Add asset kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e

.gitattributes

@@ -7073,4 +7073,4 @@ dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/mes
 dataset/kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0bb192138e075023aade9b863387a775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e/affordance/affordance_annot.json

@@ -0,0 +1,101 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel and top frame",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top edge or rim to lift or reposition the box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the rigid top frame to stabilize the box while operating the front latch",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "cover the storage compartment",
+                "provide top structural support",
+                "support handling from the upper edge",
+                "protect stored contents"
+            ],
+            "semantic_description": "Dark charcoal to black rigid lid and top border with a matte to semi-gloss finish, flat rectangular top, and patchwork decorative panels on the lid surface.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.645321786403656,
+                    "position": [
+                        0.0823943909490481,
+                        -0.07972548213729169,
+                        -0.19116232974920422
+                    ],
+                    "orientation": {
+                        "w": 0.9984040316097621,
+                        "xyz": [
+                            -0.046555086181533756,
+                            -0.01627156128203644,
+                            0.027518174166321237
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "main box body panels",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to pick up and carry the box",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold a side wall to steady the box during opening or placement",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main enclosure",
+                "support the overall structure",
+                "provide broad stabilizing surfaces"
+            ],
+            "semantic_description": "Rectangular side panels forming the main container body, covered in patterned patchwork prints in cream, brown, gray, and black tones with a smooth finished surface.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch plate, lid handle patch, and side decorative trim strips",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pull the front latch to open the box",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "pinch the small lid handle patch to help lift the lid",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "use a trim strip or latch area as a light stabilizing contact point only when necessary",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "provide the latch mechanism for securing and opening the lid",
+                "offer a small pull point on the lid",
+                "reinforce or finish selected exterior edges",
+                "add decorative trim detail"
+            ],
+            "semantic_description": "Light tan to beige pieces including the front clasp hardware, the small rounded rectangular patch centered on the lid, and narrow trim strips running along side edges; smooth leather-like or coated finish with visible fastener details on the latch.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Purple part identity and descriptions are wrong; magenta groups unrelated parts and misstates colors/materials."
+    }
+}

dataset/kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fdaf0098f53e1bdfea4369fce5b72c85b2c7513703c80cb75148d8da0559bcf
+size 3810976

dataset/kitchen_supplies/storage/0e16923175de5f1086eec257bd6be25e/storage_bin_047.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</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":"Main body, lid, latch, and corner reinforcements are merged inconsistently; not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>