Add asset kitchen_supplies/storage/3433608005a758b2ac1e3e024351b78c

.gitattributes

@@ -7096,4 +7096,4 @@ dataset/kitchen_supplies/storage/2d1ae246c61d56b099f426b1fb3f142e/affordance/mes
 dataset/kitchen_supplies/storage/2e628a32ac405a1bb0eadbe36c065229/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/2f139ad613ce5243b2cf4770929d0e99/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3433608005a758b2ac1e3e024351b78c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3433608005a758b2ac1e3e024351b78c/affordance/affordance_annot.json

@@ -0,0 +1,240 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body panels",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the storage bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "pinch the front body area to stabilize the bin while opening the lid",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "provide side support",
+                "offer a broad grasp surface"
+            ],
+            "semantic_description": "Large rectangular gray fabric-covered body with a matte finish, slightly textured and lightly padded appearance, forming most of the bin's exterior sides and front.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid panel",
+            "mask_color": "Dark Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front edge of the lid to open or close the bin",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the top panel to steady the bin during handling",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "cover the opening",
+                "protect contents",
+                "provide top closure",
+                "support light stacking"
+            ],
+            "semantic_description": "Flat dark gray top panel with a matte fabric-like textured surface, spanning the full opening at the top of the bin.",
+            "id": 30,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "edge frame and trim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the reinforced top rim to lift or steady the bin",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold a vertical edge strip to rotate the bin during placement",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "reinforce edges",
+                "maintain shape",
+                "protect seams",
+                "provide structural rigidity"
+            ],
+            "semantic_description": "Narrow dark gray reinforced trim with a woven matte texture running along the top rim and vertical edges, outlining and stiffening the bin.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_34": {
+                    "confidence": 0.6204919219017029,
+                    "position": [
+                        -0.040213712491095066,
+                        -0.21532962238416076,
+                        0.19444867223501205
+                    ],
+                    "orientation": {
+                        "w": 0.1996042573610988,
+                        "xyz": [
+                            -0.7362418396499865,
+                            0.6334011634708474,
+                            0.13003484189210432
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reduce wear at impacts",
+                "reinforce corner joints"
+            ],
+            "semantic_description": "Small beige corner caps with a smooth matte hard surface and rounded triangular shape, attached at the bin's top and bottom corners as protective guards.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to pull the bin from a shelf",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the side handle to carry or reposition the bin",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "pull from storage",
+                "assist carrying",
+                "aid repositioning"
+            ],
+            "semantic_description": "Short dark gray horizontal fabric handle mounted near the upper side panel, with a padded cylindrical appearance sized for a secure pull grip.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small front tab to release or guide the front closure",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grasp the tab to help pull the closure into place",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "act as a closure tab",
+                "assist opening and closing the front closure",
+                "provide a small pull point"
+            ],
+            "semantic_description": "Small dark gray to brown tab beneath the front lid cutout at the center front, with a short protruding fabric-like appearance.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pull handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the lower front handle to pull the bin outward from a shelf",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp the lower front handle to reposition the bin",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide a front pull point",
+                "assist retrieval from shelves",
+                "serve as a small handhold"
+            ],
+            "semantic_description": "Rectangular beige front pull handle mounted low on the front panel, with a rigid loop-like shape and inset opening.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.5038262605667114,
+                    "position": [
+                        0.26467255782335997,
+                        0.025876250583678484,
+                        -0.10277006030082703
+                    ],
+                    "orientation": {
+                        "w": 0.6857148062967365,
+                        "xyz": [
+                            -0.023735199470789052,
+                            -0.7267983755162242,
+                            0.03155893024944867
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front lid cutout",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide finger access for lifting the lid",
+                "mark the lid opening area",
+                "clear access above the closure tab"
+            ],
+            "semantic_description": "Shallow curved dark notch centered at the front edge of the lid line, forming a recessed opening area above the front tab.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front seam trim",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover a seam",
+                "reinforce the front panel junction",
+                "separate front sections"
+            ],
+            "semantic_description": "Thin horizontal dark trim strip across the front, with a narrow flat fabric-like appearance marking the junction between upper and lower front sections.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam strip",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover a vertical seam",
+                "reinforce a side corner junction",
+                "maintain panel alignment"
+            ],
+            "semantic_description": "Narrow vertical dark strip along a side corner, matte and fabric-like, joining adjacent panels from near the top rim downward.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part descriptions mismatch colors/materials and one part identity/function is incorrect."
+    }
+}

dataset/kitchen_supplies/storage/3433608005a758b2ac1e3e024351b78c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31c50fee69fd6ee16bfd08aaaa6a1afacce550c7ef6fe701791abdb8393cb73
+size 3819420

dataset/kitchen_supplies/storage/3433608005a758b2ac1e3e024351b78c/storage_bin_004.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>15</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":"Main body and trims are over-segmented into many colors; some hardware is fragmented.","merge_groups":[{"colors":["Orange","Yellow","Dark Orange"],"target_part":"main body shell","reason":"same outer panels and edge frame surfaces"},{"colors":["Blue","Gold"],"target_part":"bottom corner protectors","reason":"same repeated corner feet pieces"},{"colors":["Cyan","Indigo"],"target_part":"side handles","reason":"same recessed handle assembly fragments"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>