Add asset kitchen_supplies/storage/6995c6bf0e28514092c4fdd9875f2275

.gitattributes

@@ -7120,3 +7120,4 @@ dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mes
 dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/675944c7bf825c6e9cebaa8320bf0e83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6995c6bf0e28514092c4fdd9875f2275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/6995c6bf0e28514092c4fdd9875f2275/affordance/affordance_annot.json

@@ -0,0 +1,206 @@
+{
+    "affordances": [
+        {
+            "part_name": "carry handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the arched top handle to lift and carry the basket",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to reposition the basket on a surface",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "carry the basket",
+                "provide a top grip",
+                "support lifting",
+                "assist repositioning"
+            ],
+            "semantic_description": "Large arched tan handle made of smooth rigid material, likely metal or rigid plastic, with a satin finish, spanning above the open top and attached near both side upper edges.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior base tray",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form the basket floor",
+                "contain contents",
+                "provide interior resting surface"
+            ],
+            "semantic_description": "Flat light gray interior floor panel with a smooth matte finish, broad rectangular shape, and recessed position at the bottom inside the basket.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch handle",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front latch handle to open or close the front closure",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the latch while stabilizing the basket during access",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "open the closure",
+                "secure the front panel",
+                "provide a pull point",
+                "assist access"
+            ],
+            "semantic_description": "Small tan rectangular latch handle on the front upper face, made of hard smooth material with a compact protruding shape and rounded edges.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enclose contents",
+                "provide side structure",
+                "protect stored items",
+                "form exterior wall"
+            ],
+            "semantic_description": "Medium gray outer side wall panel with a matte finish, flat inset rectangular shape, and decorative embossed geometric patterning on the side surfaces.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim from the side to lift or reposition the empty basket",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the rim to stabilize the basket while loading or unlatching it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "define the top edge",
+                "support handle mounts",
+                "provide stabilization grip"
+            ],
+            "semantic_description": "Thick light gray rim structure around the open top, made of hard smooth material with a matte finish and forming a rectangular border at the basket opening.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protector",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "absorb bumps",
+                "reinforce edges",
+                "provide wear protection"
+            ],
+            "semantic_description": "Small tan corner cap of rigid smooth material with a matte finish, wrapped around the outer top and bottom corners to guard edges from impact.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front panel",
+            "mask_color": "Deep Sky Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enclose contents",
+                "provide front structure",
+                "protect stored items",
+                "support latch mounting"
+            ],
+            "semantic_description": "Large light gray front wall panel of hard material with a matte finish, mostly flat and rectangular, positioned on the front face below the rim.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top lid panel",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the basket opening when closed",
+                "provide a finished top surface",
+                "support the top latch handle",
+                "help protect contents"
+            ],
+            "semantic_description": "Flat gray top panel with decorative tan geometric accents and hardware details, forming the closed top surface of the basket beneath the handle.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative side inset panel",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the side",
+                "provide visual contrast",
+                "fill an inset side section"
+            ],
+            "semantic_description": "Inset dark gray side panel with embossed geometric decoration, located on one exterior side of the basket.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side hardware plate",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect hardware",
+                "reinforce handle joint",
+                "provide mounting surface"
+            ],
+            "semantic_description": "Small light gray to metallic-looking side hardware plate with a smooth finish and irregular shape, located near the side handle attachment area.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side latch or knob",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small side latch or knob to manipulate side hardware",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "use as a small pull point for fine adjustment",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "assist hardware manipulation",
+                "provide a small pull point",
+                "support side attachment operation"
+            ],
+            "semantic_description": "Small tan protruding side hardware element with a hard smooth surface and compact rounded form, mounted on the outer side near the upper half of the basket.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified: no lid, wrong front/side panels, corner colors/functions inconsistent with masks and RGB."
+    }
+}

dataset/kitchen_supplies/storage/6995c6bf0e28514092c4fdd9875f2275/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ae0e418ebca007bf3daf178b43c917fed810e24f95571cb81b275260cf1d68
+size 3827648

dataset/kitchen_supplies/storage/6995c6bf0e28514092c4fdd9875f2275/storage_bin_030.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":"Functional parts are over-segmented and some unrelated surfaces are inconsistently labeled.","merge_groups":[{"colors":["Orange","Yellow"],"target_part":"main bin body","reason":"interior floor and broad side panel are one container body"},{"colors":["Jade","Gray"],"target_part":"upper rim/frame","reason":"top rails and vertical frame members form one support frame"},{"colors":["Purple","Violet"],"target_part":"hardware attachments","reason":"small latch, hinge, and corner pieces are fragmented hardware"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>