Add asset kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173

.gitattributes

@@ -7153,3 +7153,4 @@ dataset/kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83/affordance/mes
 dataset/kitchen_supplies/storage/acc05ea68ff55f729b841ca632cdbfc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/affordance_annot.json

@@ -0,0 +1,140 @@
+{
+    "affordances": [
+        {
+            "part_name": "exterior body panels and base",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing outer side panels with a broad friction grip to lift or reposition the empty storage bin",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold an outer side panel to stabilize the bin during placement or loading",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "form the main structure",
+                "provide enclosure",
+                "support stored contents",
+                "provide outer gripping surfaces"
+            ],
+            "semantic_description": "Large exterior side panels and bottom panel in beige/tan board with a smooth matte finish. The outer side faces show gray-blue and beige floral scroll patterns, while the base is plain tan.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior wall lining",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the interior enclosure",
+                "provide inner contact surface",
+                "help contain stored items"
+            ],
+            "semantic_description": "Light gray interior lining on the inside walls of the bin, smooth and matte, visible around the opening and down the inner sides.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "edge reinforcements",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the reinforced top edge to slightly reposition the empty bin",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a reinforced vertical edge to steady the bin during loading or unloading",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "reinforce edges",
+                "stiffen the structure",
+                "protect vulnerable edges",
+                "support shape retention"
+            ],
+            "semantic_description": "Beige reinforced strips and rounded structural pieces running along the top edges and some vertical outer edges of the bin, with a smooth matte finish.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Light Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce corner joints",
+                "reduce wear from impacts"
+            ],
+            "semantic_description": "Small rounded beige corner caps at the top and bottom corners, slightly raised and matching the trim material.",
+            "id": 56,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "cutout handles",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle opening to lift and carry the bin",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull the bin forward from a shelf using the handle",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the handle to orient the bin during placement",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "lift the bin",
+                "pull from storage",
+                "aid orientation during carrying"
+            ],
+            "semantic_description": "Oblong handle openings on the side walls near the top, framed by beige material with dark recessed slots.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top trim strips",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish top edges",
+                "reinforce the upper perimeter",
+                "cover panel seams"
+            ],
+            "semantic_description": "Narrow beige trim strips running along the upper side edges just below the rim, with a smooth matte appearance distinct from the larger wall panels.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative floral print",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "provide visual styling",
+                "distinguish the product visually"
+            ],
+            "semantic_description": "Flat floral motifs printed on the exterior side panels in gray-blue and beige tones, centered within the larger scrolling decorative pattern.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brown mask includes bottom and some exterior panels, not only exterior body; floral print color/placement also misdescribed."
+    }
+}

dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2593cd2a576fe1421abfc91b11cb7dca15dc2678dde2c2889fd0011ca2a0ec7f
+size 3817860

dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/storage_bin_028.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>7</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":"Decorative patterns and trim are over-segmented; main body surfaces are split by nonfunctional details.","merge_groups":[{"colors":["Brown","Gold","Dark Orange"],"target_part":"main body panels","reason":"graphics on panels are not separate functional parts"},{"colors":["Green","Pink"],"target_part":"rim and corner frame","reason":"same structural trim split into edge and caps"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>