Add asset kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea

.gitattributes

@@ -7180,3 +7180,4 @@ dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mes
 dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/affordance/affordance_annot.json

@@ -0,0 +1,343 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to lift and open the box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the lid panel to stabilize it while closing",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "provide top closure"
+            ],
+            "semantic_description": "Large flat top panel with multicolored patchwork sections, matte textured leather-like surface, rectangular shape, forming the lid.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top carry handle assembly",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the arched handle area from above to lift and carry the box",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the top handle area to reposition the box",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "carry the box",
+                "lift the box",
+                "provide a top grip"
+            ],
+            "semantic_description": "Arched brown strap handle mounted near the lid center on two cream brackets; the handle appears within the same segmented top region in the mask.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce edges",
+                "reduce wear at impacts"
+            ],
+            "semantic_description": "Small cream corner caps at the box corners, smooth matte surface, attached over the structural corners.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Dark Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to stabilize the box during opening",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold the rim while repositioning the box on a surface",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "reinforce the top edge",
+                "define the opening perimeter",
+                "support the lid",
+                "provide structural rigidity"
+            ],
+            "semantic_description": "Dark brown rigid border around the top perimeter, smooth matte finish, long narrow rails running along the upper edges.",
+            "id": 30,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner posts",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a corner post to steady the box during manipulation",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "grasp a corner post to slightly reposition the box",
+                    "confidence": 0.37
+                }
+            ],
+            "functional_labels": [
+                "support the box structure",
+                "reinforce vertical corners",
+                "connect top and bottom frames",
+                "stabilize side panels"
+            ],
+            "semantic_description": "Dark brown vertical structural strips at the corners, smooth matte finish, narrow elongated shape running from top rim toward the base.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front drawer faces",
+            "mask_color": "Dark Slate Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer face near its knob to pull the drawer open",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the drawer face to close the drawer",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "close the drawer front",
+                "support drawer pulling",
+                "cover stored contents",
+                "provide drawer front surface"
+            ],
+            "semantic_description": "Rectangular multicolored drawer front panels on the front face, matte textured patchwork surfaces, rigid flat faces.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knobs",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a drawer knob to pull a drawer open",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the knob to control drawer closing",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide drawer grip",
+                "enable drawer opening",
+                "aid drawer closing"
+            ],
+            "semantic_description": "Small round cream knobs centered on the drawer fronts, smooth matte surfaces, slightly domed protruding shapes.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Deep Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp and flip the latch to unlock the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the latch while securing the lid closed",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "secure the lid",
+                "enable opening and closing",
+                "retain contents during transport",
+                "provide front locking point"
+            ],
+            "semantic_description": "Small cream latch at the front center just below the lid edge, compact clasp-like form, smooth matte surface.",
+            "id": 32,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side upper panel",
+            "mask_color": "Yellow Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to lift or reposition the box with a large gripper",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold the side panel to stabilize the box while operating the lid or drawers",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "enclose stored items",
+                "form the side wall",
+                "provide lateral support",
+                "stabilize contents"
+            ],
+            "semantic_description": "Large cream upper side panel beneath the top rim, matte wrinkled leather-like texture, broad rectangular area spanning most of each side.",
+            "id": 33,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Deep Sky Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored contents",
+                "form the base",
+                "rest on surfaces",
+                "close the underside"
+            ],
+            "semantic_description": "Large cream-colored underside base panel with a matte wrinkled texture and broad flat shape supporting the box from below.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower trim rail",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the lower edge",
+                "connect side panels to base",
+                "protect against wear",
+                "add structural stiffness"
+            ],
+            "semantic_description": "Narrow trim rail running along the lower perimeter just above the base panel.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "large side patchwork panel",
+            "mask_color": "Midnight Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "cover part of the side wall",
+                "visually differentiate the side"
+            ],
+            "semantic_description": "Large multicolored patchwork panel on a side face, matte textured leather-like sections, rectangular inset appearance.",
+            "id": 31,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper side patchwork band",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "cover part of the side wall",
+                "visually accent the upper side"
+            ],
+            "semantic_description": "Narrow multicolored patchwork band near the upper side, matte textured surface, elongated horizontal form below the rim.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side trim strip",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "trim the side wall",
+                "visually accent the lower side edge",
+                "help frame the side panel"
+            ],
+            "semantic_description": "Thin brown strip running horizontally near the lower side above the base, smooth matte finish.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side patchwork accent panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "cover part of the side wall",
+                "visually mark a side section"
+            ],
+            "semantic_description": "Bright patchwork accent region on one side face, matte textured finish, medium rectangular area integrated into the wall.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front upper trim rail",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the front upper edge",
+                "frame the drawer area",
+                "support the top front structure"
+            ],
+            "semantic_description": "Narrow dark brown front horizontal trim beneath the lid along the upper front perimeter.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side hanging tab",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small side tab to manipulate it or use it as a minor pulling point",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "provide a small manipulation point",
+                "act as a hanging or pull tab"
+            ],
+            "semantic_description": "Small dark tab-like protrusion on the side face near the front edge, hanging downward and sized for pinching.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small bottom corner foot",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the box on surfaces",
+                "protect the lower corner",
+                "reduce wear at contact points"
+            ],
+            "semantic_description": "Small dark brown corner piece at the lower edge, compact rigid form, matte finish, acting as a foot or protector.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified or use wrong mask colors; handle is not segmented with lid and a side tab is actually a side knob."
+    }
+}

dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:031a5e6839912e69cd1afd2c9fca3ddc4ff540c06385d28c562706bace01a96e
+size 3836992

dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/storage_bin_070.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>18</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":"Functional parts are over-fragmented and some same-structure frame pieces use different colors.","merge_groups":[{"colors":["Yellow","Yellow Green"],"target_part":"corner protectors","reason":"same corner caps split across views"},{"colors":["Crimson","Burnt Orange","Dark Green"],"target_part":"outer frame/trim","reason":"same structural rails use multiple colors"},{"colors":["Violet","Deep Pink"],"target_part":"front drawer face area","reason":"same drawer/front panel split unnecessarily"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>