Add asset kitchen_supplies/storage/98fa470a27145f15a566b85cf32e119c

.gitattributes

@@ -7141,4 +7141,4 @@ dataset/kitchen_supplies/storage/93d4066d3b1f5cd0ad151264de8cbf99/affordance/mes
 dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9662fb1eb26f55efbc5c46a970a82f50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/9abd4b3fe63c569a9bf1a50883d0329e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/98fa470a27145f15a566b85cf32e119c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/98fa470a27145f15a566b85cf32e119c/affordance/affordance_annot.json

@@ -0,0 +1,259 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "provide a top surface"
+            ],
+            "semantic_description": "Large rectangular off-white top inset panel with a hard smooth slightly matte surface, centered in the lid and decorated with subtle floral or leaf-like motifs.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid frame",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid rim to lift or open the box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the upper lid edge to steady the box while operating the latch",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "reinforce the lid edges",
+                "provide a lifting rim",
+                "protect the lid perimeter",
+                "define the lid shape"
+            ],
+            "semantic_description": "Dark charcoal or black rectangular border around the lid with a hard smooth dull finish, surrounding the decorated top panel and meeting tan corner caps.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.8094140887260437,
+                    "position": [
+                        0.06974040373461321,
+                        0.24627972953021526,
+                        -0.06918247928842902
+                    ],
+                    "orientation": {
+                        "w": 0.497741436935695,
+                        "xyz": [
+                            0.5025013131042825,
+                            0.4702490371991441,
+                            -0.5278368453404324
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8014618754386902,
+                    "position": [
+                        0.025033830024767667,
+                        0.2454801481217146,
+                        -0.0726707517169416
+                    ],
+                    "orientation": {
+                        "w": 0.5377036441969926,
+                        "xyz": [
+                            0.47189253693633576,
+                            0.5009866129033238,
+                            -0.48703658824847756
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the front latch to open or close the box",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pull the latch to release the lid",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "release the lid",
+                "provide a small pulling point"
+            ],
+            "semantic_description": "Small brass-toned metal clasp centered on the front face, with a reflective worn finish and compact protruding shape suitable for pinching and pulling.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper side band",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper side band to stabilize the box while opening the lid",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the upper band briefly to reposition the box on a surface",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "reinforce the upper walls",
+                "provide a side holding area",
+                "support the lid interface",
+                "protect the upper side edges"
+            ],
+            "semantic_description": "Narrow dark trim band running around the upper sides just below the lid, hard and smooth with a matte finish above the patterned side panels.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main side wall panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to lift the box by its body",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the side wall to stabilize the box during opening",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the box body",
+                "provide side support",
+                "offer a broad contact surface"
+            ],
+            "semantic_description": "Off-white body panel on the sides with black floral decoration, appearing hard and smooth with a slightly matte painted finish.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored contents from below",
+                "close the underside",
+                "provide base structure"
+            ],
+            "semantic_description": "Large flat brown underside panel with a hard smooth matte surface, spanning most of the bottom and plainer than the decorated sides.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.8094140887260437,
+                    "position": [
+                        0.06974040373461321,
+                        0.24627972953021526,
+                        -0.06918247928842902
+                    ],
+                    "orientation": {
+                        "w": 0.497741436935695,
+                        "xyz": [
+                            0.5025013131042825,
+                            0.4702490371991441,
+                            -0.5278368453404324
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.8014618754386902,
+                    "position": [
+                        0.025033830024767667,
+                        0.2454801481217146,
+                        -0.0726707517169416
+                    ],
+                    "orientation": {
+                        "w": 0.5377036441969926,
+                        "xyz": [
+                            0.47189253693633576,
+                            0.5009866129033238,
+                            -0.48703658824847756
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corner protector",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect vulnerable corners",
+                "reinforce corner joints",
+                "absorb minor bumps"
+            ],
+            "semantic_description": "Small tan corner cap pieces with a hard smooth slightly matte finish, attached at exposed box and lid corners as protective decorative guards.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner trim",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a vertical corner trim briefly to steady or rotate the box",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "reinforce vertical edges",
+                "connect side panels",
+                "protect corners",
+                "help maintain box shape"
+            ],
+            "semantic_description": "Narrow dark vertical edge strip with a hard smooth dull surface, running down the body corners between the decorated side panels and the base.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower trim band",
+            "mask_color": "Dark Turquoise",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the lower body",
+                "protect the lower edge",
+                "visually separate the side wall from the base"
+            ],
+            "semantic_description": "Thin dark lower side band wrapping around the box just above the bottom trim area, with a hard smooth matte finish.",
+            "id": 55,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base trim",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the box on surfaces",
+                "elevate the body slightly",
+                "protect the bottom perimeter"
+            ],
+            "semantic_description": "Light-colored trim running around the bottom perimeter, hard and smooth with a matte finish, forming the contact edge beneath the side walls.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors are inconsistent and one side trim is wrongly marked non-graspable."
+    }
+}

dataset/kitchen_supplies/storage/98fa470a27145f15a566b85cf32e119c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166dbd0dbde5afb7e1a413c19f48a07fe890acf444be8a8757925db507411691
+size 3841324

dataset/kitchen_supplies/storage/98fa470a27145f15a566b85cf32e119c/storage_bin_045.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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>