Add asset kitchen_supplies/storage/309270a7341850158ebc512970263d27

.gitattributes

@@ -7095,3 +7095,4 @@ dataset/kitchen_supplies/storage/29e11614a08958659433c8b08b3d8e63/affordance/mes
 dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/309270a7341850158ebc512970263d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/309270a7341850158ebc512970263d27/affordance/affordance_annot.json

@@ -0,0 +1,149 @@
+{
+    "affordances": [
+        {
+            "part_name": "top rim",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite sides of the top rim to lift or reposition the organizer",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while opening a drawer",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "pinch a side of the rim to rotate the bin on a surface",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a lifting edge",
+                "reinforce the top opening",
+                "define the container opening",
+                "support handling"
+            ],
+            "semantic_description": "Thick rounded off-white to cream plastic rim with a smooth glossy finish, running around the square top opening.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panels with pull openings",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch at an oval pull opening to pull a drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "press on a drawer front to slide the drawer closed",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "lightly grasp a drawer front to control drawer motion",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "pull drawer open",
+                "push drawer closed",
+                "provide handhold",
+                "access drawer contents"
+            ],
+            "semantic_description": "Glossy front faces of the two drawers on the front side, both light cream/beige plastic with pink oval pull openings; the lower drawer front has a pale floral print while the upper front is plain.",
+            "id": 16,
+            "grasp_group": {
+                "grasp_36": {
+                    "confidence": 0.2828383147716522,
+                    "position": [
+                        -0.2029900634661317,
+                        0.1459154486656189,
+                        0.02241046796552837
+                    ],
+                    "orientation": {
+                        "w": 0.45492432764065105,
+                        "xyz": [
+                            0.5527231399005089,
+                            0.5670395204236987,
+                            0.4074397734842364
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.23460868000984192,
+                    "position": [
+                        -0.19012671057134867,
+                        0.1506875604391098,
+                        0.08328885096125305
+                    ],
+                    "orientation": {
+                        "w": 0.4699698088675726,
+                        "xyz": [
+                            0.5532729399993113,
+                            0.5681152558173952,
+                            0.3876370579872765
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "main body and side panels",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to lift the organizer when lightly loaded",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold a side panel to steady the body while manipulating a drawer",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "support the lower body from the side during relocation",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain and support drawers",
+                "form the enclosure",
+                "provide structural support",
+                "protect stored contents"
+            ],
+            "semantic_description": "Main outer housing made of smooth glossy plastic, mostly light pink side panels and base area with cream vertical corner posts and cream front framing around the drawers; a thin light aqua trim strip is visible near the upper side.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the organizer from underneath at the base while lifting",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the base to stabilize the object while another gripper opens a drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support on a surface",
+                "stabilize the structure",
+                "distribute load",
+                "elevate the body slightly"
+            ],
+            "semantic_description": "Wide light pink plastic bottom support with rounded corners and a smooth glossy finish, forming the underside platform of the organizer.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part grouping mismatch; side pull openings omitted from drawer fronts; top interior wrongly included with rim."
+    }
+}

dataset/kitchen_supplies/storage/309270a7341850158ebc512970263d27/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc0c8aaf07e755a05cb125532f8732dab15bf1bf5759b83d75f4bdc6666583a4
+size 3821116

dataset/kitchen_supplies/storage/309270a7341850158ebc512970263d27/storage_bin_079.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>6</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":"drawers and side handles are merged; functional storage parts are missing and cannot be fixed by merging","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>