Add asset kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9

.gitattributes

@@ -7176,4 +7176,4 @@ dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mes
 dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/d95ce81b5b9a53f281612b5d2f307670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/affordance_annot.json

@@ -0,0 +1,272 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid and top frame",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge or side edges of the closed lid to lift it open",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the lid while guiding it closed onto the box body",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "open for access",
+                "protect contents from dust",
+                "form the top exterior surface"
+            ],
+            "semantic_description": "Large rectangular top assembly including the floral cream lid panel and surrounding blue-gray frame, rigid with a smooth matte finish and pale beige corner caps at the corners.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_24": {
+                    "confidence": 0.7539017796516418,
+                    "position": [
+                        0.045218188759463374,
+                        -0.2409842211054638,
+                        -0.11571286199614406
+                    ],
+                    "orientation": {
+                        "w": 0.49760158481832584,
+                        "xyz": [
+                            -0.5534238013133813,
+                            0.3832887623048915,
+                            0.5469958716635089
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.7132209539413452,
+                    "position": [
+                        0.02267079472221667,
+                        -0.24956214905250818,
+                        -0.11365661351010203
+                    ],
+                    "orientation": {
+                        "w": 0.49726651276464284,
+                        "xyz": [
+                            -0.5396115511728876,
+                            0.42346166546140895,
+                            0.5312491007129622
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.7095202207565308,
+                    "position": [
+                        0.033176798817294184,
+                        -0.2511242824839428,
+                        -0.10204867599532008
+                    ],
+                    "orientation": {
+                        "w": 0.48019218591727675,
+                        "xyz": [
+                            -0.5798007524063564,
+                            0.412030873861403,
+                            0.5133002153496709
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Dark Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the front latch to release the closure",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the latch lightly while aligning it for closing",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "release the closure",
+                "provide a small pull point",
+                "help align lid and body at the front"
+            ],
+            "semantic_description": "Small gold-toned metal latch centered on the front face, with a reflective smooth hard surface and compact clasp shape.",
+            "id": 30,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce edges",
+                "reduce wear from impacts",
+                "provide decorative trim"
+            ],
+            "semantic_description": "Pale beige corner caps mounted at the box corners, likely metal or coated hardware, with a smooth hard finish, rounded triangular shape, and rivet-like dot details.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main box body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite lower sidewalls of the body to lift and reposition the box",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the lower body steady while opening or closing the lid",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main lower structure",
+                "support the lid",
+                "provide broad stabilizing surfaces",
+                "protect contents"
+            ],
+            "semantic_description": "Rigid lower box structure visible as the lower walls and base edges beneath the lid, covered in cream and blue floral material with blue-gray trim and a smooth matte exterior.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_6": {
+                    "confidence": 0.44537094235420227,
+                    "position": [
+                        0.12151853412069613,
+                        -0.2508839863585308,
+                        -0.035769283305853605
+                    ],
+                    "orientation": {
+                        "w": 0.5676703886669255,
+                        "xyz": [
+                            -0.8203806147751843,
+                            0.0008016645780039022,
+                            0.06874106535206372
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.40642207860946655,
+                    "position": [
+                        0.12363058745540911,
+                        -0.1342112320708111,
+                        -0.18981606839224696
+                    ],
+                    "orientation": {
+                        "w": 0.7115918227191639,
+                        "xyz": [
+                            -0.02623723161512357,
+                            0.027316992521665084,
+                            -0.7015714271804144
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "decorative side/front panel",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this broad decorative wall lightly to help shift the box sideways",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold this panel to stabilize the box during lid or latch operation",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "enclose contents",
+                "form an exterior wall",
+                "support the structure",
+                "provide decorative exterior"
+            ],
+            "semantic_description": "Broad rectangular exterior wall panel with blue floral decoration on a light background, likely paper-covered rigid board, with a matte smooth surface and hard feel.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back panel to reposition the box",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold the back panel to stabilize the object while operating the front latch",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "enclose contents",
+                "form the back wall",
+                "support the structure",
+                "provide decorative exterior"
+            ],
+            "semantic_description": "Rectangular back wall panel with floral ornamentation on a light background, likely paper-covered rigid board, with a matte smooth surface and hard feel.",
+            "id": 27,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.703940212726593,
+                    "position": [
+                        -0.2129307869108743,
+                        0.17435627698432654,
+                        -0.0137738105840981
+                    ],
+                    "orientation": {
+                        "w": 0.554924270383533,
+                        "xyz": [
+                            0.46617999987469194,
+                            0.44750791430615955,
+                            0.5239006857119836
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "edge trim",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce panel edges",
+                "finish seams",
+                "protect edges from wear",
+                "provide decorative border"
+            ],
+            "semantic_description": "Thin dark blue border strips along panel edges, appearing rigid and smooth with a neat matte finish and narrow elongated shape.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "floral appliqu\u00e9",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "add visual contrast",
+                "ornament the side panels"
+            ],
+            "semantic_description": "Raised flower-shaped ornament centered on some decorative side panels, cream to gold in appearance, with a hard smooth decorative surface and medium-sized placement.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-part mappings are wrong; main body mislabeled and some panel colors/identities do not match segmentation."
+    }
+}

dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b72455364440d2d2932d9b365e12ffd87266b8f444fd33dfb85533c4fde60fc
+size 3802832

dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/storage_bin_017.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":"Decorative surfaces are over-segmented; latch/handle is not distinctly captured and key body regions share arbitrary colors.","merge_groups":[{"colors":["Green","Maroon","Dark Green"],"target_part":"main body","reason":"same box shell split into broad surfaces"},{"colors":["Violet","Sea Green","Blue"],"target_part":"side panel","reason":"one side wall divided into decorative bands"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>