Add asset kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83

.gitattributes

@@ -7149,3 +7149,4 @@ dataset/kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b/affordance/mes
 dataset/kitchen_supplies/storage/a82c4fe1ced959e1beb599c04ec24784/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83/affordance/affordance_annot.json

@@ -0,0 +1,160 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "provide top closure"
+            ],
+            "semantic_description": "Large off-white woven-texture rectangular top panel forming the lid, with a matte fabric-like surface.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Magenta",
+            "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 surface",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "lift the box",
+                "carry the box",
+                "provide a secure handhold",
+                "aid repositioning"
+            ],
+            "semantic_description": "Arched black or very dark gray handle with a smooth matte hard surface, centered on the lid.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch clasp",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the clasp to unlatch the front closure",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the clasp while opening the lid/front closure",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "secure the front closure",
+                "release the lid",
+                "provide a small pull point"
+            ],
+            "semantic_description": "Small gold-toned clasp at the front center, slightly reflective and protruding from the front face.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main side shell",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid side walls to stabilize or lift the box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push against the side shell to slide or reposition the box",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide structural enclosure",
+                "support attached hardware",
+                "form the rigid outer walls",
+                "present side surfaces for pushing"
+            ],
+            "semantic_description": "Large dark charcoal rigid shell panels with smooth matte finish, forming most of the box sides, back, and front frame.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "fabric side/front panels",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form enclosed wall sections",
+                "cover the storage compartment",
+                "provide decorative exterior panels"
+            ],
+            "semantic_description": "Off-white woven-texture inset panels on the side and front sections, with a matte fabric-like appearance.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "edge rails",
+            "mask_color": "Dark Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stiffen panel edges",
+                "frame the lid and side openings",
+                "protect seams",
+                "provide structural trim"
+            ],
+            "semantic_description": "Slim dark trim rails along the top and panel edges, smooth and matte, outlining transitions between surfaces.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side handle to pull the box from a shelf",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "use the side handle to assist two-handed carrying",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "pull the box outward",
+                "provide lateral grip",
+                "assist carrying",
+                "aid repositioning"
+            ],
+            "semantic_description": "Inset gold-toned side handle mounted on the side wall, smooth and slightly reflective, with an oval-rectangular shape.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower front panel",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the lower front face",
+                "cover the lower front of the box",
+                "contribute to enclosure"
+            ],
+            "semantic_description": "Rectangular off-white woven-texture lower front panel framed by dark trim, located below the latch area.",
+            "id": 21,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part mappings and descriptions are wrong; bottom, corners, and front drawer handle are misidentified or omitted."
+    }
+}

dataset/kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd3a93146b4ac1ca43e06a590aa8cc03a3e90e80060927b3cc049dd67bad4ab6
+size 3828224

dataset/kitchen_supplies/storage/ac7b97a54a065d24937c61402f99ec83/storage_bin_039.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>12</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":"Segmentation is over-fragmented and mixes trims with body surfaces; some errors are not fixable by merging alone.","merge_groups":[{"colors":["Red","Teal"],"target_part":"top lid","reason":"lid panel and handle base belong together"},{"colors":["Teal","Indigo"],"target_part":"side panel with inset handle","reason":"handle cutout is same side functional surface"},{"colors":["Yellow","Magenta"],"target_part":"front drawer/label area","reason":"small inset and panel are one front subpart"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>