Add asset kitchen_supplies/storage/2569367829ab52b480a5e256c23172c8

.gitattributes

@@ -7089,3 +7089,4 @@ dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mes
 dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/23d9e76127b65a1aacaf4227a7250d17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/25654b1ad7df5a0c8cd278fea187cfba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/2569367829ab52b480a5e256c23172c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/2569367829ab52b480a5e256c23172c8/affordance/affordance_annot.json

@@ -0,0 +1,187 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to raise or lower the lid during opening and closing",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the lid surface lightly to stabilize it while accessing the box interior",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect contents",
+                "provide top closure surface",
+                "support the handle mounts"
+            ],
+            "semantic_description": "Large dark navy-black top panel with a leather-like textured finish, subtle gold diamond patterning, and a flat rectangular shape forming the lid.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front body panel",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front wall from the sides or lower edge to reposition the box",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the front wall to stabilize the box while opening the lid",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main body",
+                "provide front support",
+                "provide a stabilizing grasp surface"
+            ],
+            "semantic_description": "Dark navy-black rectangular outer front wall below the lid, with a leather-like textured finish and fine gold diamond patterning; it includes the front latch and label area on different faces/views.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side body panel",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to pick up or reposition the box",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the side wall to stabilize the box while opening or closing the lid",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main body",
+                "provide side support",
+                "provide a grasp surface for repositioning"
+            ],
+            "semantic_description": "Dark navy-black rectangular side wall with a leather-like textured finish, subtle gold diamond patterning, and vertical placement along the side of the storage compartment.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical frame trim",
+            "mask_color": "Dark Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce vertical edges",
+                "protect panel seams",
+                "stabilize the structure",
+                "outline the case geometry"
+            ],
+            "semantic_description": "Light cream rigid trim pieces with a hard smooth finish running along the vertical outer edges of the case, contrasting with the dark patterned panels.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners from impact",
+                "reinforce corners",
+                "reduce wear at contact points",
+                "visually finish the case"
+            ],
+            "semantic_description": "Small light cream hard corner caps with a smooth finish and rounded polygonal shape, attached at the lid and body corners as protective reinforcements.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "carry handle straps",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the raised top handle assembly to lift and carry the box",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "pull the top handle assembly to slide or reposition the box",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "enable carrying",
+                "provide a top grip",
+                "assist repositioning",
+                "connect the handle to the lid"
+            ],
+            "semantic_description": "Long dark handle/strap elements on top of the lid, smooth and slightly raised, attached near the ends with light cream mounts.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim trim",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim trim to steady the box during lid operation",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "pinch the rim trim for minor repositioning",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening edge",
+                "protect panel edges",
+                "define the top rim",
+                "support lid alignment"
+            ],
+            "semantic_description": "Light cream rigid trim running along the top edge of the body opening, with a smooth finish and straight narrow profile.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "label plate",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide identification area",
+                "label contents",
+                "indicate orientation",
+                "decorate the exterior"
+            ],
+            "semantic_description": "Small rectangular light cream label plate centered on one outer face, with a hard smooth finish and slightly inset appearance for identification.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side tab or hardware mount",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "attach or reinforce side hardware",
+                "provide local structural support",
+                "finish the side detail"
+            ],
+            "semantic_description": "Small light cream hardware piece on the side near the upper body edge, compact and rounded, appearing as a mounted tab rather than the front latch.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front body panel description incorrectly includes latch; handle part misnamed and rim trim graspability overstated."
+    }
+}

dataset/kitchen_supplies/storage/2569367829ab52b480a5e256c23172c8/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f06e46c24950a147f4a5a5ab663783cbf9ead09e1f0ddece46d2bf2a8e9c48e3
+size 5924260

dataset/kitchen_supplies/storage/2569367829ab52b480a5e256c23172c8/storage_bin_056.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>10</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":"Major functional parts are mislabeled across views; handle/lid/body are not consistently segmented.","merge_groups":[{"colors":["Crimson","Indigo"],"target_part":"main body/bin shell","reason":"front and side body surfaces split arbitrarily"},{"colors":["Gold","Gray","Jade"],"target_part":"lid top surface","reason":"lid top is fragmented into strips/panel"},{"colors":["Green","Burnt Orange"],"target_part":"front label/insert area","reason":"same front insert appears two colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>