Add asset kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64

.gitattributes

@@ -7065,4 +7065,4 @@ dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/affordan
 dataset/kitchen_supplies/cutting_tools/fe000193da765413a951adb06441f987/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/f4e408c4fa9c5798a3137735d4181e4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/01a00e2557165f8b80a18530e057c7a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/02298edca75d59dc884868afd94d4d1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/affordance/affordance_annot.json

@@ -0,0 +1,261 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and reposition the cabinet",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the body to stabilize the cabinet while opening a drawer",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide main structural enclosure",
+                "support drawers and trim",
+                "offer broad grasp surfaces",
+                "house stored items"
+            ],
+            "semantic_description": "Main rectangular cabinet body with cream side faces and blue floral decorative panels, framed by blue-gray trim and beige corner caps; rigid, smooth, mostly matte exterior.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the underside while lifting the cabinet from below",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "brace the base with one gripper while another manipulates a drawer",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "support stored load",
+                "form the cabinet bottom",
+                "rest on surfaces",
+                "stabilize the cabinet"
+            ],
+            "semantic_description": "Large dark teal bottom panel with a smooth matte hard surface, flat and rectangular, spanning the underside of the cabinet.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.7309176325798035,
+                    "position": [
+                        0.21646336908452213,
+                        0.0032380569027736783,
+                        -0.09016437630634755
+                    ],
+                    "orientation": {
+                        "w": 0.7185072457309906,
+                        "xyz": [
+                            0.008804416350304925,
+                            -0.6953455216776707,
+                            0.012822853333186007
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edges to lift or reposition the cabinet",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "press on the top panel to stabilize the cabinet during drawer opening",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "cover the cabinet top",
+                "provide top surface",
+                "add structural rigidity",
+                "support the top handle"
+            ],
+            "semantic_description": "Flat cream top panel with a crackle-like printed pattern, hard smooth matte finish, rectangular and covering the full top of the cabinet.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift or carry the cabinet",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to reposition the cabinet slightly on a surface",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "assist lifting the cabinet",
+                "offer a central handhold",
+                "indicate top center"
+            ],
+            "semantic_description": "Small beige raised handle centered on the top panel, likely hard plastic or wood, matte and smooth, with a narrow rectangular pull shape sized for finger or gripper engagement.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim from the side to lift the cabinet",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the rim to stabilize the cabinet during drawer interaction",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "reinforce top edges",
+                "frame the top panel",
+                "protect top perimeter",
+                "provide an upper grasp edge"
+            ],
+            "semantic_description": "Blue-gray trim rails running around the top perimeter, hard smooth matte material, long and narrow with straight edges framing the top panel and upper walls.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "absorb edge impacts",
+                "reinforce frame joints",
+                "reduce wear at corners"
+            ],
+            "semantic_description": "Small beige corner caps at the cabinet vertices, hard smooth matte pieces with rounded blocky shapes that cover and protect the outer corners.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer pull to open or close a drawer",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "pinch the pull to partially extend the drawer for access",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a localized pull point",
+                "open and close drawer",
+                "serve as a small grip feature",
+                "mark drawer center"
+            ],
+            "semantic_description": "Small beige drop-shaped pull centered on a drawer front, smooth matte and slightly protruding for pinch grasping.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "push on a drawer front to close the drawer",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "steady the drawer front while aligning it during closing",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "close the front of drawers",
+                "support drawer pulls",
+                "retain drawer contents",
+                "provide decorative drawer faces"
+            ],
+            "semantic_description": "Decorative front drawer panels with blue and cream floral sections and dark accent areas, hard smooth matte surfaces, flat rectangular faces on the front of the cabinet.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical side trim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side trim strip near a corner to help steady the cabinet",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "use the trim as a secondary contact during lifting",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "reinforce vertical edges",
+                "frame side panels",
+                "protect side corners",
+                "provide narrow alignment surfaces"
+            ],
+            "semantic_description": "Blue-gray vertical trim strips along the side edges, hard smooth matte material, narrow and elongated, visually framing the decorative side panels.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "panel border strip",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate decorative panels",
+                "frame side panel sections",
+                "add structural edging",
+                "provide visual organization"
+            ],
+            "semantic_description": "Thin blue-gray border strips around side panel sections, hard smooth matte trim pieces that are narrow, flat, and mainly decorative-structural.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small accent tab",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join trim segments",
+                "cover a small seam",
+                "provide minor edge protection"
+            ],
+            "semantic_description": "Tiny beige accent-like trim piece near the upper rim corner, hard and smooth with a very small protruding shape that appears mainly structural.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several masked parts are misidentified: body includes drawer faces, dark orange is top/front frame, and green mask marks drawer cutouts not pulls."
+    }
+}

dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd90c813f637587b07d772b84f8a529a1275c1f3665567b34ca5ed4b6aa48e5
+size 3802224

dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/storage_bin_007.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>11</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":"Segmentation misses drawer structure and overfragments trim/base surfaces; only partial cleanup is actionable by merging.","merge_groups":[{"colors":["Lime Green","Olive"],"target_part":"lid/top surface","reason":"same top assembly split into inset panel and surrounding top"},{"colors":["Magenta","Lime Green"],"target_part":"main body/bin shell","reason":"bottom and side walls are one continuous shell"},{"colors":["Blue","Purple"],"target_part":"side frame/trim","reason":"vertical trim pieces inconsistently split across views"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>