Add asset kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af

.gitattributes

@@ -7171,4 +7171,5 @@ dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mes
 dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/d34b3af1d8a656298ef20a6434cc488d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/affordance_annot.json

@@ -0,0 +1,195 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body panels",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing outer side walls to lift or reposition the storage bin",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold a side wall to slide the bin on a surface",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "stabilize the bin by clamping a side panel during drawer manipulation",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "provide side support",
+                "offer broad grasp surfaces"
+            ],
+            "semantic_description": "Large pale blue-gray outer wall panels with a matte smooth finish and beige floral print on the exterior side faces, forming the tapered box-shaped body of the organizer.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panels",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front cutout or panel edges to pull a drawer outward",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "push on the front panel to close the drawer",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the front panel to steady the drawer while aligning it",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "close the drawer front",
+                "provide pull surface",
+                "cover stored contents",
+                "indicate drawer position"
+            ],
+            "semantic_description": "Rectangular front faces on the two drawers, with light cream to white patterned surfaces and a centered semicircular cutout near the top edge; the upper drawer front also includes a small round beige knob.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim and corner guards",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rigid top rim to lift or reposition the empty bin",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp a top corner guard to stabilize the bin during handling",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "reinforce edges",
+                "protect corners",
+                "stiffen opening",
+                "provide alignment surfaces"
+            ],
+            "semantic_description": "Light beige plastic trim with a smooth satin finish, wrapping the top rim and forming rounded protective corner pieces around the upper edges of the bin.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_16": {
+                    "confidence": 0.5439510941505432,
+                    "position": [
+                        0.052789564710110426,
+                        0.14369807206094265,
+                        -0.19248415646143258
+                    ],
+                    "orientation": {
+                        "w": 0.6585148441762689,
+                        "xyz": [
+                            0.1525322327313923,
+                            -0.15381220220782044,
+                            -0.7207176454267379
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the knob to pull the upper drawer open",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the knob to start closing or repositioning the upper drawer",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide a finger pull",
+                "open drawer",
+                "close drawer",
+                "indicate drawer center"
+            ],
+            "semantic_description": "Small round beige knobs with a smooth slightly glossy hard finish, centered on the drawer fronts and protruding for precise pinching.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support contents from below",
+                "close the underside",
+                "provide base structure"
+            ],
+            "semantic_description": "Large flat beige bottom panel with a matte smooth finish spanning the underside of the organizer as the main base.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom edge trim",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce lower edges",
+                "protect base perimeter",
+                "stabilize structure"
+            ],
+            "semantic_description": "Narrow pale blue-gray trim running along the lower perimeter of the body, capping the bottom edges above the beige base panel.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top front notch edge",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the top front notch edge to help reposition the empty bin",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "use the notch edge as a light stabilizing contact point while accessing contents",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "provide front access clearance",
+                "shape the opening",
+                "assist reach-in access"
+            ],
+            "semantic_description": "A small rigid beige-edged feature around the semicircular front notch at the top opening, visible as part of the front upper edge rather than an internal divider or rail.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer side rails or side edges",
+            "mask_color": "Lawn Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the drawer side boundary",
+                "support drawer shape",
+                "provide sliding contact surfaces",
+                "connect drawer front to drawer body"
+            ],
+            "semantic_description": "Thin pale blue-gray side-edge strips associated with the drawers, visible only as narrow recessed side elements near the drawer openings rather than large exposed panels.",
+            "id": 24,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer knob count and top-notch part identity mismatch mask/RGB; several descriptions overstate separated parts."
+    }
+}

dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09edffd84cd737a23fa4f4b4c9812cbd287ed55967e7a5d3989b3f2dba29045
+size 3803848

dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/storage_bin_054.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>9</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":"Drawer fronts and structural trims are merged or inconsistently split; only minor cleanup is actionable by merging.","merge_groups":[{"colors":["Green","Lawn Green"],"target_part":"base/bottom trim","reason":"same bottom edge structure across views"},{"colors":["Indigo","Lime Green"],"target_part":"top front rim/cutout","reason":"same front rim surface split into two colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>