Add asset kitchen_supplies/storage/d34b3af1d8a656298ef20a6434cc488d

.gitattributes

@@ -7171,4 +7171,4 @@ dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mes
 dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d34b3af1d8a656298ef20a6434cc488d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d34b3af1d8a656298ef20a6434cc488d/affordance/affordance_annot.json

@@ -0,0 +1,335 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge area to open or close the box",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the lid surface lightly to stabilize it while repositioning the box",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "cover the storage opening",
+                "protect contents",
+                "provide top closure",
+                "support decorative top surface"
+            ],
+            "semantic_description": "Large rectangular cream-colored lid panel with blue-gray ornamental patterning and a small beige oval pull near the center, with a smooth mostly matte surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front body panel",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front wall to steady the box while operating the latch",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "grasp the front wall lightly to reposition the lightweight box",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "form body enclosure",
+                "retain stored items",
+                "provide structural wall surface",
+                "display decoration"
+            ],
+            "semantic_description": "Vertical rectangular front body section in off-white with subtle decorative patterning, smooth matte finish, forming part of the decorative box wall.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side body panel",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to rotate or reposition the box",
+                    "confidence": 0.4
+                },
+                {
+                    "scenario": "steady the box by pinching this wall during lid operation",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "form body enclosure",
+                "retain contents",
+                "provide structural wall surface",
+                "display decoration"
+            ],
+            "semantic_description": "Vertical rectangular side body section with blue-gray ornamental print on a light background, smooth matte finish, part of the box side wall.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support and lift the box from underneath during transport",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "push against the bottom to reorient the empty box",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "support stored contents",
+                "provide stable base",
+                "rest on surfaces",
+                "form lower enclosure"
+            ],
+            "semantic_description": "Large flat dark brown underside panel spanning the base, with a smooth matte appearance and broad rectangular shape.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the box",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the rim to stabilize the body while opening the lid",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "reinforce top edge",
+                "support lid alignment",
+                "provide gripping edge",
+                "stiffen the box structure"
+            ],
+            "semantic_description": "Narrow blue-gray frame bands running around the top perimeter of the body, appearing hard, smooth, and matte.",
+            "id": 22,
+            "grasp_group": {
+                "grasp_85": {
+                    "confidence": 0.4256356656551361,
+                    "position": [
+                        0.12626258190721273,
+                        -0.24090794986113906,
+                        0.09452005670209473
+                    ],
+                    "orientation": {
+                        "w": 0.48448138026483695,
+                        "xyz": [
+                            -0.5136431537914053,
+                            -0.5228376401439414,
+                            -0.47758696044658944
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce joints",
+                "reduce wear at edges",
+                "provide impact buffering"
+            ],
+            "semantic_description": "Beige corner caps on the lid and body corners, with rounded protective shapes and a smooth matte finish.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the latch to release and open the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp the latch tab to pull the front closed",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "enable opening",
+                "provide front pull point",
+                "align closure"
+            ],
+            "semantic_description": "Small beige clasp centered on the front, made of smooth matte material with a protruding tab-like form.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior floor",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold stored items",
+                "form interior surface",
+                "support contents inside",
+                "define storage cavity"
+            ],
+            "semantic_description": "Flat dark brown interior bottom surface visible when the lid is open, with a smooth matte appearance inside the box.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper edge trim",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover edge transition",
+                "reinforce upper edge",
+                "stiffen side boundary",
+                "provide decorative trim"
+            ],
+            "semantic_description": "Thin dark blue-purple trim strips along upper side edges near the lid perimeter, narrow and smooth with a matte appearance.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side body panel",
+            "mask_color": "Dark Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this side wall section to rotate or slide the box",
+                    "confidence": 0.39
+                },
+                {
+                    "scenario": "steady the box by pinching this side during handling",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "form body enclosure",
+                "retain contents",
+                "provide structural wall surface",
+                "display decoration"
+            ],
+            "semantic_description": "Large vertical side body section on one side of the box, decorated with reddish-brown and cream ornamental patterning, with a smooth matte finish.",
+            "id": 29,
+            "grasp_group": {
+                "grasp_112": {
+                    "confidence": 0.6407394409179688,
+                    "position": [
+                        -0.22831925842911005,
+                        -0.19155649608001113,
+                        -0.07674588068584853
+                    ],
+                    "orientation": {
+                        "w": 0.5817039512693157,
+                        "xyz": [
+                            -0.5593663391798976,
+                            0.43026880240118315,
+                            -0.4044731997925169
+                        ]
+                    }
+                },
+                "grasp_115": {
+                    "confidence": 0.6314219832420349,
+                    "position": [
+                        -0.23223085794597864,
+                        -0.18547349935397506,
+                        -0.03011197402338439
+                    ],
+                    "orientation": {
+                        "w": 0.5555401370216368,
+                        "xyz": [
+                            -0.5573690564477118,
+                            0.4602142324081453,
+                            -0.41099604786609567
+                        ]
+                    }
+                },
+                "grasp_119": {
+                    "confidence": 0.5797340273857117,
+                    "position": [
+                        -0.23430790100246668,
+                        -0.182821003254503,
+                        -0.03328291504840308
+                    ],
+                    "orientation": {
+                        "w": 0.5386098669300696,
+                        "xyz": [
+                            -0.5440378000087956,
+                            0.572500337407655,
+                            -0.29353985602517935
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear hinge strip",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect lid to body",
+                "enable lid rotation",
+                "guide opening motion",
+                "reinforce rear seam"
+            ],
+            "semantic_description": "Thin orange-brown strip along the rear top seam, acting as the hinge connection between lid and body, with a narrow smooth appearance.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid pull",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small oval pull to help lift the lid",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide finger purchase for opening lid",
+                "serve as lid pull feature",
+                "accent the lid surface"
+            ],
+            "semantic_description": "Small beige oval pull on the top lid surface, slightly raised and smooth, positioned near the center.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small side connector",
+            "mask_color": "Midnight Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join adjacent trim parts",
+                "reinforce a small corner-area connection",
+                "maintain structural alignment"
+            ],
+            "semantic_description": "Very small dark blue connector-like piece near an upper side edge, compact and smooth with a matte appearance.",
+            "id": 31,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified or misdescribed: lid panel color, corner protectors location, hinge/connector ambiguity, and side panel description mismatch."
+    }
+}

dataset/kitchen_supplies/storage/d34b3af1d8a656298ef20a6434cc488d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18fd7fea341c553ab8a38eca9f1c016ddcf047b4f07a6dd05efe75b1e63126a5
+size 3811404

dataset/kitchen_supplies/storage/d34b3af1d8a656298ef20a6434cc488d/storage_bin_041.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>13</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 by decorative panels and edge trim; lid, body, and bottom are split across colors.","merge_groups":[{"colors":["Red","Violet","Magenta","Deep Sky Blue","Burnt Orange"],"target_part":"lid/top assembly","reason":"top surface and rim are one usable lid"},{"colors":["Olive","Crimson","Yellow","Gainsboro","Dark Red"],"target_part":"main body/bin shell","reason":"side walls and decorative panels share storage-body function"},{"colors":["Jade","Indigo"],"target_part":"front latch/handle","reason":"small adjacent latch pieces form one closure handle"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>