Add asset kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70

.gitattributes

@@ -7188,3 +7188,4 @@ dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/mes
 dataset/kitchen_supplies/storage/e720efbfb26852639bcc8e67dec87fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ee0285dd0efc5e1cb8066409e347d179/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/affordance/affordance_annot.json

@@ -0,0 +1,136 @@
+{
+    "affordances": [
+        {
+            "part_name": "top panel",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the top surface",
+                "cover the upper side of the box body",
+                "provide decorative top panel"
+            ],
+            "semantic_description": "Flat square top surface with a pastel floral print featuring a large pink flower and pale yellow accents, bordered by a raised light pink frame; likely smooth hard plastic with a semi-gloss finish.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the outer sidewalls or body corners to pick up and reposition the storage box",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the body to stabilize it while pulling the drawer open",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "support overall structure",
+                "house the drawer",
+                "provide side and rear support"
+            ],
+            "semantic_description": "Box-shaped main shell with pastel blue side panels, pink trim around edges, smooth hard surfaces, rounded corners, and floral decorations surrounding the drawer and base.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front around the knob area to pull the drawer open",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the front panel to close the drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "close the front of the drawer",
+                "provide drawer access surface",
+                "transfer push-pull force to the drawer",
+                "decorate the front"
+            ],
+            "semantic_description": "Rectangular front face of the drawer on the lower front side, decorated with pastel patchwork-style floral graphics and a smooth hard finish.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer knob",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the round knob to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer while closing",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a pull grip",
+                "open the drawer",
+                "guide drawer motion"
+            ],
+            "semantic_description": "Small round pink knob centered on the drawer front, protruding outward with a smooth semi-gloss plastic appearance.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle recess",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers or a gripper into the recessed side handle to carry or reposition the box",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the side handle to stabilize the box during drawer operation",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "assist carrying",
+                "assist repositioning",
+                "stabilize during use"
+            ],
+            "semantic_description": "Horizontal rounded-rectangle recessed handle opening set into each pastel blue side panel, with a pink recessed surround and opening sized for a secure side grip.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer finger notch",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers or a gripper into the notch above the drawer front to start pulling the drawer open",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide finger access",
+                "assist drawer opening",
+                "create clearance above the drawer front"
+            ],
+            "semantic_description": "Shallow curved notch centered above the drawer front under the upper front lip, exposing a warm tan or brown recessed interior area for finger access.",
+            "id": 26,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Drawer front color/coverage and top material description mismatch mask and RGB views."
+    }
+}

dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c029348dba303c14aa30e10646b6e7fb0fc54ffb60e65038f7387b51fdb9b8fa
+size 3832508

dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/storage_bin_081.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>6</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":"Front drawer is over-segmented into decorative patches; several colors split one functional drawer/front area.","merge_groups":[{"colors":["Red","Hot Pink","Olive"],"target_part":"drawer front","reason":"same pull/front assembly split into decorative regions"},{"colors":["Gray","Dark Orange"],"target_part":"main bin body","reason":"body and lip/slot surface are one housing part"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>