Add asset kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56

.gitattributes

@@ -7177,3 +7177,4 @@ dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/mes
 dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/affordance_annot.json

@@ -0,0 +1,395 @@
+{
+    "affordances": [
+        {
+            "part_name": "top carry handle",
+            "mask_color": "Deep Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the arched top handle to lift and carry the storage cabinet",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the top handle to reposition the cabinet on a table or shelf",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "carry the cabinet",
+                "lift from above",
+                "reposition the cabinet",
+                "provide a dedicated grip"
+            ],
+            "semantic_description": "Arched light pink plastic handle with a smooth matte surface, mounted centrally on the floral top panel.",
+            "id": 32,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the top",
+                "support the carry handle",
+                "form the cabinet roof",
+                "protect contents from above"
+            ],
+            "semantic_description": "Flat white plastic top panel with a slightly glossy finish, printed with pastel flower patterns.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "frame rails and corner caps",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an upper frame rail or corner area to steady the cabinet while opening a drawer",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the frame to slightly reposition the cabinet",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "reinforce the structure",
+                "protect edges and corners",
+                "support the frame",
+                "provide rigid perimeter support"
+            ],
+            "semantic_description": "White plastic rails with rounded pink corner caps, smooth hard surfaces, forming the outer frame around the cabinet.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.6642336249351501,
+                    "position": [
+                        -0.06580982217565179,
+                        -0.23975385469384491,
+                        -0.13135326467454433
+                    ],
+                    "orientation": {
+                        "w": 0.4416553203931308,
+                        "xyz": [
+                            -0.5682583298137818,
+                            0.455297944720952,
+                            0.5241439020904177
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.6046033501625061,
+                    "position": [
+                        -0.09187760064378381,
+                        -0.22757030767388642,
+                        -0.11264895461499691
+                    ],
+                    "orientation": {
+                        "w": 0.3975143377040965,
+                        "xyz": [
+                            -0.6016673141670793,
+                            0.4376729916919726,
+                            0.5370485515538103
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top front drawer face",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers into the top drawer cutout to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "push on the drawer face to slide the top drawer closed",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide drawer access",
+                "close the top drawer opening",
+                "retain stored items",
+                "present a pull surface"
+            ],
+            "semantic_description": "Pastel blue front drawer panel with floral decoration, smooth plastic finish, and a shallow curved pull cutout near the top edge.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle front drawer face",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the middle drawer knob to pull the drawer open",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "push the drawer face to close the middle drawer",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide drawer access",
+                "close the middle drawer opening",
+                "retain small items",
+                "present a pull point"
+            ],
+            "semantic_description": "Pastel pink floral plastic drawer front with a smooth finish and a small centered yellow round knob.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom front drawer face",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom drawer knob to pull the drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push the drawer face to close the bottom drawer",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide drawer access",
+                "close the bottom drawer opening",
+                "retain stored items",
+                "present a pull point"
+            ],
+            "semantic_description": "Multicolor pastel floral plastic drawer front, mainly pink and yellow, with a smooth finish and a small centered white round knob.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs and pulls",
+            "mask_color": "Light Coral",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a small protruding drawer knob to open a drawer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the knob while controlling drawer motion during closing",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a pinch grip",
+                "pull a drawer",
+                "control drawer sliding",
+                "mark the drawer pull point"
+            ],
+            "semantic_description": "Small smooth plastic pull elements centered on drawer fronts, including yellow and white round knobs; the top drawer instead uses an integrated cutout pull.",
+            "id": 43,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side drawer handle",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to open the shallow side drawer",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the side handle while guiding the side drawer closed",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide side drawer grip",
+                "pull out the side drawer",
+                "control side drawer motion",
+                "indicate the side drawer access point"
+            ],
+            "semantic_description": "Short pink oblong plastic handle with a smooth matte finish, mounted on the small upper side drawer.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side drawer front",
+            "mask_color": "Medium Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "push against the left side drawer front to close it",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "brace the side drawer front lightly while manipulating the side handle",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "close the side drawer opening",
+                "retain side drawer contents",
+                "provide side drawer front surface",
+                "support side drawer decoration"
+            ],
+            "semantic_description": "Flat pastel-decorated side drawer front panel beneath the side handle, smooth printed plastic with floral graphics.",
+            "id": 44,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side panel",
+            "mask_color": "Orchid",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press or brace against the side panel to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "enclose the side",
+                "protect stored contents",
+                "add decorative exterior",
+                "provide structural wall"
+            ],
+            "semantic_description": "Flat pastel side wall made of smooth printed plastic with floral decoration, vertically mounted between the corner posts.",
+            "id": 37,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear upper panel",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the back",
+                "retain contents",
+                "provide rear structure",
+                "support the cabinet body"
+            ],
+            "semantic_description": "Upper back panel with a smooth light gray appearance in the rear view, spanning beneath the top section.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear middle panel",
+            "mask_color": "Dark Khaki",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the back",
+                "retain contents",
+                "provide rear structure",
+                "separate drawer levels"
+            ],
+            "semantic_description": "Middle back panel appearing tan or khaki in the rear segmentation, rectangular and spanning across the cabinet back.",
+            "id": 39,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear lower panel",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the back",
+                "retain contents",
+                "provide rear structure",
+                "support the lower body"
+            ],
+            "semantic_description": "Lower back panel appearing dark red in the rear segmentation, rectangular and positioned above the base.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side trim",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce lower edge",
+                "cover seam",
+                "support body alignment",
+                "protect lower side"
+            ],
+            "semantic_description": "Narrow trim strip running along the lower side edge above the base, with a smooth plastic finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the whole cabinet",
+                "contact the shelf or table",
+                "stabilize the structure",
+                "form the underside"
+            ],
+            "semantic_description": "Large flat pink plastic bottom panel with a smooth matte surface forming the underside base.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner posts",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a corner post to steady the cabinet during drawer opening",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold a corner post to slightly reposition the cabinet",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "support the vertical frame",
+                "stiffen the corners",
+                "protect edges",
+                "provide a rigid hold point"
+            ],
+            "semantic_description": "Rounded white plastic corner posts with smooth hard surfaces extending vertically between pink corner caps.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side flower decoration",
+            "mask_color": "Deep Sky Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "provide visual contrast",
+                "indicate playful style"
+            ],
+            "semantic_description": "Flat flower-shaped decorative motif on the side panel, visible as a blue flower graphic printed on the smooth plastic surface.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top side trim",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover an upper seam",
+                "reinforce panel edge",
+                "visually separate sections"
+            ],
+            "semantic_description": "Narrow trim strip running horizontally near the top edge of the side section, with a smooth plastic finish.",
+            "id": 25,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-linked descriptions use segmentation colors as real colors; top handle and rear panels are misdescribed."
+    }
+}

dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3449a7c37b4b1134f24f1ddcab04b0f23061c2bf5e890775fbd8d885c3e00d70
+size 3833872

dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/storage_bin_082.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>27</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 decorative/front-panel regions rather than functional parts; some visible same-structure frame pieces are split by color.","merge_groups":[{"colors":["Blue","Pink"],"target_part":"side structural frame","reason":"same vertical frame posts split by viewpoint/side"},{"colors":["Yellow","Jade"],"target_part":"corner protectors","reason":"all corner caps share one function"},{"colors":["Gold","Deep Sky Blue"],"target_part":"bottom edge frame","reason":"same lower frame rail split across sides"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>