Add asset kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5

.gitattributes

@@ -7135,4 +7135,4 @@ dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mes
 dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8d7bbb2babd558d28540aa43e68dc7e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/90780058be015b1cbcab993f3687902a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/915ca580cedf5322a855fc7bf9666ba6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/affordance/affordance_annot.json

@@ -0,0 +1,488 @@
+{
+    "affordances": [
+        {
+            "part_name": "main lid panel",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "provide top closure",
+                "support the lid handle"
+            ],
+            "semantic_description": "Large rectangular cream or off-white lid insert panel with ornate floral patterning, smooth rigid surface, and mostly flat shape spanning most of the top lid area.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central ring handle to lift and open the lid",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the ring handle to lower and close the lid",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "use the handle to slightly reposition the lid while aligning it",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "open the lid",
+                "close the lid",
+                "provide a top grip",
+                "aid lid positioning"
+            ],
+            "semantic_description": "Small beige ring-shaped handle with a smooth satin-like finish, mounted near the center of the lid as a raised grasp point.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid frame",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lid rim to lift the lid if the center handle is inconvenient",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the rim to steady the lid while setting it down",
+                    "confidence": 0.54
+                }
+            ],
+            "functional_labels": [
+                "reinforce the lid perimeter",
+                "frame the top panel",
+                "provide edge support",
+                "help seat the lid on the box"
+            ],
+            "semantic_description": "Dark brown rectangular rim surrounding the lid panel, with a smooth hard surface and slightly raised border profile.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_39": {
+                    "confidence": 0.7900671362876892,
+                    "position": [
+                        0.06998237303923815,
+                        0.25945973373018205,
+                        0.15188102377578616
+                    ],
+                    "orientation": {
+                        "w": 0.4478117082165003,
+                        "xyz": [
+                            0.5586704711212634,
+                            0.47507472365754,
+                            -0.5115232014513874
+                        ]
+                    }
+                },
+                "grasp_52": {
+                    "confidence": 0.5789534449577332,
+                    "position": [
+                        0.02658398717176169,
+                        -0.16323697590269148,
+                        0.2308815116994083
+                    ],
+                    "orientation": {
+                        "w": 0.19326983709351972,
+                        "xyz": [
+                            0.6760926342001048,
+                            -0.6828956956060138,
+                            -0.1979873454869928
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "main body shell",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer side walls to lift or reposition the storage box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the body shell to stabilize the box while opening the lid",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "push or pull on the body side to slide the box on a surface",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "form the main container body",
+                "support the overall structure",
+                "enclose and protect contents",
+                "provide exterior surfaces for handling"
+            ],
+            "semantic_description": "Brown outer body and frame around the box sides and front edges, with beige corner caps and smooth hard surfaces.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_17": {
+                    "confidence": 0.8523423075675964,
+                    "position": [
+                        0.07893098972272128,
+                        0.16651667631231248,
+                        -0.19003939675167203
+                    ],
+                    "orientation": {
+                        "w": 0.7385068293234354,
+                        "xyz": [
+                            -0.03061828387239368,
+                            -0.018930121997255633,
+                            0.673284363561582
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8367924094200134,
+                    "position": [
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+                        0.15163709199987352,
+                        -0.1977884923107922
+                    ],
+                    "orientation": {
+                        "w": 0.6782816538665665,
+                        "xyz": [
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+                            -0.04100860280171037,
+                            -0.732819906563014
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.8115922808647156,
+                    "position": [
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+                        0.1732230184134096,
+                        -0.18180713104084134
+                    ],
+                    "orientation": {
+                        "w": 0.7242290003141684,
+                        "xyz": [
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+                            -0.046157794311946554,
+                            0.687631380126677
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.8074319958686829,
+                    "position": [
+                        0.14546790055464953,
+                        -0.10238353931345046,
+                        -0.18777692364528775
+                    ],
+                    "orientation": {
+                        "w": 0.9962650983493299,
+                        "xyz": [
+                            -0.06933499713258477,
+                            -0.023371696126205266,
+                            -0.0458505812810285
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.8060903549194336,
+                    "position": [
+                        0.14433174661826342,
+                        -0.0985161664430052,
+                        -0.1915902649052441
+                    ],
+                    "orientation": {
+                        "w": 0.9985593321465589,
+                        "xyz": [
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+                            -0.014991105902214197,
+                            -0.023419922374320782
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.8020567893981934,
+                    "position": [
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+                        -0.09361436241306365,
+                        -0.19097375916317105
+                    ],
+                    "orientation": {
+                        "w": 0.9992210933362553,
+                        "xyz": [
+                            -0.03363608489195616,
+                            0.01612599092200795,
+                            -0.012875280261927866
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.7963661551475525,
+                    "position": [
+                        0.05137718177866191,
+                        0.16380888200365007,
+                        -0.19568365858867764
+                    ],
+                    "orientation": {
+                        "w": 0.7063486420179614,
+                        "xyz": [
+                            0.006966572734166999,
+                            -0.04613905126615214,
+                            -0.7063244656190107
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper front compartment openings",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide access to the upper storage compartments",
+                "define the visible front openings of the upper compartment area",
+                "help organize contents in the upper section"
+            ],
+            "semantic_description": "Open front-facing upper compartment areas beneath the lid, showing patterned interior back panels in cream and warm brown tones rather than solid closing doors.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer fronts",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a lower drawer front at its pull area to open the drawer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "close the lower drawer openings",
+                "provide access to drawer compartments",
+                "support drawer pulling",
+                "help organize small stored items"
+            ],
+            "semantic_description": "Rectangular lower front drawer faces with decorative blue, cream, and dark patterned panels, smooth rigid surfaces, and visible floral motifs.",
+            "id": 20,
+            "grasp_group": {
+                "grasp_58": {
+                    "confidence": 0.7733420133590698,
+                    "position": [
+                        -0.09362969466019422,
+                        0.02210907987318933,
+                        -0.20029902504757047
+                    ],
+                    "orientation": {
+                        "w": 0.001358552291160399,
+                        "xyz": [
+                            -0.00013535304383928328,
+                            0.04156371640709744,
+                            -0.9991349225673457
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.7001574039459229,
+                    "position": [
+                        -0.09692496724892408,
+                        0.015541330678388476,
+                        -0.198026851285249
+                    ],
+                    "orientation": {
+                        "w": 0.009760538308736837,
+                        "xyz": [
+                            0.0055118780270205,
+                            0.094556530364726,
+                            0.9954563846085496
+                        ]
+                    }
+                },
+                "grasp_60": {
+                    "confidence": 0.5331578254699707,
+                    "position": [
+                        -0.09657213755417615,
+                        0.13294813013635576,
+                        -0.19535788940265775
+                    ],
+                    "orientation": {
+                        "w": 0.98318622728806,
+                        "xyz": [
+                            -0.055176294972295994,
+                            0.05223909516587655,
+                            -0.1660466677788272
+                        ]
+                    }
+                },
+                "grasp_63": {
+                    "confidence": 0.39610758423805237,
+                    "position": [
+                        -0.08375780947972089,
+                        0.08588560647331178,
+                        -0.194260120857507
+                    ],
+                    "orientation": {
+                        "w": 0.997287476781869,
+                        "xyz": [
+                            0.036551525081812836,
+                            0.051828350443594684,
+                            -0.037356348303110826
+                        ]
+                    }
+                },
+                "grasp_66": {
+                    "confidence": 0.31864142417907715,
+                    "position": [
+                        -0.1000987432198599,
+                        -0.09718687855638564,
+                        -0.2020673011429608
+                    ],
+                    "orientation": {
+                        "w": 0.9988040594567994,
+                        "xyz": [
+                            0.012863298343651785,
+                            0.009824155443568294,
+                            -0.046135369708724824
+                        ]
+                    }
+                },
+                "grasp_68": {
+                    "confidence": 0.2605051100254059,
+                    "position": [
+                        -0.10312764265108854,
+                        -0.10990427457727492,
+                        -0.19573819683864713
+                    ],
+                    "orientation": {
+                        "w": 0.9988532093936734,
+                        "xyz": [
+                            0.03856173789614308,
+                            0.010231194245402087,
+                            -0.026468492943504854
+                        ]
+                    }
+                },
+                "grasp_72": {
+                    "confidence": 0.1946919709444046,
+                    "position": [
+                        -0.08630154945421964,
+                        -0.26063701533712447,
+                        0.07240548683330417
+                    ],
+                    "orientation": {
+                        "w": 0.5627715053181886,
+                        "xyz": [
+                            -0.8262675207154002,
+                            0.011148939516778311,
+                            0.02111677438381196
+                        ]
+                    }
+                },
+                "grasp_74": {
+                    "confidence": 0.17736200988292694,
+                    "position": [
+                        -0.10818766721058637,
+                        -0.03803593316115439,
+                        0.0015404080040752888
+                    ],
+                    "orientation": {
+                        "w": 0.8966247971754944,
+                        "xyz": [
+                            -0.4415431365823289,
+                            0.020789517395559454,
+                            0.02591191991153475
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drawer and compartment pulls",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a small front pull to open a lower drawer",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp the upper center pull to open the front compartment",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold a pull to guide a drawer shut",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "pull open drawers",
+                "open the upper front compartment",
+                "provide a finger grip",
+                "assist closing"
+            ],
+            "semantic_description": "Small beige protruding pulls on the front compartment and drawers, with smooth satin-like surfaces and rounded shapes.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front divider strip",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate adjacent front panels",
+                "divide drawer and compartment sections",
+                "provide minor structural support"
+            ],
+            "semantic_description": "Thin narrow divider strips between front panels across the front layout, with hard smooth surfaces and a slim profile.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored load",
+                "form the container base",
+                "rest on surfaces",
+                "stabilize the box"
+            ],
+            "semantic_description": "Large flat beige bottom panel covering most of the underside, with a smooth hard surface and broad rectangular shape.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side trim strip",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish exposed edges",
+                "reinforce side boundaries",
+                "protect corners and edges",
+                "join adjacent body sections"
+            ],
+            "semantic_description": "Narrow brown side trim and edge pieces running along upper side edges and corners, with smooth hard surfaces.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions and part identities mismatch visible colors/materials; upper openings are not real physical parts."
+    }
+}

dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9120398977e7da4670b5250b821b1281f76b8aee7ccad47ba13f4946475322d5
+size 3835292

dataset/kitchen_supplies/storage/9200feebf0ed561dbed38ebc69fd11a5/storage_bin_003.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>13</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>