Add asset kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d

.gitattributes

@@ -7147,4 +7147,4 @@ dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/affordance/mes
 dataset/kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/a82c4fe1ced959e1beb599c04ec24784/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/a3a1b1e0d480520d9affe4a2a0ca7859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d/affordance/affordance_annot.json

@@ -0,0 +1,199 @@
+{
+    "affordances": [
+        {
+            "part_name": "main bin body",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid outer side walls to lift or reposition the storage bin",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold opposite outer walls to stabilize the bin during placement",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support attached decorative panels",
+                "support lifting by body"
+            ],
+            "semantic_description": "Large open-top off-white to light gray plastic body with a smooth matte surface, boxy shape, and rigid exterior walls forming most of the bin around the perimeter and base.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top rim to pull the empty bin slightly forward",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "grasp the rim edge to steady the bin while loading items",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "stiffen top opening",
+                "define opening boundary",
+                "provide edge for pulling",
+                "support structural rigidity"
+            ],
+            "semantic_description": "Light gray plastic top rim with a smooth matte finish, rectangular ring shape around the opening, moderately thick and rigid along the bin's upper edge.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to pull the bin from a shelf",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to reposition the bin",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "assist repositioning",
+                "improve manual access"
+            ],
+            "semantic_description": "Small mustard-gold plastic handle with a smooth satin finish, horizontally mounted on one side panel near the upper middle area.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "absorb bumps",
+                "reinforce corners",
+                "reduce wear at contact points"
+            ],
+            "semantic_description": "Small peach to tan plastic corner caps with a smooth matte surface wrapping the outer top and bottom corners, rounded and bulky relative to the frame edges.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "large woven side panel",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate side wall",
+                "cover side section",
+                "add visual texture",
+                "fill panel area"
+            ],
+            "semantic_description": "Large brown woven-looking panel with a rough basket-like texture, rectangular and inset into one side wall as a decorative panel.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "white embossed insert panel",
+            "mask_color": "Deep Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate side wall",
+                "cover side section",
+                "differentiate panel area",
+                "add surface texture"
+            ],
+            "semantic_description": "White rectangular insert panel with a matte hard surface and subtle embossed texture, set into the side wall among the small decorative inserts.",
+            "id": 32,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "white slatted insert panel",
+            "mask_color": "Gray",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate side wall",
+                "cover panel section",
+                "add texture contrast",
+                "segment wall layout"
+            ],
+            "semantic_description": "White plastic insert with a matte finish, rectangular shape, and evenly spaced vertical slats on the side wall.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blue geometric insert panel",
+            "mask_color": "Dark Slate Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate side wall",
+                "cover panel section",
+                "provide visual contrast",
+                "segment wall layout"
+            ],
+            "semantic_description": "Blue-gray panel with a matte hard surface and raised geometric line pattern, inset on the side wall as a decorative rectangular tile.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "diagonal striped insert panel",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate side wall",
+                "cover side section",
+                "provide visual contrast",
+                "segment wall layout"
+            ],
+            "semantic_description": "Tan-brown rectangular insert with a matte hard surface and fine diagonal stripe texture, set into the side wall as a decorative accent panel.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chevron insert panel",
+            "mask_color": "Dark Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate side wall",
+                "cover panel section",
+                "add texture contrast",
+                "segment wall layout"
+            ],
+            "semantic_description": "Cream to beige insert panel with a matte hard finish and chevron-like raised pattern, rectangular and mounted on the side wall.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner liner",
+            "mask_color": "Lawn Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain stored contents",
+                "form inner cavity",
+                "provide easy-clean interior",
+                "separate contents from exterior panels"
+            ],
+            "semantic_description": "Dark gray interior plastic surface with a smooth slightly satin finish, broad and continuous across the inside walls and bottom of the open bin.",
+            "id": 24,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified or mismatched to masks, especially side handle and decorative panels; some colors/descriptions incorrect."
+    }
+}

dataset/kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd090ac5d5e8bbcee1c5aa5dbfe3d1d6a6c22ab31656842f28f5e9f302928a77
+size 3801144

dataset/kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d/storage_bin_033.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>14</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-fragmented; decorative side panels and corner/base pieces are split into many colors without distinct functions.","merge_groups":[{"colors":["Green","Deep Pink","Jade","Olive"],"target_part":"main side wall panels","reason":"Same wall surfaces split by texture bands only"},{"colors":["White","Maroon","Burnt Orange","Gray"],"target_part":"frame and corner protectors","reason":"Continuous structural frame split into arbitrary regions"},{"colors":["Crimson","Dark Slate Blue"],"target_part":"top rim and cutout edge","reason":"Same upper rim/handle opening surface"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>