Add asset kitchen_supplies/storage/66a44320268f51f6a3ffeefbb45b8f4c

.gitattributes

@@ -7118,4 +7118,4 @@ dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/affordance/mes
 dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/66a44320268f51f6a3ffeefbb45b8f4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/66a44320268f51f6a3ffeefbb45b8f4c/affordance/affordance_annot.json

@@ -0,0 +1,243 @@
+{
+    "affordances": [
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the storage organizer",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the top rim to stabilize the organizer while opening drawers",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide structural rim support",
+                "offer a top grasp surface",
+                "protect the upper edges",
+                "frame the top opening"
+            ],
+            "semantic_description": "Large rectangular upper perimeter frame around the top, appearing coral-pink fabric-covered and rigid with a matte finish and rounded edges.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top label panel",
+            "mask_color": "Light Salmon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display label area",
+                "indicate contents",
+                "provide visual identification"
+            ],
+            "semantic_description": "Flat rectangular inset panel centered on the top, pale pink in color with a smooth matte surface and no visible markings.",
+            "id": 35,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges from impact",
+                "stabilize the frame"
+            ],
+            "semantic_description": "Small rounded beige corner caps at the box vertices, likely hard matte plastic with smooth surfaces and visible fastener-like bumps.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to pull or carry the organizer",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to rotate the organizer for access",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "pull the organizer",
+                "carry the organizer",
+                "assist reorientation"
+            ],
+            "semantic_description": "U-shaped beige handle mounted on a side panel, medium-sized and rigid with a smooth matte surface, sized for secure side gripping.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front drawer frame",
+            "mask_color": "Tomato",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate drawer openings",
+                "support drawer alignment",
+                "provide front structure"
+            ],
+            "semantic_description": "Front grid-like frame around the drawers, orange-coral in color and rigid, with straight bars and a matte finish.",
+            "id": 40,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer pull to open a drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pinch a pull to partially slide a drawer for inspection",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "open drawer",
+                "pull storage compartment",
+                "provide finger access"
+            ],
+            "semantic_description": "Small curved cutout-style handle on a drawer front, integrated into the drawer face as a smooth recessed pull near the top edge.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front to pull out a drawer when the pull is inaccessible",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "close drawer opening",
+                "contain small items",
+                "support drawer pulling",
+                "present drawer face"
+            ],
+            "semantic_description": "Rectangular front face of an individual small drawer, with a woven basket-like texture and pastel colors such as white, pink, blue, yellow, or purple.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Dark Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to steady the organizer during drawer manipulation",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "clamp the side panel to lift the empty organizer",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "enclose contents",
+                "form side wall",
+                "provide structural support",
+                "stabilize stored drawers"
+            ],
+            "semantic_description": "Large rectangular side wall covered in multicolored patchwork-style woven panels, matte and slightly textured, occupying most of the side face.",
+            "id": 30,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical edge post",
+            "mask_color": "Light Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a corner post to stabilize or reposition the organizer",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "clamp a post during lifting when side access is limited",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "support vertical structure",
+                "reinforce edges",
+                "provide alignment for panels"
+            ],
+            "semantic_description": "Tall narrow corner post running vertically between top and bottom frames, covered in multicolored patchwork fabric with a matte finish and rigid construction.",
+            "id": 36,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Dark Slate Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored weight",
+                "close the underside",
+                "provide base surface"
+            ],
+            "semantic_description": "Large flat underside panel, purple-blue in appearance with a matte finish and broad planar surface.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom frame",
+            "mask_color": "Moccasin",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower rim to tilt or reposition the organizer",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "hold the base edge while stabilizing during transport",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "support the base",
+                "protect lower edges",
+                "maintain box shape"
+            ],
+            "semantic_description": "Lower perimeter frame bordering the underside, peach-orange in color, rigid and matte with smooth rounded edges forming the base rim.",
+            "id": 46,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side trim strip",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce panel seam",
+                "decorate side wall",
+                "visually separate sections"
+            ],
+            "semantic_description": "Thin horizontal trim strip across a side face, red in color, narrow and smooth with a matte finish, acting as a seam or decorative brace.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use wrong real colors/materials; top rim, side handle, and edge post are misdescribed from mask colors."
+    }
+}

dataset/kitchen_supplies/storage/66a44320268f51f6a3ffeefbb45b8f4c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11a9b3a79e5c6c4e7a2d4907024c218928daf6ee08a28aa340da1a5c2b44c18
+size 3822788

dataset/kitchen_supplies/storage/66a44320268f51f6a3ffeefbb45b8f4c/storage_bin_065.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>29</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":"Over-segmented into many surface patches; main body and drawer fronts are split without functional meaning.","merge_groups":[{"colors":["Yellow","Pink","Navy","Olive","Crimson","Burnt Orange","Jade","Hot Pink","Indigo","Dark Orange","Sea Green","Gainsboro","Dark Green","Midnight Blue","Yellow Green","Dark Slate Blue","Light Salmon","Light Sea Green","Orchid","Dark Khaki","Tomato","Medium Sea Green","Moccasin","Medium Violet Red","Slate Gray","Aquamarine","Orange Red"],"target_part":"main bin body","reason":"These colors are decorative body panels, not distinct functional parts"},{"colors":["Red","Magenta"],"target_part":"drawer handles","reason":"Same handle function across drawers and side panels"},{"colors":["Yellow","Light Salmon"],"target_part":"corner guards/frame","reason":"Both form one protective structural frame"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>