Add asset kitchen_supplies/storage/3917a38a71dc54e8bcfc0fe6aa9e1d45

.gitattributes

@@ -7100,3 +7100,4 @@ dataset/kitchen_supplies/storage/320542dd69b3510da19f71b6616f7d81/affordance/mes
 dataset/kitchen_supplies/storage/344f4e01ad4a56698c1db06283fdf0a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/3626aca4a3185315a8ea69f3d310af85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/37c9c9934b795722981ad10f0493505d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3917a38a71dc54e8bcfc0fe6aa9e1d45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3917a38a71dc54e8bcfc0fe6aa9e1d45/affordance/affordance_annot.json

@@ -0,0 +1,66 @@
+{
+    "affordances": [
+        {
+            "part_name": "decorative chest body and lid surfaces",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls of the chest to lift and relocate it",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the body steady while manipulating the top handle or front drawer pull",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "support the lower side edges or base area during pickup from a shelf or table",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "form the main structure of the chest",
+                "enclose the interior compartment",
+                "support attached hardware and trim",
+                "provide broad stabilizing grasp surfaces",
+                "protect contents when closed"
+            ],
+            "semantic_description": "Main square chest body with fitted top lid, covered in cream floral-patterned panels. The side band includes blue, tan, and gray decorative tile-like panels framed by medium-brown trim. Surfaces look rigid, mostly matte, and flat, with a light-colored interior visible in the open view.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle, front pull, corner guards, and small knobs",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the square ring handle on top to lift or reposition the chest",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pull the front rectangular drawer-like handle to open the lower front compartment",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "pinch a small round knob to assist localized manipulation or alignment",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "provide manipulation points",
+                "assist lifting",
+                "assist opening a front compartment",
+                "protect corners",
+                "serve as decorative hardware"
+            ],
+            "semantic_description": "Small light beige hardware pieces including a square ring handle on the lid, a rectangular front pull, several small round knobs, and corner guard caps. They appear rigid, smooth, slightly protruding, and satin to matte in finish.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Maroon part groups unrelated hardware; knobs and corner guards are not generally graspable or functionally identical."
+    }
+}

dataset/kitchen_supplies/storage/3917a38a71dc54e8bcfc0fe6aa9e1d45/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935f26c134fe6a32c49007fedd07f247aa61ac92391fe77ceeac05176faf0ad8
+size 3787856

dataset/kitchen_supplies/storage/3917a38a71dc54e8bcfc0fe6aa9e1d45/storage_bin_027.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</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>