Add asset kitchen_supplies/storage/4caeedabcddf55f1a54bda07d3c20328

.gitattributes

@@ -7106,3 +7106,4 @@ dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mes
 dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4caeedabcddf55f1a54bda07d3c20328/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4caeedabcddf55f1a54bda07d3c20328/affordance/affordance_annot.json

@@ -0,0 +1,128 @@
+{
+    "affordances": [
+        {
+            "part_name": "main side panels and lower front panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite outer side panels to lift and reposition the empty or lightly loaded bin",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold a side wall to stabilize the bin while placing it on a shelf",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "form the main enclosure",
+                "contain stored items",
+                "provide structural side surfaces",
+                "support broad side handling"
+            ],
+            "semantic_description": "Large tapered outer panels forming most of the bin body, with teal floral-patterned side panels and a cream textured lower front panel, hard smooth surfaces, satin finish, and slanted walls.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim and vertical corner frame",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift the empty or lightly loaded bin",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold a vertical corner frame to reorient or steady the bin during placement",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "protect edges and corners",
+                "provide a rigid grasp zone",
+                "maintain shape"
+            ],
+            "semantic_description": "Rigid dark charcoal frame members around the top rim and vertical corners, with beige corner caps, hard smooth slightly satin surfaces, forming the visible structural skeleton.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "interior walls and base",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define the storage cavity",
+                "provide interior contact surfaces",
+                "support stored contents",
+                "form the inside bottom and inner walls"
+            ],
+            "semantic_description": "Plain interior surfaces in tan to warm brown tones, smooth and mostly matte, covering the inside walls and bottom of the open storage cavity.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "label holder",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the label holder lightly to help pull or orient the front of the bin",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "display an identification label",
+                "indicate the front side",
+                "provide a small auxiliary pulling point"
+            ],
+            "semantic_description": "Small rectangular front-mounted label holder near the upper front panel, beige framed with a darker recessed insert, hard smooth material, rounded corners, and shallow depth.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pull knob",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front pull knob to pull the bin forward from a shelf",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "use the knob to steady the front while repositioning the bin",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "pull the bin forward",
+                "provide a front grip point",
+                "help reposition the container"
+            ],
+            "semantic_description": "Small round beige knob centered on the lower front panel, hard smooth material with a satin finish, protruding outward as a dedicated pull feature.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom feet and corner pads",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the bin on a surface",
+                "protect lower corners",
+                "improve stability",
+                "slightly space the base from the surface"
+            ],
+            "semantic_description": "Small beige protective feet and corner pads at the lower corners and base edges, hard smooth slightly rounded pieces that protrude minimally as contact features.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Orange part description wrongly includes lower front panel; side panels only. White label holder and knob graspability/functions are overstated."
+    }
+}

dataset/kitchen_supplies/storage/4caeedabcddf55f1a54bda07d3c20328/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:216efcf122bd2ba0a7a7174ef511ddaaaec516bfccc75e5b8fff643fcae2042a
+size 3797168

dataset/kitchen_supplies/storage/4caeedabcddf55f1a54bda07d3c20328/storage_bin_075.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":"Over-fragmented; same bin body split into multiple colors, while the handle is separated acceptably.","merge_groups":[{"colors":["Orange","Purple","Navy"],"target_part":"main body","reason":"Panels and frame form one storage bin body"},{"colors":["Red","Burnt Orange"],"target_part":"corner feet/caps","reason":"Small corner pieces are the same repeated hardware"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>