Add asset kitchen_supplies/storage/4e5a56a66ff856a59e6dbc5272eb3f89

.gitattributes

@@ -7106,4 +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/4e5a56a66ff856a59e6dbc5272eb3f89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4e5a56a66ff856a59e6dbc5272eb3f89/affordance/affordance_annot.json

@@ -0,0 +1,190 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewalls to lift and reposition the bin",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while accessing contents",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide structural support",
+                "form the outer walls",
+                "protect contents"
+            ],
+            "semantic_description": "Large light blue plastic body with a smooth matte-to-satin finish, rounded wavy star-like footprint, and thick sculpted sidewalls forming the main container.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "inner side lining",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "define interior cavity",
+                "retain contents",
+                "provide inner wall surface"
+            ],
+            "semantic_description": "Light blue inner wall surface of the bin with a smooth hard plastic appearance and matte finish, lining the interior around the opening.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom interior panel",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "form container floor",
+                "separate contents from base"
+            ],
+            "semantic_description": "Flat light beige rectangular bottom panel inside the bin, smooth and matte, centered at the base of the interior cavity.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front recessed handle panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp around the recessed front panel/handle area to pull or steady the bin",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide front grip area",
+                "help reposition the bin",
+                "frame the handle opening"
+            ],
+            "semantic_description": "Light blue semicircular recessed front panel on one side of the bin, smooth hard plastic, located below the rim and surrounding the hand opening.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle opening",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers or a gripper into the horizontal opening to pull or carry the bin",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hook a gripper into the opening to reposition the bin from the front",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "allow finger or gripper clearance",
+                "enable pulling"
+            ],
+            "semantic_description": "Dark horizontal oval slot within the front recessed handle area, creating clearance behind the grip opening.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small coral decoration",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "provide visual styling",
+                "indicate sea-life theme"
+            ],
+            "semantic_description": "Small pink-red raised coral-like ornament attached near the lower outer sidewall as a decorative accent.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "seaweed decoration",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "provide visual styling",
+                "indicate sea-life theme"
+            ],
+            "semantic_description": "Raised blue-green seaweed-like applique on the outer wall, smooth and slightly curved, medium sized relative to the bin.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "branch decoration",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "provide visual styling",
+                "add surface detail"
+            ],
+            "semantic_description": "Small pale pink branching coral-like decorative motif attached to the exterior wall beside other ocean-themed ornaments.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "coral decoration",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "provide visual styling",
+                "add surface detail"
+            ],
+            "semantic_description": "Raised pale yellow coral-like ornament on the outer sidewall, smooth and decorative.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear handle opening",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers or a gripper into the rear horizontal opening to pull or carry the bin",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a rear carrying grip",
+                "allow finger or gripper clearance",
+                "enable pulling from the rear"
+            ],
+            "semantic_description": "Horizontal opening visible near the upper rear rim, appearing as a dark slot with the light interior seen through it.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small side nub",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "add minor molded detail",
+                "provide small surface accent"
+            ],
+            "semantic_description": "Tiny blue rounded bump on the outer sidewall, appearing as a small molded decorative detail rather than a usable handle.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and descriptions mismatch masks/images, especially blue nub and bottom panel color/shape."
+    }
+}

dataset/kitchen_supplies/storage/4e5a56a66ff856a59e6dbc5272eb3f89/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c2e60e541a7d582727b9eb79df53d0fb87466eb83f208826638ccedd682e2e
+size 3788044

dataset/kitchen_supplies/storage/4e5a56a66ff856a59e6dbc5272eb3f89/storage_bin_094.urdf

@@ -57,6 +57,7 @@
                <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>YES</PartSegChecker>