Add asset kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d

.gitattributes

@@ -7141,4 +7141,4 @@ dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mes
 dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9662fb1eb26f55efbc5c46a970a82f50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/98fa470a27145f15a566b85cf32e119c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/affordance_annot.json

@@ -0,0 +1,232 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body walls",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side wall area to lift or reposition the empty bin",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the bin during placement",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main enclosure",
+                "provide side support surfaces",
+                "connect rim and base"
+            ],
+            "semantic_description": "Large box-shaped wall structure forming most exterior and interior-facing wall surfaces, with beige-framed decorative tile panels outside and teal inner faces, made of rigid plastic or resin with a mostly smooth matte finish.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the bin from below with a gripper during lifting",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "grasp the underside when the bin is inverted or accessible from below",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "provide base structure",
+                "distribute load",
+                "rest on surfaces"
+            ],
+            "semantic_description": "Flat rectangular base panel on the underside in medium brown/tan, likely hard plastic, with a smooth matte finish spanning the bottom of the bin.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_38": {
+                    "confidence": 0.5478703379631042,
+                    "position": [
+                        -0.22901857050601393,
+                        0.041398727567866445,
+                        -0.08322881234471424
+                    ],
+                    "orientation": {
+                        "w": 0.7225213784903184,
+                        "xyz": [
+                            0.032102355296560726,
+                            0.6904887098256648,
+                            -0.01255539772972492
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front rim to pull the bin from a shelf",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the rim to reposition the empty bin",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "provide pulling edge",
+                "stiffen the opening",
+                "protect the upper edge",
+                "define the opening"
+            ],
+            "semantic_description": "Continuous beige upper rim around the opening with a smooth hard finish and a lowered front cutout section for easier access.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner frame and feet",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a reinforced corner to rotate or drag the bin slightly",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold a lower corner during alignment on a surface",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges",
+                "support the bin on a surface",
+                "improve stability"
+            ],
+            "semantic_description": "Beige molded corner posts and small feet at the vertical edges and bottom corners, rounded and slightly protruding with a hard matte finish.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.47253096103668213,
+                    "position": [
+                        0.25525188294705003,
+                        0.08681493368931115,
+                        -0.06345751953904255
+                    ],
+                    "orientation": {
+                        "w": 0.1887939404029612,
+                        "xyz": [
+                            0.6824778911629104,
+                            0.18543747849849013,
+                            -0.6813176334934181
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "large exterior side panel",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad side panel area to slide or reposition the bin",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "steady the bin by pressing against the side panel",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "form side wall",
+                "enclose contents",
+                "provide lateral support",
+                "display decorative exterior"
+            ],
+            "semantic_description": "Broad exterior side wall section covered by blue-toned and cream decorative tile-like patterning within a beige frame, rigid and smooth.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small vertical side accent insert",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "fill a narrow side section",
+                "visually contrast with neighboring tiles"
+            ],
+            "semantic_description": "Small narrow rectangular decorative panel on an exterior side near a corner, light cream to off-white, smooth and hard, much smaller than the main wall panels.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small rectangular side accent tile",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "add visual variation to the tile pattern",
+                "fill a small wall section"
+            ],
+            "semantic_description": "Small rectangular decorative tile on one exterior wall, pale yellow-beige with a smooth hard finish, integrated into the patterned outer surface.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior long side wall panel",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form interior wall",
+                "provide smooth inner surface",
+                "contain contents"
+            ],
+            "semantic_description": "Smooth teal interior panel covering one long inner wall, matte and hard-plastic in appearance.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior short side wall panel",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form interior wall",
+                "provide smooth inner surface",
+                "contain contents"
+            ],
+            "semantic_description": "Smooth teal-green interior panel covering one short inner wall, flush with the inside of the bin and similar in material to the other interior walls.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim insert strip",
+            "mask_color": "Hot Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the top edge",
+                "cover a seam",
+                "provide trim along the rim"
+            ],
+            "semantic_description": "Thin narrow trim strip running along part of the upper rim area, corresponding to a beige edge detail near the opening.",
+            "id": 23,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-part matches and descriptions are wrong; main body duplicates side panel, interior panels mislabeled, and trim/insert parts misidentified."
+    }
+}

dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567abb0f1e151a53104eec5e34d46fe0e3b27ab54622e5047d99e408648fd53f
+size 3827616

dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/storage_bin_055.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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>