Add asset kitchen_supplies/storage/206ef81509d15dbca097215824353126

.gitattributes

@@ -7086,3 +7086,4 @@ dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mes
 dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/affordance_annot.json

@@ -0,0 +1,189 @@
+{
+    "affordances": [
+        {
+            "part_name": "decorative body panels",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side wall area to lightly reposition or steady the box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body panel area while opening or closing the lid",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "form the enclosure surfaces",
+                "contain stored items",
+                "provide broad contact surfaces",
+                "support the lid and frame"
+            ],
+            "semantic_description": "Large rectangular inset panels on the lid and side walls, covered in cream, tan, and blue floral patterned material with a smooth mostly matte finish and broad flat surfaces.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "structural frame rails and posts",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top frame rail to carry or reposition the box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold a vertical frame post or side rail to stabilize the box during access",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "reinforce the box",
+                "protect panel edges",
+                "provide rigid gripping edges",
+                "define the box shape"
+            ],
+            "semantic_description": "Dark gray to charcoal rails and vertical posts around the perimeter, with a smooth matte finish and long narrow rectangular profiles.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "absorb bumps",
+                "reinforce corner joints",
+                "reduce wear"
+            ],
+            "semantic_description": "Small beige rounded corner caps at the lid and base corners, with a matte smooth surface and rivet-like circular details.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the box from underneath during pickup",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "support stored weight",
+                "close the underside",
+                "provide a resting surface",
+                "stabilize the box on a table or floor"
+            ],
+            "semantic_description": "Large plain underside panel in muted taupe-brown, likely stiff board or similar rigid material, with a matte smooth finish and a flat broad rectangular surface on the bottom.",
+            "id": 20,
+            "grasp_group": {
+                "grasp_59": {
+                    "confidence": 0.5291588306427002,
+                    "position": [
+                        -0.12442524847574532,
+                        -0.25351172126829624,
+                        -0.07052689720876515
+                    ],
+                    "orientation": {
+                        "w": 0.7332518889832185,
+                        "xyz": [
+                            -0.6791190685004047,
+                            -0.005545282568314103,
+                            -0.033289757327461963
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "latch clasp",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and release the front latch to open the lid",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the clasp while securing the lid closed",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "lock the lid",
+                "enable opening",
+                "secure stored contents",
+                "mark the front side"
+            ],
+            "semantic_description": "Small front-mounted latch in brass-toned metal, with a slightly reflective finish and compact protruding hardware shape centered on the front edge.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical divider strip",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate front decorative panels",
+                "cover a seam",
+                "reinforce a panel joint",
+                "provide visual alignment"
+            ],
+            "semantic_description": "Narrow vertical strip between the two front decorative panels, visible as a dark trim piece in the RGB image with a slim straight rectangular form.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side vertical trim strip",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover a vertical side seam",
+                "reinforce an edge connection",
+                "visually separate adjacent panels"
+            ],
+            "semantic_description": "Slim vertical trim piece near a side-front junction, visually dark gray in the RGB image with a matte smooth surface and narrow elongated shape.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower side trim rail",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the lower side seam",
+                "reinforce the lower edge connection",
+                "add edge protection near the base"
+            ],
+            "semantic_description": "Long narrow dark trim strip running horizontally along the lower side near the base, appearing dark gray in RGB with a smooth matte finish and slender profile.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid side band",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "wrap the lid side",
+                "cover the lid side seam",
+                "add structural and visual detail to the lid"
+            ],
+            "semantic_description": "Very thin dark horizontal band running around the side of the lid just below the top frame, with a smooth matte finish and slender linear profile.",
+            "id": 25,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Bottom panel mask/color and graspability are incorrect; several trim parts are understated as non-graspable despite usable edges."
+    }
+}

dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf8d2d0dae377d2a0bc15993cb25e73a7e6482fddc2dcc417c4c6d8d2ceb085
+size 3814860

dataset/kitchen_supplies/storage/206ef81509d15dbca097215824353126/storage_bin_060.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>11</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":"Functional parts are over-fragmented; body, lid panels, bottom, and trim are split across many colors.","merge_groups":[{"colors":["Purple","Yellow","Dark Orange"],"target_part":"main body/lid surfaces","reason":"Same broad panel surfaces split without distinct function"},{"colors":["Green","Jade","Olive"],"target_part":"corner reinforcements","reason":"Small support pieces share the same structural role"},{"colors":["White","Maroon"],"target_part":"trim and hardware","reason":"Minor strips and latch-like areas are fragmented accents"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>