Add asset kitchen_supplies/storage/9ff222208333598e8359fb0846996d23

.gitattributes

@@ -7142,4 +7142,4 @@ dataset/kitchen_supplies/storage/9441752a2ade5b64a52429b0e0bb2172/affordance/mes
 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/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/a01c765316d15e958cc4d192e2f05c3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/affordance_annot.json

@@ -0,0 +1,349 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body panels",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing side panels to lift or reposition the empty or lightly loaded bin",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the bin while accessing contents",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main enclosure",
+                "support overall structure",
+                "provide broad contact surfaces"
+            ],
+            "semantic_description": "Large light gray rigid body panels with a woven basket-like texture on the side walls, tapered rectangular box shape, and smooth solid bottom panel.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front handle",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front handle opening to pull the bin from a shelf",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "grasp the handle to help lift and carry the bin short distances",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "assist lifting",
+                "aid carrying",
+                "indicate front side"
+            ],
+            "semantic_description": "Inset tan plastic handle on the front wall with a smooth slightly glossy surface and rounded rectangular opening sized for gripping.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim frame",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift the empty or lightly loaded bin",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin during loading or unloading",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "reinforce opening",
+                "maintain shape",
+                "support top edge",
+                "provide a stabilizing hold"
+            ],
+            "semantic_description": "Light gray upper frame around the opening with smooth rigid edges that stiffen the top perimeter.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce corners",
+                "reduce wear at edges",
+                "buffer impacts"
+            ],
+            "semantic_description": "Small tan plastic corner caps at the top and bottom corners with a smooth slightly glossy surface and rounded blocky shape.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left vertical corner trim",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce edge",
+                "connect side panels",
+                "protect corner edge",
+                "maintain shape"
+            ],
+            "semantic_description": "Narrow tan vertical corner trim along one side edge with a smooth hard surface and slim elongated profile.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right vertical corner trim",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce edge",
+                "connect side panels",
+                "protect corner edge",
+                "maintain shape"
+            ],
+            "semantic_description": "Narrow tan vertical corner trim on the opposite side edge, hard and smooth with a slim straight profile.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rail insert",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stiffen top edge",
+                "support opening",
+                "maintain alignment"
+            ],
+            "semantic_description": "Thin tan strip along part of the upper rim with a smooth hard appearance, running horizontally near the opening edge.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "center divider",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top of the divider to adjust or remove the insert",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "hold the divider while separating or arranging contents",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "separate contents",
+                "organize compartments",
+                "provide internal structure",
+                "reduce item shifting"
+            ],
+            "semantic_description": "Tall light gray divider panel with a woven texture, flat rectangular shape, and central placement splitting the bin into sections.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small divider",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small divider to adjust or remove it",
+                    "confidence": 0.49
+                },
+                {
+                    "scenario": "hold the divider while sorting stored items",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "subdivide a compartment",
+                "organize small items",
+                "separate contents"
+            ],
+            "semantic_description": "Smaller light gray divider with a woven surface, flat rectangular form, and upright placement inside one compartment.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "blue fabric item",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the folded blue item to remove it from the bin",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pick and place the blue item during sorting",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "be stored in the bin",
+                "be retrieved individually",
+                "soft item for sorting"
+            ],
+            "semantic_description": "Folded dark blue fabric-like item with a matte soft textured surface, blocky rectangular shape, and medium size within an interior compartment.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "purple fabric item",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the folded purple item to take it out",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "reposition the purple item within the compartment",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "be stored in the bin",
+                "be retrieved individually",
+                "soft item for sorting"
+            ],
+            "semantic_description": "Folded purple soft item with a matte fabric texture and compact rectangular form placed inside the bin.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "light beige item",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the light beige rectangular item to remove it",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "pick and place the item while organizing contents",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "be stored in the bin",
+                "be retrieved individually",
+                "organize packed contents"
+            ],
+            "semantic_description": "Light beige rectangular item with a smooth matte surface, boxlike shape, and medium size resting near the top of a compartment.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_47": {
+                    "confidence": 0.31195276975631714,
+                    "position": [
+                        0.1871079783886671,
+                        -0.24060925975209102,
+                        -0.06794733181595802
+                    ],
+                    "orientation": {
+                        "w": 0.36922169516947273,
+                        "xyz": [
+                            -0.627878943271878,
+                            0.34981616552732464,
+                            0.5891281887227343
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "blue rectangular item",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the blue rectangular item to lift it out of the bin",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "slide-grasp the item for rearranging stored contents",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "be stored in the bin",
+                "be retrieved individually",
+                "fill compartment space"
+            ],
+            "semantic_description": "Medium blue rectangular item with a smooth matte surface and block-like shape positioned inside the bin near a side wall.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_31": {
+                    "confidence": 0.3459097146987915,
+                    "position": [
+                        -0.22354361601173878,
+                        0.0034217602224089205,
+                        0.05511346645653248
+                    ],
+                    "orientation": {
+                        "w": 0.7477554388048115,
+                        "xyz": [
+                            -0.0622111679385558,
+                            0.659504712370821,
+                            0.04522287786314943
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "brown item",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the brown rectangular item to remove it from storage",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "pick and place the item during sorting",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "be stored in the bin",
+                "be retrieved individually",
+                "occupy a compartment"
+            ],
+            "semantic_description": "Brown rectangular object with a smooth semi-matte surface and elongated block form tucked beside other stored items.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small corner cap",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish corner detail",
+                "provide minor corner protection",
+                "cover a local joint"
+            ],
+            "semantic_description": "Small tan corner cap detail with a smooth hard surface and compact rounded shape attached near an upper corner.",
+            "id": 20,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red mask merges handle and center divider; several part identities/colors are mismatched or duplicated."
+    }
+}

dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c908f4fbebb2f211e76a529a40612aacb14824343bcaf7104d57d37950bffad
+size 3824760

dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/storage_bin_020.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>