Add asset kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853

.gitattributes

@@ -7081,4 +7081,5 @@ dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/mes
 dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/11c6159a45c45413b108c17df7ac97f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/12783012224154238543aeef43392dd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/16ec049ac55c5ae6b1a86eb4ae9b9ff4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/affordance_annot.json

@@ -0,0 +1,205 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge area to lift or open the box",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the top panel lightly to stabilize the box during repositioning",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect contents",
+                "provide top surface",
+                "enable opening access"
+            ],
+            "semantic_description": "Large flat dark gray to black lid top with a matte lightly textured surface and embossed decorative grain pattern.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Dark Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite sidewalls to lift the box",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold one sidewall to slide or reposition the box",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form main structure",
+                "provide grasp surfaces",
+                "support placement"
+            ],
+            "semantic_description": "Main box body in dark charcoal black with a semi-matte textured finish, broad rectangular walls, and decorative embossed patterns on visible side panels.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce edges",
+                "reduce wear at impacts",
+                "provide trim"
+            ],
+            "semantic_description": "Cream-colored hard corner caps with smooth slightly matte surfaces wrapping the box corners and edges.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Dark Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to steady or lift the box",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the rim while opening or closing the lid",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "support lid alignment",
+                "provide upper gripping edge",
+                "reinforce top perimeter"
+            ],
+            "semantic_description": "A narrow dark band runs around the top opening, appearing as hard trim with a smooth matte finish and elongated rectangular profile.",
+            "id": 30,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.8427256941795349,
+                    "position": [
+                        0.0765435011126101,
+                        -0.013902581413276494,
+                        0.19211756624281406
+                    ],
+                    "orientation": {
+                        "w": 0.03001842548218068,
+                        "xyz": [
+                            -0.08647422752262153,
+                            -0.99364488721537,
+                            0.06550526861781275
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch plate",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and manipulate the front latch hardware to open or close the box",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "pull the latch area lightly while accessing the front",
+                    "confidence": 0.49
+                }
+            ],
+            "functional_labels": [
+                "secure the lid",
+                "release closure",
+                "indicate front side",
+                "assist opening"
+            ],
+            "semantic_description": "Small gold-toned clasp hardware centered on the front, with a smooth slightly reflective finish and compact protruding rectangular shape.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear seam band",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join panels",
+                "reinforce seam",
+                "define rear edge transition"
+            ],
+            "semantic_description": "A narrow horizontal band runs across the rear side near the lower half, appearing as a thin trim or seam element with a smooth finish.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner trim",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce vertical edge",
+                "protect corners",
+                "connect adjacent panels"
+            ],
+            "semantic_description": "Slim light beige vertical strips run along some box corners, appearing hard and smooth with a straight elongated profile between corner caps.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front label panel",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display label area",
+                "decorate exterior",
+                "provide front accent panel"
+            ],
+            "semantic_description": "A medium rectangular tan-orange panel is centered on the front wall below the latch, with a flat smooth surface like a decorative or label patch.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner lid lining",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "line the lid interior edge",
+                "cover internal structure",
+                "protect contents from rough edges"
+            ],
+            "semantic_description": "A narrow light gray strip is visible beneath the lid edge, looking like a smooth inner lining or backing with a thin flat profile.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side connector tab",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect trim at the upper corner",
+                "reinforce a corner joint"
+            ],
+            "semantic_description": "A small cyan-teal tab-like piece sits near an upper side corner, appearing hard and smooth with a compact connector shape.",
+            "id": 19,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts use wrong mask colors/identities; latch color mismatched and yellow assigned to both lid and corner protectors."
+    }
+}

dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e9fed0d5698f4ab6a6e8edf1f2a91e564fd6e901d731a78ec6133bb24bfe0e
+size 5908608

dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/storage_bin_032.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>12</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; same structural body surfaces and trim are split across many colors.","merge_groups":[{"colors":["Maroon","Yellow","Crimson","Dark Red"],"target_part":"main body","reason":"body panels and lid surface split without functional distinction"},{"colors":["Olive","Dark Green","Gainsboro"],"target_part":"top rim/frame","reason":"same upper frame band divided into adjacent colors"},{"colors":["Orange","Burnt Orange"],"target_part":"front latch/handle","reason":"same latch assembly split into two colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>