Add asset kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88

.gitattributes

@@ -7070,3 +7070,4 @@ 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/0b3db44adde259a79294de3c4f9c2f88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88/affordance/affordance_annot.json

@@ -0,0 +1,238 @@
+{
+    "affordances": [
+        {
+            "part_name": "arched carrying handle",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the box",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to reposition the box on a table or shelf",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "carry the box",
+                "lift the container",
+                "provide a top grip",
+                "support transport"
+            ],
+            "semantic_description": "Large dark brown rigid handle with a smooth matte finish, arched above the lid and spanning across the top as the main carrying feature.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main box body",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper body edges or corners to steady the box during opening",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the body when moving the box short distances if the handle is not used",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "form the main structure",
+                "support attached hardware and panels",
+                "enclose the container",
+                "provide exterior support surfaces"
+            ],
+            "semantic_description": "Dark brown box-shaped wooden structure with a matte finish, including the upper rim and frame around the decorative faces and lid opening.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an exposed lid edge or panel area to begin opening the box",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "steady the lid panel while closing it",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "open access to storage",
+                "protect stored items",
+                "form the top surface"
+            ],
+            "semantic_description": "Flat dark brown top lid sections with a matte slightly textured finish, arranged around the center ornament to cover the opening.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top medallion ornament",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the lid",
+                "provide a central visual accent",
+                "ornament the top surface"
+            ],
+            "semantic_description": "Round light beige raised medallion with carved detailing and a slightly glossy hard surface, mounted near the center of the lid.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch clasp",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the front clasp to unlatch the lid",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push or position the clasp to secure the lid closed",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "lock the lid closed",
+                "release the lid",
+                "secure stored contents",
+                "provide a front manipulation point"
+            ],
+            "semantic_description": "Small light beige latch assembly centered on the front upper edge, with a hard smooth surface and slight protrusion for opening and closing.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front decorative panel",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the front",
+                "add ornamental detailing",
+                "provide visual accent"
+            ],
+            "semantic_description": "Small rectangular blue-toned inset decorative panel on the front face, located below and to one side of the latch area.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side decorative inlay panel",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the side",
+                "add visual detailing",
+                "accent the container walls"
+            ],
+            "semantic_description": "Light beige decorative side inlay with carved geometric motifs and a smooth hard surface, inset into the side wall as an ornamental accent.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "hanging side plaque",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly pinch the hanging plaque to reposition or inspect it",
+                    "confidence": 0.38
+                },
+                {
+                    "scenario": "use the plaque as a minor manipulation point while orienting the box",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "add ornamentation",
+                "provide a small hanging decorative element",
+                "mark the side visually"
+            ],
+            "semantic_description": "Narrow rectangular hanging plaque suspended vertically from the side near the handle support, appearing dark blue in the mask and light beige with dark markings in the RGB image.",
+            "id": 25,
+            "grasp_group": {
+                "grasp_90": {
+                    "confidence": 0.1885623037815094,
+                    "position": [
+                        0.055548931704834104,
+                        -0.27112588845193386,
+                        0.0025977423847507453
+                    ],
+                    "orientation": {
+                        "w": 0.6377757850799601,
+                        "xyz": [
+                            -0.666782870392317,
+                            -0.0964322489632462,
+                            -0.37328738671017825
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side wall to steady the box during opening or closing",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the side wall to slide or reposition the box short distances",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "enclose contents",
+                "provide a structural side wall",
+                "support decorative inserts",
+                "offer a secondary grasp surface"
+            ],
+            "semantic_description": "Large dark brown vertical side wall with a matte finish, forming one broad exterior face of the box.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom base panel",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the box from below",
+                "close the underside",
+                "bear stored weight"
+            ],
+            "semantic_description": "Broad dark brown underside base panel with a matte finish and flat rectangular shape, spanning most of the bottom surface between the feet.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner foot",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "elevate the box",
+                "stabilize on a surface",
+                "protect lower edges"
+            ],
+            "semantic_description": "Small light beige block-like feet at the lower corners, with smooth hard surfaces that raise and steady the box.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and descriptions mismatch masks and RGB, especially decorative panels and bottom/base regions."
+    }
+}

dataset/kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:524bab1240e9812dc5ca21f3f50a4acd84020f63ad2b9f53f69d280013f4ee4d
+size 3830212

dataset/kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88/storage_bin_029.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>11</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-fragmented; same body and side surfaces use many colors without distinct roles.","merge_groups":[{"colors":["Blue","Magenta"],"target_part":"lid/top panel","reason":"same top surface split arbitrarily"},{"colors":["Blue","Burnt Orange","Yellow","Purple"],"target_part":"main body side walls","reason":"decorated side walls share one function"},{"colors":["Teal","Gold","Deep Sky Blue"],"target_part":"base/feet","reason":"bottom and feet fragmented across colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>