Add asset kitchen_supplies/storage/c039fa5722295ae6bc5082a99be72cfa

.gitattributes

@@ -7163,3 +7163,4 @@ dataset/kitchen_supplies/storage/bd5089f048235c7ca1d7d08faac6bb6b/affordance/mes
 dataset/kitchen_supplies/storage/bd6e0924a106522a99340996d8d0388c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bebf9a45875550d5abcafeb08554c666/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/bf0200ad5f3655759c609269e54f729a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/c039fa5722295ae6bc5082a99be72cfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/c039fa5722295ae6bc5082a99be72cfa/affordance/affordance_annot.json

@@ -0,0 +1,250 @@
+{
+    "affordances": [
+        {
+            "part_name": "front and side wall panels",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side wall to reposition the empty or lightly loaded bin",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "clamp the front wall near the cutout to pull the bin forward on a shelf",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the bin while accessing contents",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "form the main side and front walls",
+                "contain stored items",
+                "provide structural support",
+                "protect contents"
+            ],
+            "semantic_description": "Large rigid wall panels in off-white to light beige with a matte painted wood-like finish and horizontal slat lines. The front wall has a lowered curved access cutout, and the side walls each carry a small mounted handle.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back wall to reposition the bin",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the back wall to stabilize the bin during loading or unloading",
+                    "confidence": 0.65
+                }
+            ],
+            "functional_labels": [
+                "close the rear side",
+                "contain stored items",
+                "provide structure",
+                "support stabilizing grasps"
+            ],
+            "semantic_description": "Tall rigid rear wall in off-white to light beige with a matte painted wood-like finish and horizontal slat lines, without the lowered front cutout.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support and lift the bin from underneath with a platform or broad gripper",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "push against the bottom to tilt or reorient the empty bin",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "support stored weight",
+                "form the floor",
+                "provide base stability",
+                "keep contents off the supporting surface"
+            ],
+            "semantic_description": "Flat rectangular base and interior floor panel in light beige-gray with a smooth matte hard surface spanning the full bottom.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors and feet",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reduce wear at contact points",
+                "stabilize the bin on a surface",
+                "reinforce exposed edges"
+            ],
+            "semantic_description": "Small beige corner caps and feet with rounded decorative profiles, smooth hard surfaces, placed at the upper corners and lower base corners.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handles",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side handle to pull the bin from a shelf",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "grasp both side handles to carry the bin",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold one handle to steady the bin while repositioning it",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "enable carrying",
+                "assist lifting",
+                "serve as dedicated handholds"
+            ],
+            "semantic_description": "Small centered exterior side handles in beige, each with a decorative plaque-like base and loop-shaped pull, mounted on the side walls.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.4950364828109741,
+                    "position": [
+                        0.02560955740045756,
+                        -0.28110105311498046,
+                        0.08513739332556725
+                    ],
+                    "orientation": {
+                        "w": 0.5362488140626009,
+                        "xyz": [
+                            -0.4697351137979619,
+                            -0.4922868761872593,
+                            -0.49943944959870856
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.35867416858673096,
+                    "position": [
+                        0.2213270802749321,
+                        -0.1606393507681787,
+                        0.011294374475255609
+                    ],
+                    "orientation": {
+                        "w": 0.5808249945103449,
+                        "xyz": [
+                            -0.37541450011753896,
+                            -0.45439392650179944,
+                            0.5614556424258584
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim strip",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the top rim to shift the bin a short distance",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "grasp the front cutout rim to pull the bin forward",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "define the top edge",
+                "support light pulling from above",
+                "reinforce the rim"
+            ],
+            "semantic_description": "Narrow beige top-edge trim with a smooth hard finish running around the opening, including the curved front cutout edge.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative tile inlays",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "provide visual ornamentation",
+                "differentiate the decorated faces"
+            ],
+            "semantic_description": "Thin rectangular decorative inset tiles visible on the front face and one side face, showing blue, teal, beige, brown, and white patterned motifs arranged in a patchwork grid.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner posts",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a corner post area to help rotate or reposition the bin",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "hold a corner post to stabilize the bin during handling",
+                    "confidence": 0.53
+                }
+            ],
+            "functional_labels": [
+                "reinforce vertical edges",
+                "connect adjacent panels",
+                "protect corners",
+                "provide structural framing"
+            ],
+            "semantic_description": "Slim vertical beige members at the bin corners with a smooth hard finish, extending from the base toward the rim and framing the wall panels.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior side and back liner",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the interior wall surface",
+                "contain items",
+                "provide a smooth inner cavity"
+            ],
+            "semantic_description": "Smooth light beige interior wall surfaces with a matte hard finish, visible on the inside side and back faces of the open storage cavity.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper inner ledge",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "stiffen the upper structure",
+                "form the interior transition below the rim",
+                "support wall junctions"
+            ],
+            "semantic_description": "Narrow inner ledge and upper interior transition area in light beige with a smooth hard finish, running just below the open rim around the inside perimeter.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-part identities are wrong: decorative tiles, corner posts, and upper inner ledge colors do not match segmented regions."
+    }
+}

dataset/kitchen_supplies/storage/c039fa5722295ae6bc5082a99be72cfa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9177b2605faa77a3a446e9d89a20909793158b194458a90a14d12490c49f9e
+size 3837244

dataset/kitchen_supplies/storage/c039fa5722295ae6bc5082a99be72cfa/storage_bin_058.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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>