Add asset kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79

.gitattributes

@@ -7136,3 +7136,4 @@ dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mes
 dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/affordance_annot.json

@@ -0,0 +1,200 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top outer edges to lift or reposition the organizer",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the top panel to stabilize the box while opening a drawer",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "form the top surface",
+                "cover the interior from above as part of the frame",
+                "add structural rigidity",
+                "provide a flat resting surface"
+            ],
+            "semantic_description": "Large off-white rigid top panel with a matte slightly textured surface and rounded rectangular shape, integrated into the top of the organizer rather than a separate removable lid.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main body frame",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and carry the organizer",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening one of the drawers",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "enclose and support the drawers",
+                "provide side walls",
+                "stabilize the organizer"
+            ],
+            "semantic_description": "Large cream-white body/frame with decorative patterned side panels, likely rigid plastic or composite, featuring a mostly matte finish and broad vertical walls around the lower portion.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front section",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the semicircular pull area on the upper front to slide open the shallow upper drawer section",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "push the upper front section closed after access",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer compartment",
+                "provide access to shallow upper storage",
+                "retain contents",
+                "present a front face for pulling"
+            ],
+            "semantic_description": "Broad cream-white upper drawer front beneath the top panel with a matte textured finish and flat rectangular form across the upper front section, including a centered semicircular pull cutout.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer pull to open the main lower drawer",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "push on the drawer front to close the lower drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer",
+                "provide access to main storage",
+                "retain contents",
+                "present front face for pulling"
+            ],
+            "semantic_description": "Large cream-white lower drawer face with a matte lightly textured surface, flat rectangular shape, and rigid hard construction forming the main front panel near the base, with a centered semicircular pull.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull handle",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the semicircular pull to open the lower drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch the upper semicircular pull to open the shallow upper drawer",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide gripping point",
+                "pull drawers open",
+                "indicate drawer access location"
+            ],
+            "semantic_description": "Small semicircular recessed or raised pull elements in matching light cream material, with a smooth matte hard surface and curved shape centered on the drawer fronts for finger or gripper access.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.5614041686058044,
+                    "position": [
+                        0.10316428964870283,
+                        -0.27873909822665155,
+                        0.08272876590490341
+                    ],
+                    "orientation": {
+                        "w": 0.5379540020389009,
+                        "xyz": [
+                            -0.8411046135415621,
+                            0.03363343728704671,
+                            -0.044914503956830505
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer divider trim",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate upper and lower drawer sections",
+                "define drawer boundary",
+                "provide visual trim"
+            ],
+            "semantic_description": "Thin dark trim strip running horizontally between the upper drawer section and the lower drawer, appearing narrow, rigid, and smooth with a flat linear form.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front corner post",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "connect top and base",
+                "support the frame"
+            ],
+            "semantic_description": "Narrow vertical cream-colored corner member with a hard smooth matte finish, positioned at the front side edges as a slim structural frame element.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear side post",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce side frame",
+                "connect top and bottom",
+                "stabilize the body"
+            ],
+            "semantic_description": "Slim vertical cream-toned post at the rear side edge, with a rigid smooth matte surface and elongated rectangular form supporting the side frame.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side trim panel",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative accent",
+                "cover side joint area",
+                "visually finish the frame"
+            ],
+            "semantic_description": "Long narrow beige decorative strip beneath the top edge on the side, with a lightly textured matte surface and thin rectangular shape serving as trim.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts mismatch masks/functions: white is upper drawer body, gray rear post, burnt-orange side panel, and one purple handle only lower."
+    }
+}

dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ebc0b71b533d89939ae04c5a47890bbb6656053dc8f467b22e6ad3afb89e3b4
+size 3832712

dataset/kitchen_supplies/storage/9211f3b733a259119fedc13eeaafec79/storage_bin_016.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":"Overfragmented bin; handles and decorative strips split into many colors instead of coherent functional parts.","merge_groups":[{"colors":["Red","Crimson"],"target_part":"main body/frame","reason":"same outer shell split into top and side accents"},{"colors":["Purple","White"],"target_part":"drawer handles/front pull area","reason":"handle-adjacent front surfaces are one usable pull region"},{"colors":["Navy","Maroon","Gray","Burnt Orange"],"target_part":"nonfunctional decorative trim/panels","reason":"small side/front strips are decorative fragments"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>