Add asset bedroom_supplies/storage/ee36584278945d689958f0eb97777d84

.gitattributes

@@ -6073,4 +6073,4 @@ dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mes
 dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/eceafce2606451859c9875237142155d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ed7575c47304597cb04abe5e141f25f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/affordance/affordance_annot.json

@@ -0,0 +1,218 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to remove or open the top cover",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the lid to align it during closing",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "provide top closure",
+                "stacking surface"
+            ],
+            "semantic_description": "Large off-white to light beige plastic lid with a smooth matte surface and rounded-rectangle shape, spanning the full top with a slightly recessed center panel.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body of storage box",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the box",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while opening a drawer or removing the lid",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "enclose contents",
+                "support attached parts"
+            ],
+            "semantic_description": "Large translucent milky-white plastic box body with a smooth semi-gloss surface, forming the main rectangular container. The front shows two drawer fronts and a printed logo near the upper area.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom edge when turning or flipping the box during handling",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "support the box from below by holding the base",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "support the container",
+                "mount the wheels",
+                "distribute load to the floor",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Flat light beige plastic bottom panel with a smooth matte finish, broad and rectangular, located underneath the box as the lower support plate.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "caster wheel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a wheel to slightly roll or reorient the storage box",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold a wheel during maintenance or assembly adjustment",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "enable rolling movement",
+                "support weight at corners",
+                "reduce friction on the floor",
+                "assist repositioning"
+            ],
+            "semantic_description": "Small black-and-beige caster wheels with smooth hard plastic surfaces, mounted near the bottom corners beneath the base.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the recessed side handle to pull or reposition the box",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold the side handle to stabilize the box while rolling it",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist repositioning",
+                "stabilize during movement",
+                "indicate handling area"
+            ],
+            "semantic_description": "Slim recessed side handle in light beige plastic with a smooth matte surface, horizontally oriented near the upper side wall and sized for a light pulling grip.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer pull handle",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper front pull to open or close the upper drawer",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the pull to slightly reposition the front while stabilizing the box",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "open the upper drawer",
+                "provide a gripping point for drawer motion",
+                "indicate drawer access area"
+            ],
+            "semantic_description": "Small light beige horizontal pull handle centered on the upper front drawer area, with a smooth matte plastic finish and shallow protruding form.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer front",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the front of the upper drawer",
+                "enclose upper drawer contents",
+                "provide drawer structure"
+            ],
+            "semantic_description": "Upper rectangular translucent white drawer front with a smooth semi-gloss plastic surface, located on the front upper half below the logo and above the middle trim.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the front of the lower drawer",
+                "enclose lower drawer contents",
+                "provide drawer structure"
+            ],
+            "semantic_description": "Lower rectangular translucent white drawer front with a smooth semi-gloss plastic surface, positioned on the front lower half above the base.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front frame trim",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "border the drawer fronts",
+                "reinforce front edges",
+                "separate front sections",
+                "provide visual framing"
+            ],
+            "semantic_description": "Thin light beige plastic trim pieces with a smooth matte finish, outlining the front drawer region as narrow horizontal and vertical borders.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim of storage box",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift or steady the box body",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the rim while aligning and closing the lid",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "support lid seating",
+                "stiffen the top edge",
+                "provide alignment surface",
+                "offer an upper gripping edge"
+            ],
+            "semantic_description": "Rounded off-white plastic rim with a smooth matte surface, wrapping the top perimeter of the box body beneath the lid as a continuous raised edge.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Upper drawer handle and side handle masks are mismatched; some descriptions/functions assigned to wrong parts."
+    }
+}

dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9b2a43849dcf520dcd224d68917fb668823d48b6ed009cb3cb7c80c0583500
+size 3817904

dataset/bedroom_supplies/storage/ee36584278945d689958f0eb97777d84/storage_box_040.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>10</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":"Key functional parts are inconsistently split and partly merged; body, drawers, and base surfaces are not actionable.","merge_groups":[{"colors":["Orange","Jade","Violet","Gold"],"target_part":"drawer fronts/handles","reason":"These all belong to the drawer face area."},{"colors":["Blue","Orange"],"target_part":"main storage box body","reason":"Bottom panel is not a distinct user-facing function."}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>