Add asset kitchen_supplies/storage/90520f7a88a056e3af9ac726d263031f

.gitattributes

@@ -7134,3 +7134,4 @@ dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mes
 dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/90520f7a88a056e3af9ac726d263031f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/90520f7a88a056e3af9ac726d263031f/affordance/affordance_annot.json

@@ -0,0 +1,114 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite outer side walls to lift the storage bin",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the upper rim area of the body to reposition the bin on a surface",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "stabilize the bin by clamping one side wall during loading or placement",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "provide side support",
+                "provide main grasp surface",
+                "define the interior cavity"
+            ],
+            "semantic_description": "Large open-top rectangular bin body made of cream-white hard plastic with a mostly matte smooth finish, decorative multicolor tile-patterned exterior panels, and straight side walls forming the main container.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors and feet",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce edges",
+                "support the bin on surfaces",
+                "reduce wear at contact points",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Small beige plastic corner caps and foot pieces with a matte smooth hard surface, rounded blocky shapes at the upper and lower corners, and a slightly thicker protective build than the wall panels.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch and side trim strips",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front latch tab to pull or reposition the bin lightly",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "use the front latch as a small contact point while stabilizing the bin during handling",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "lightly pinch a side trim strip only for minor repositioning assistance, not full lifting",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "provide a small front pulling latch",
+                "add decorative trim",
+                "cover or finish panel seams",
+                "offer a minor contact point for manipulation"
+            ],
+            "semantic_description": "Blue-gray plastic decorative trim pieces, including a centered front latch/tab and narrow horizontal side strips near the upper side panels, with smooth hard surfaces and a slightly raised profile from the bin walls.",
+            "id": 25,
+            "grasp_group": {
+                "grasp_28": {
+                    "confidence": 0.24590937793254852,
+                    "position": [
+                        -0.12051691068336368,
+                        -0.10811262857168913,
+                        -0.17555391462519765
+                    ],
+                    "orientation": {
+                        "w": 0.9956301465139232,
+                        "xyz": [
+                            -0.08607106417111697,
+                            0.0229689487971253,
+                            -0.028014472264710145
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.2245558500289917,
+                    "position": [
+                        -0.12407958460971713,
+                        -0.10108945053070784,
+                        -0.17541627259925008
+                    ],
+                    "orientation": {
+                        "w": 0.9983845852843936,
+                        "xyz": [
+                            -0.013310327486711222,
+                            0.03455067494711128,
+                            -0.04309647212248672
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Indigo part mislabeled; mask includes full top rim band, not just latch and side trim strips."
+    }
+}

dataset/kitchen_supplies/storage/90520f7a88a056e3af9ac726d263031f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a5e417fc28eda7c95fdf862f442d3172f5b5b4c0746695f145ebeefa2cc086
+size 3819220

dataset/kitchen_supplies/storage/90520f7a88a056e3af9ac726d263031f/storage_bin_024.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</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":"Nonfunctional decorative surfaces are split into multiple colors, and latch banding is inconsistent.","merge_groups":[{"colors":["Pink","Burnt Orange"],"target_part":"main body","reason":"same bin shell and decorative panels"},{"colors":["Pink","Indigo"],"target_part":"front latch/trim","reason":"latch and surrounding band are one assembly"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>