Add asset kitchen_supplies/storage/1fa56ec0ee1b566da3b522eaa449a1db

.gitattributes

@@ -7085,3 +7085,4 @@ dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mes
 dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/1fa56ec0ee1b566da3b522eaa449a1db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/1fa56ec0ee1b566da3b522eaa449a1db/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "frame and corner protectors",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper frame edge to lift or reposition the storage bin",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold a side frame rail to stabilize the bin during pulling or pushing",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "reinforce structure",
+                "protect corners",
+                "provide rigid gripping edges",
+                "support lid and side panels",
+                "stabilize the bin body"
+            ],
+            "semantic_description": "Rigid beige plastic frame with rounded corner protectors and smooth matte surfaces, wrapping the top rim, vertical corners, and lower perimeter of the bin.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "fabric side panel",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a side panel to slightly reposition or steady the lightweight bin",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold the panel while aligning the bin on a shelf",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "form side wall",
+                "contain stored items",
+                "provide enclosure",
+                "visually define the bin body"
+            ],
+            "semantic_description": "Large off-white woven fabric wall panels with visible texture and a soft flexible appearance, spanning the sides between the rigid beige frame members.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid panel",
+            "mask_color": "Dark Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the bin opening",
+                "protect contents from dust",
+                "close the storage space",
+                "provide top surface"
+            ],
+            "semantic_description": "Flat light gray lid panels with a smooth matte appearance, inset within the upper frame and separated by beige support bars.",
+            "id": 30,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid crossbars",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stiffen the lid",
+                "reinforce top structure",
+                "segment the lid surface",
+                "support lid panels"
+            ],
+            "semantic_description": "Narrow beige rigid bars with smooth matte surfaces crossing the top in a grid pattern to brace the lid panels.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pull handle",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front handle to pull the bin from a shelf",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to reposition the bin slightly",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "pull the bin outward",
+                "provide a handhold",
+                "indicate front side",
+                "assist repositioning"
+            ],
+            "semantic_description": "Rectangular beige plastic pull handle mounted near the upper center of the front fabric panel, protruding outward for gripping.",
+            "id": 19,
+            "grasp_group": {
+                "grasp_57": {
+                    "confidence": 0.38881611824035645,
+                    "position": [
+                        -0.14062312041642144,
+                        -0.26294483500532806,
+                        0.03481790982186794
+                    ],
+                    "orientation": {
+                        "w": 0.6234220685522014,
+                        "xyz": [
+                            -0.777087758941795,
+                            0.08310902266495057,
+                            -0.023925503058230296
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side carry handle opening",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers into the side handle opening to carry or drag the bin sideways",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the side opening to steady the bin while lifting from another side",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide side handhold",
+                "assist carrying",
+                "help reposition the bin",
+                "stabilize during handling"
+            ],
+            "semantic_description": "Integrated rectangular handle opening built into the upper area of a short side, framed by the beige plastic structure rather than a separate protruding handle.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom trim rail",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce base edge",
+                "protect lower perimeter",
+                "stabilize bottom structure",
+                "reduce wear on lower edge"
+            ],
+            "semantic_description": "Narrow dark blue strip along the lower side edge near the base, visible as a slim elongated band integrated into the bottom perimeter.",
+            "id": 13,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part identities mismatch; side handle and bottom rail descriptions are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/1fa56ec0ee1b566da3b522eaa449a1db/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d8337eefbe84fe40eae933b01518627b45b401d0fc9a2b17cfefb451418be2
+size 3810844

dataset/kitchen_supplies/storage/1fa56ec0ee1b566da3b522eaa449a1db/storage_bin_034.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":"Main body is over-segmented into frame, panels, and corner pieces; side handle/material regions also split inconsistently.","merge_groups":[{"colors":["Yellow","White","Jade","Midnight Blue"],"target_part":"main body","reason":"All are fixed bin shell surfaces, not distinct functional parts"},{"colors":["Dark Green","Gainsboro"],"target_part":"lid","reason":"Top infill and ribs form one lid assembly"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>