Add asset kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6

.gitattributes

@@ -7073,3 +7073,4 @@ dataset/kitchen_supplies/storage/07faef72dec556d99a1c5964cdd20c44/affordance/mes
 dataset/kitchen_supplies/storage/0b3db44adde259a79294de3c4f9c2f88/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0bb192138e075023aade9b863387a775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0bbff34bc4b75b218e5078075405ba25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/affordance/affordance_annot.json

@@ -0,0 +1,478 @@
+{
+    "affordances": [
+        {
+            "part_name": "top lid insert panel",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the central lid surface",
+                "cover the top opening as part of the lid",
+                "provide a textured top insert"
+            ],
+            "semantic_description": "Large rectangular gray textured inset panel in the middle of the lid top, likely fabric-covered board or textured plastic, matte finish, surrounded by a light beige frame.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid frame",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid outer lid frame to lift or reposition the box",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the lid frame to stabilize the object while opening the front drawer/panel",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "support the lid structure",
+                "form the rigid top perimeter",
+                "protect and border the top panel"
+            ],
+            "semantic_description": "Thick light beige rigid rectangular frame around the top perimeter, likely plastic, with a matte smooth finish and rounded corners.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "recessed lid handle",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook into the recessed top handle to lift the lid",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide a grip point on the lid",
+                "assist lifting the lid"
+            ],
+            "semantic_description": "Small centered rectangular light beige recessed handle on the lid, likely plastic, with a matte smooth surface and shallow inset shape.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle trim",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "border the recessed handle",
+                "finish the handle opening"
+            ],
+            "semantic_description": "Narrow dark blue-gray trim ring surrounding the recessed top handle, with a smooth finish and rounded rectangular outline.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front top rail",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front top rail/edge to pull the front drawer or panel outward",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the rail to steady the object during opening",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide a front pull edge",
+                "stiffen the upper front edge",
+                "finish the front opening boundary"
+            ],
+            "semantic_description": "Long horizontal light beige strip along the upper edge of the front opening, likely rigid plastic, with a matte smooth finish and slim rectangular form.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch tab",
+            "mask_color": "Jade",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the center tab to pull the front drawer or panel open",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide a pull tab",
+                "assist opening the front drawer or panel"
+            ],
+            "semantic_description": "Small centered light beige protruding tab on the front face below the upper rail, compact and blocky with a matte finish.",
+            "id": 19,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.9356296062469482,
+                    "position": [
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+                    "orientation": {
+                        "w": 0.9998156819922334,
+                        "xyz": [
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+                            0.014117274577345795,
+                            -0.0028912245535122126
+                        ]
+                    }
+                },
+                "grasp_61": {
+                    "confidence": 0.9355930685997009,
+                    "position": [
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+                        -0.04048954361132928,
+                        -0.1851652180776
+                    ],
+                    "orientation": {
+                        "w": 0.9999438020490871,
+                        "xyz": [
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+                            -0.0008885826694835508,
+                            -0.0010172207904109675
+                        ]
+                    }
+                },
+                "grasp_62": {
+                    "confidence": 0.9348521828651428,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                "grasp_63": {
+                    "confidence": 0.934165894985199,
+                    "position": [
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+                    "orientation": {
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+                            -0.008988291306872342
+                        ]
+                    }
+                },
+                "grasp_64": {
+                    "confidence": 0.9287645816802979,
+                    "position": [
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+                        -0.014737037392478669,
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+                    "orientation": {
+                        "w": 0.9970673713853062,
+                        "xyz": [
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+                            -0.012966876805791672,
+                            -0.00012195916194081273
+                        ]
+                    }
+                },
+                "grasp_65": {
+                    "confidence": 0.928155779838562,
+                    "position": [
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+                        -0.18380125518888235
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+                    "orientation": {
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+                    "position": [
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+                    "orientation": {
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+                            0.00976425293027805,
+                            0.001059671871827205
+                        ]
+                    }
+                },
+                "grasp_67": {
+                    "confidence": 0.9236156344413757,
+                    "position": [
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+                    "orientation": {
+                        "w": 0.9935340085646018,
+                        "xyz": [
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+                            0.009973658311415168,
+                            -0.008907068658243134
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+                    }
+                },
+                "grasp_68": {
+                    "confidence": 0.92043137550354,
+                    "position": [
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+                        -0.028134741271060193,
+                        -0.17686208244413137
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+                    "orientation": {
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+                        "xyz": [
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+                            0.015186735042962862,
+                            -0.014443320888484004
+                        ]
+                    }
+                },
+                "grasp_69": {
+                    "confidence": 0.9192426800727844,
+                    "position": [
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+                        -0.048901003236096585,
+                        -0.18558313604444265
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+                    "orientation": {
+                        "w": 0.9985025981481824,
+                        "xyz": [
+                            -0.05409946640767055,
+                            0.0039221215578321145,
+                            -0.007101139924006779
+                        ]
+                    }
+                },
+                "grasp_70": {
+                    "confidence": 0.9187735319137573,
+                    "position": [
+                        0.21419593319296837,
+                        0.019907215228158748,
+                        -0.18638098891824484
+                    ],
+                    "orientation": {
+                        "w": 0.9997375823839304,
+                        "xyz": [
+                            0.017893302778995302,
+                            -0.00609843184172032,
+                            0.012938516679479416
+                        ]
+                    }
+                },
+                "grasp_71": {
+                    "confidence": 0.9157100319862366,
+                    "position": [
+                        0.2056724838912487,
+                        0.013546965634304797,
+                        -0.18642114754766226
+                    ],
+                    "orientation": {
+                        "w": 0.9987041216645015,
+                        "xyz": [
+                            0.04723533050056271,
+                            0.005050987183583433,
+                            0.018258927989110326
+                        ]
+                    }
+                },
+                "grasp_72": {
+                    "confidence": 0.9146463871002197,
+                    "position": [
+                        0.21420082077383995,
+                        0.043758935844380176,
+                        -0.18583672400563955
+                    ],
+                    "orientation": {
+                        "w": 0.9990967298574877,
+                        "xyz": [
+                            0.04025185758183428,
+                            -0.005789701444923079,
+                            0.012328491654107028
+                        ]
+                    }
+                },
+                "grasp_73": {
+                    "confidence": 0.9111003279685974,
+                    "position": [
+                        0.2047126702964306,
+                        0.021945019801933086,
+                        -0.17844059225171804
+                    ],
+                    "orientation": {
+                        "w": 0.9973046725227206,
+                        "xyz": [
+                            0.06597852911221283,
+                            0.016729780885487933,
+                            0.027392303518720088
+                        ]
+                    }
+                },
+                "grasp_74": {
+                    "confidence": 0.9100598692893982,
+                    "position": [
+                        0.20429354533553123,
+                        0.010866311928111827,
+                        -0.17840892728418112
+                    ],
+                    "orientation": {
+                        "w": 0.9985093220298399,
+                        "xyz": [
+                            0.046899590973828516,
+                            0.01409221915463632,
+                            0.024103351329124074
+                        ]
+                    }
+                },
+                "grasp_78": {
+                    "confidence": 0.9026197791099548,
+                    "position": [
+                        0.19929158315062523,
+                        -0.013848015489202226,
+                        -0.17695291992276907
+                    ],
+                    "orientation": {
+                        "w": 0.9945261015035529,
+                        "xyz": [
+                            -0.09967188896176596,
+                            0.024302740548456825,
+                            0.019817284899119998
+                        ]
+                    }
+                },
+                "grasp_79": {
+                    "confidence": 0.902606189250946,
+                    "position": [
+                        0.20362531766295433,
+                        -0.010400719391327584,
+                        -0.17504980321973562
+                    ],
+                    "orientation": {
+                        "w": 0.9875163324475945,
+                        "xyz": [
+                            -0.15718948372193992,
+                            -0.0026046230219871624,
+                            0.009806900396901188
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side panel insert",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side panels lightly while supporting the box from below to reposition it",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "push against the side panel to slide the box across a surface",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "form the container wall",
+                "enclose contents",
+                "provide side surface area"
+            ],
+            "semantic_description": "Large gray textured side wall insert, likely fabric-covered board or textured plastic, matte finish, set within the light beige frame.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "body frame",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid side frame rails or corners to lift and carry the box",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the frame to stabilize the box during opening",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "support the box structure",
+                "connect the wall panels",
+                "provide rigid grasp points",
+                "protect panel edges"
+            ],
+            "semantic_description": "Light beige external structural frame around the sides, corners, and base, likely rigid plastic, with a matte finish and angular rails/posts.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side tab",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "act as a small side protrusion or stop feature",
+                "provide a minor attachment or alignment feature"
+            ],
+            "semantic_description": "Small light beige protruding tab near the upper side edge, compact and rectangular, likely plastic with a matte finish.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear top trim strip",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the top rear/side edge",
+                "reinforce the upper boundary",
+                "border the side panel near the top"
+            ],
+            "semantic_description": "Narrow strip along the upper side edge just below the lid frame, likely plastic, with a matte smooth finish.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side bracket",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce a side corner connection",
+                "connect adjacent frame elements",
+                "support the side assembly"
+            ],
+            "semantic_description": "Small light beige bracket-like piece near a side upper corner, likely hard plastic, with a matte finish and short blocky shape.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified or misdescribed; front latch, side tab, purple strip, and rear panel labels/functions are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffa30a215e9b3491808c507fb20aab8b930c445c531d7c219f06dd922d30d198
+size 5930808

dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>16</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; frame, panels, lid top, and latch/rails are split into many colors without distinct functions.","merge_groups":[{"colors":["Cyan","Pink"],"target_part":"main body/frame","reason":"same structural frame split by view surfaces"},{"colors":["Red","Teal"],"target_part":"lid","reason":"top inset and outer lid rim act together"},{"colors":["Yellow","Green"],"target_part":"front opening/latch assembly","reason":"rim rail and latch area are one access feature"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>