Add asset kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7

.gitattributes

@@ -7163,4 +7163,4 @@ dataset/kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b/affordance/mes
 dataset/kitchen_supplies/storage/bd6e0924a106522a99340996d8d0388c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bebf9a45875550d5abcafeb08554c666/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/c039fa5722295ae6bc5082a99be72cfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/affordance/affordance_annot.json

@@ -0,0 +1,241 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open or steady the box when the top handle is not used",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "press on the lid from above to stabilize the container during manipulation",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "cover the container opening",
+                "protect contents",
+                "close the container",
+                "provide a top surface"
+            ],
+            "semantic_description": "Large off-white top panel with a pebbled leather-like texture, matte finish, and flat rectangular shape forming the lid.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the box",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to reposition the box on a surface",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "carry the box",
+                "lift from above",
+                "reposition the container",
+                "provide a dedicated handhold"
+            ],
+            "semantic_description": "Arched medium-brown handle mounted on the lid, appearing smooth and slightly satin, with a rounded cylindrical grip.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Dark Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to lift the box when using a whole-body clamp grasp",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "push or steady the box by contacting a side panel",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main walls",
+                "provide structural enclosure",
+                "protect contents"
+            ],
+            "semantic_description": "Large off-white side wall with pebbled leather-like texture and matte finish, broad and rectangular, forming most of the body exterior.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support contents from below",
+                "form the base",
+                "rest on surfaces",
+                "stabilize the container"
+            ],
+            "semantic_description": "Large off-white bottom face with a matte pebbled surface and flat rectangular shape spanning the base.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner caps",
+            "mask_color": "Light Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce the structure",
+                "reduce impact wear",
+                "cover exposed corner joints"
+            ],
+            "semantic_description": "Beige corner protectors at the box corners, smooth and matte, with chunky rounded geometry wrapping the corners.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner straps",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce vertical edges",
+                "protect corners",
+                "join side panels",
+                "add rigidity"
+            ],
+            "semantic_description": "Dark brown vertical strips running down the corners, matte and slightly textured, with visible rivet-like dots.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim trim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the upper rim to steady the box while opening or closing it",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "briefly grasp the rim edge to assist repositioning when the top handle is inaccessible",
+                    "confidence": 0.31
+                }
+            ],
+            "functional_labels": [
+                "reinforce the upper opening",
+                "frame the top edge",
+                "protect upper edges",
+                "support lid alignment"
+            ],
+            "semantic_description": "Dark brown trim running around the top perimeter, matte and rigid, forming the upper frame around the opening.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle cutout",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the side handle opening to pull or lift from the side",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the side handle opening to stabilize the box during placement",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a side handhold",
+                "assist side lifting",
+                "enable pulling",
+                "aid stabilization"
+            ],
+            "semantic_description": "Horizontal recessed handle opening set into a beige plate on the side wall, with a compact rectangular slot shape and smooth hard finish.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the front latch to open the lid",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "press or guide the latch area while closing the lid",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "provide an opening point",
+                "align the front closure",
+                "help retain contents during carrying"
+            ],
+            "semantic_description": "Small beige latch centered on the front upper wall, smooth and matte, with a rounded tab-like shape projecting slightly outward.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "horizontal side bands",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce side walls",
+                "protect edges from wear",
+                "tie corner hardware together",
+                "add structural stiffness"
+            ],
+            "semantic_description": "Dark brown horizontal bands near the upper and lower side edges, matte and rigid, decorated with rivet-like accents.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam trim",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover panel seams",
+                "reinforce panel joints",
+                "connect adjacent surfaces",
+                "improve edge finish"
+            ],
+            "semantic_description": "Narrow beige vertical trim strips along side seams, smooth and matte, appearing as slim rigid joining pieces.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small lid fastener discs",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secure lid hardware",
+                "reinforce mounting points",
+                "cover fastener locations"
+            ],
+            "semantic_description": "Small round beige discs on the lid surface, smooth and matte, positioned near the handle area as decorative or reinforcing fastener covers.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and descriptions mismatch mask/object, especially side seam trim and latch color/part naming."
+    }
+}

dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3ececc9cd0af361389a67ac31be3f01efead9a897dedb13d669dbf10480911
+size 3826892

dataset/kitchen_supplies/storage/c0c5d9af40b759ab9a54775f21271fd7/storage_bin_067.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>17</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; many trim pieces and repeated frame surfaces are split into different colors.","merge_groups":[{"colors":["Magenta","Pink"],"target_part":"lid","reason":"top panel and lid rim are one functional cover"},{"colors":["Dark Red","Yellow"],"target_part":"main body","reason":"side walls and bottom form one storage body"},{"colors":["Olive","Lime Green"],"target_part":"handle","reason":"grip and handle mounts work together"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>