Add asset kitchen_supplies/storage/0bb192138e075023aade9b863387a775

.gitattributes

@@ -7070,4 +7070,5 @@ dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/affordance/mes
 dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/05b17d1d4aeb5bcb83d0e9b06aa8cb4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+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/0bb192138e075023aade9b863387a775/affordance/affordance_annot.json

@@ -0,0 +1,284 @@
+{
+    "affordances": [
+        {
+            "part_name": "side panels",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side wall to lift or reposition the storage bin when the side handle openings are not used",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the bin during placement or sliding",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the side walls",
+                "provide lateral support",
+                "protect contents"
+            ],
+            "semantic_description": "Large rectangular outer and inner wall panels with cream and blue floral printed exterior surfaces and dark gray interior walls, likely rigid board or plastic, with mostly smooth matte surfaces.",
+            "id": 16,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9569777846336365,
+                    "position": [
+                        -0.036815531086176634,
+                        0.19400544930249453,
+                        0.1795938430732349
+                    ],
+                    "orientation": {
+                        "w": 0.1629374538877365,
+                        "xyz": [
+                            0.7078961064564102,
+                            0.6871930601760301,
+                            0.010009327167138763
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9520637392997742,
+                    "position": [
+                        0.14964282931759953,
+                        0.061124217696487904,
+                        0.18164412364421878
+                    ],
+                    "orientation": {
+                        "w": 0.008361914622530948,
+                        "xyz": [
+                            0.028876249997838846,
+                            -0.9987818135996143,
+                            0.03912964851073401
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9484281539916992,
+                    "position": [
+                        -0.043317224364727736,
+                        0.17338061798363924,
+                        0.17980277225433383
+                    ],
+                    "orientation": {
+                        "w": 0.1294955549065668,
+                        "xyz": [
+                            0.7137662960127303,
+                            0.684866696927675,
+                            0.06874724267259269
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9445675611495972,
+                    "position": [
+                        0.032480737660080194,
+                        0.17074515391141176,
+                        0.1794562457507709
+                    ],
+                    "orientation": {
+                        "w": 0.020613119612480114,
+                        "xyz": [
+                            0.7218318305346222,
+                            0.6917484823668353,
+                            -0.004236138578706183
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9439502358436584,
+                    "position": [
+                        0.05905999289825559,
+                        0.17473653424531221,
+                        0.1765820054715732
+                    ],
+                    "orientation": {
+                        "w": 0.10376264157458327,
+                        "xyz": [
+                            0.694087804113159,
+                            -0.7067712971867132,
+                            -0.08916147075866625
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "base panel",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the bin from underneath for a secure lift",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "grasp a lower edge near the base to reorient the empty bin",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "support stored items",
+                "form the bottom surface",
+                "distribute load",
+                "stabilize the bin on a table"
+            ],
+            "semantic_description": "Broad flat bottom and interior floor panel in light beige, rigid and hard-looking with a smooth matte finish, spanning the full underside and inner base.",
+            "id": 18,
+            "grasp_group": {
+                "grasp_41": {
+                    "confidence": 0.5434750914573669,
+                    "position": [
+                        -0.22332366881892085,
+                        -0.0644035255536437,
+                        -0.04522590279520955
+                    ],
+                    "orientation": {
+                        "w": 0.6935703369740837,
+                        "xyz": [
+                            -0.07587277350436025,
+                            0.7130935085719524,
+                            0.06856499065087814
+                        ]
+                    }
+                },
+                "grasp_43": {
+                    "confidence": 0.5278140306472778,
+                    "position": [
+                        0.035372350830584764,
+                        0.27689092326909304,
+                        -0.03345974475087132
+                    ],
+                    "orientation": {
+                        "w": 0.5165659302146527,
+                        "xyz": [
+                            0.4906091922638853,
+                            0.4679944614078756,
+                            -0.5229182003900812
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.47850266098976135,
+                    "position": [
+                        -0.21863604662939906,
+                        0.057914030738174915,
+                        -0.04756117179931607
+                    ],
+                    "orientation": {
+                        "w": 0.6967341311459482,
+                        "xyz": [
+                            0.013570031390041471,
+                            0.7166274583479597,
+                            -0.0286790984188374
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.47722935676574707,
+                    "position": [
+                        -0.2210879880003631,
+                        0.045138643123209476,
+                        -0.039512249975814484
+                    ],
+                    "orientation": {
+                        "w": 0.6865800102418063,
+                        "xyz": [
+                            0.039835835357047704,
+                            0.7241857155661654,
+                            -0.05075475472985822
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "corner protectors and rim caps",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges",
+                "reduce wear at impacts",
+                "stiffen the rim"
+            ],
+            "semantic_description": "Rounded beige corner protector pieces and upper rim cap sections, likely hard plastic or coated board with a smooth matte finish, mounted at the upper and lower outer corners to reinforce the bin.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the small front latch to open the closure",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use a gripper to manipulate the latch while stabilizing the box body",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "secure the front closure",
+                "enable opening and closing",
+                "provide a small pull point",
+                "mark the front orientation"
+            ],
+            "semantic_description": "Small central clasp-like latch on the front panel, light beige to gold-toned with a slightly reflective hard finish and a compact protruding shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle openings",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the side oval cutout to lift one side of the bin",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pull the bin outward using the side handle opening",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the side opening area to stabilize the bin during repositioning",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "assist carrying",
+                "enable pulling",
+                "aid repositioning"
+            ],
+            "semantic_description": "Oblong rounded rectangular cutout handle openings near the upper area of the shorter side panels, bordered in a light beige frame with a smooth finish.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top trim strip",
+            "mask_color": "Deep Sky Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the upper edge",
+                "reinforce the rim",
+                "protect edge surfaces",
+                "provide visual accent"
+            ],
+            "semantic_description": "Narrow light gray trim band running along a section of the upper outer rim, likely rigid plastic or coated board with a smooth satin-like finish, forming a thin protective edge accent near the top.",
+            "id": 22,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Wrong part identities and mask colors: green marks latch and side handles, cyan is trim; front U-handle omitted, side panels description inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/0bb192138e075023aade9b863387a775/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b4a00b8b7116c41e79592118b2c3994f2ca2f95bba3ad2dad55b0dc20c65da
+size 3877388

dataset/kitchen_supplies/storage/0bb192138e075023aade9b863387a775/storage_bin_005.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":"Functional parts are over-segmented; body surfaces and trim are split into many colors without distinct roles.","merge_groups":[{"colors":["Crimson","Burnt Orange"],"target_part":"main body","reason":"walls, floor, and bottom are one container body"},{"colors":["Purple","Violet"],"target_part":"rim and corner protectors","reason":"same structural trim split across edges"},{"colors":["Green","Gold"],"target_part":"handles and latch hardware","reason":"all are grasping/closure hardware accents"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>