellow"],"target_part":"main body","reason":"Tiny bottom/edge fragments are accidental body splits."},{"colors":["Maroon","Yellow"],"target_part":"latch/front hardware","reason":"Front latch is split into neighboring body color inconsistently."}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>