Add asset bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71

.gitattributes

@@ -6055,4 +6055,4 @@ dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/affordance/mes
 dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d6c2f62be05d5f9682c279f52adda540/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d769955178b458758cf90118a910ca5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/affordance_annot.json

@@ -0,0 +1,199 @@
+{
+    "affordances": [
+        {
+            "part_name": "container body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and carry the container",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the body to stabilize the container while opening or closing the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp opposite side walls to reposition the container on a shelf or table",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support the lid around the top edge",
+                "offer broad side grasp surfaces",
+                "protect contents"
+            ],
+            "semantic_description": "Large translucent white plastic container body with smooth slightly glossy side walls, tapered rectangular shape, and printed label graphics on the sides.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid rim",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to lift or remove the lid",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the rim to align the lid during closing",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "pull the container slightly by the lid edge when lightly loaded",
+                    "confidence": 0.45
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "frame the lid perimeter",
+                "provide lid grip",
+                "align with the box top"
+            ],
+            "semantic_description": "Broad light gray-blue plastic rim around the lid perimeter with a smooth satin finish, rounded rectangular outline, and raised edge wrapping around the top opening.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.7090965509414673,
+                    "position": [
+                        0.06847012773505412,
+                        0.30291004781611264,
+                        0.1309838965535164
+                    ],
+                    "orientation": {
+                        "w": 0.3985186230823145,
+                        "xyz": [
+                            0.546920914717562,
+                            0.4922796885582952,
+                            -0.5474679244796262
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.7013906836509705,
+                    "position": [
+                        -0.05262998878606595,
+                        -0.3027685403358191,
+                        0.13845685869455338
+                    ],
+                    "orientation": {
+                        "w": 0.45420011347020595,
+                        "xyz": [
+                            -0.5028891010072403,
+                            0.5995928749670835,
+                            0.42578538408509103
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.6988652944564819,
+                    "position": [
+                        0.05277340472093783,
+                        -0.2992316603194922,
+                        0.1218954399228096
+                    ],
+                    "orientation": {
+                        "w": 0.41549272712931223,
+                        "xyz": [
+                            -0.5198633698020679,
+                            0.5271616561802522,
+                            0.5284017966415131
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "latch tab",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the latch tab to unlock the lid",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "press or push the latch tab into place to secure the lid",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "lock the lid",
+                "release the lid",
+                "secure closure",
+                "provide a small pulling tab"
+            ],
+            "semantic_description": "Small medium-gray plastic latch tab on the side near the lid edge, with a smooth hard surface and short rectangular hinged form.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base rim",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower rim to slide or reposition the container",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the base edge to stabilize the container during placement or stacking",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "support the container on surfaces",
+                "protect the bottom edge",
+                "improve stability",
+                "reinforce the base perimeter"
+            ],
+            "semantic_description": "Low dark gray plastic base frame with a smooth hard finish, rounded rectangular footprint, and slightly protruding bottom edge around the container base.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "latch hinge strip",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect the latch tab to the container side",
+                "enable latch rotation",
+                "act as a hinge axis region"
+            ],
+            "semantic_description": "Thin dark blue narrow strip directly beneath the gray latch tab on the side, appearing as a small elongated hinge region with a smooth finish.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel section",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp this exposed side wall area to help lift or steady the container",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold this side section while repositioning the container",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "form part of the container wall",
+                "help enclose contents",
+                "provide structural side surface"
+            ],
+            "semantic_description": "Vertical translucent white side-wall section on one side of the container, smooth and slightly glossy, matching the rest of the body.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part mappings and descriptions are wrong; green is body, blue is lid rim, maroon is not a generic side panel."
+    }
+}

dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04c931770cb25c9d0caa1e1698a10de6ff0458f9e5cee28eb54519b57cd6ee03
+size 3786808

dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/storage_box_013.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":"Latch and body are over-fragmented; several colors split same physical parts.","merge_groups":[{"colors":["Green","Dark Orange"],"target_part":"main box body","reason":"Orange is just small body-edge fragments."},{"colors":["Gray","Navy"],"target_part":"latch clips","reason":"Both colors split the same latch hardware."},{"colors":["Green","Maroon"],"target_part":"main box body","reason":"Maroon side patches are body surfaces, not separate parts."}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>