Add asset kitchen_supplies/storage/fc6d81223641528f975dd2c207544775

.gitattributes

@@ -7193,3 +7193,4 @@ dataset/kitchen_supplies/storage/f62906a06c505447929323af6eb445c7/affordance/mes
 dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f6e8a9a1ce895e7bafa70bdeb5c64d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/affordance/affordance_annot.json

@@ -0,0 +1,148 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body panels",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to lift or reposition the empty or lightly loaded bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the bin while placing it on a shelf",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main walls and base",
+                "enclose contents",
+                "provide structural surface area"
+            ],
+            "semantic_description": "Large tapered off-white to light beige body made of woven fabric-covered panels with a matte textured surface, forming the main container sides and bottom.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim and horizontal trim band",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or steady the bin",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the rim to guide placement onto a shelf",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "maintain bin shape",
+                "stiffen panel edges",
+                "provide structural trim"
+            ],
+            "semantic_description": "Off-white rigid trim with a smooth matte finish, visible around the top opening and as a horizontal band around the middle of the outer walls, with rounded corners.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_7": {
+                    "confidence": 0.8982616066932678,
+                    "position": [
+                        -0.015776158303197008,
+                        0.1584250284358859,
+                        0.2253625406883657
+                    ],
+                    "orientation": {
+                        "w": 0.19899574745086396,
+                        "xyz": [
+                            0.6978943721535584,
+                            0.6753140194378345,
+                            0.13151088534253885
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle trim surrounds",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front handle surround area to pull the bin from a shelf",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp a side handle surround to help carry or reposition the bin",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "pinch the handle surround to orient the bin",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "provide a reinforced handhold area",
+                "assist pulling from storage",
+                "assist carrying",
+                "reinforce the handle opening"
+            ],
+            "semantic_description": "Light tan to beige molded trim with a smooth finish surrounding the elongated handle slots on the front and side panels.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side vertical reinforcement strips",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce side panel edges",
+                "help retain box shape",
+                "protect side edges"
+            ],
+            "semantic_description": "Narrow tan vertical strips along some outer side edges, appearing as rigid smooth reinforcements distinct from the woven fabric panels.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle slot openings",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the slot opening to pull or lift the bin",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "create grip opening",
+                "allow hand access through side wall",
+                "define the handle aperture"
+            ],
+            "semantic_description": "Dark elongated oval cutout openings near the upper side panels, recessed through the wall behind the tan handle trim or plain side slot.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front label tab",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a place for a label",
+                "identify contents",
+                "mark the front face"
+            ],
+            "semantic_description": "Small rectangular tan label tab centered directly below the front handle opening on one face of the bin.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color part identities are wrong; label tab absent; slot openings and reinforcements misassigned."
+    }
+}

dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6823fb930e91840f643ca67bb35ec74170df2d70e2257f5893cd24bf979115f5
+size 3804296

dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/storage_bin_062.urdf

@@ -57,6 +57,7 @@
                <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: {"summary":"Handles are segmented well, but body is over-split into structural edges/rim and side strips without distinct functional roles.","merge_groups":[{"colors":["Cyan","Navy"],"target_part":"main bin body","reason":"Rim and walls are one container structure"},{"colors":["Cyan","Brown"],"target_part":"main bin body","reason":"Side strips are body surfaces, not separate parts"},{"colors":["Cyan","Maroon"],"target_part":"main bin body","reason":"Thin corner fragments are nonfunctional body pieces"}]}</PartSegChecker>