Add asset kitchen_supplies/storage/d3169420bc13515aad225faf019d6117

.gitattributes

@@ -7171,3 +7171,4 @@ dataset/kitchen_supplies/storage/c9c509f9d07f547aafafa14192a9dd5b/affordance/mes
 dataset/kitchen_supplies/storage/cbc20289ac3659079eba0d3c3409a449/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/affordance_annot.json

@@ -0,0 +1,128 @@
+{
+    "affordances": [
+        {
+            "part_name": "top rim and corner trim",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim from opposite sides to lift or reposition the box",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the upper rim to stabilize the box while operating the front latch",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "form the top border of the box",
+                "reinforce the upper edge",
+                "provide a convenient gripping rim",
+                "protect the top corners"
+            ],
+            "semantic_description": "Light cream-colored rigid trim with a smooth satin finish, forming a square rim around the top opening and including thicker decorative corner caps at the lid corners.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main body side and rear panels",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing side walls to lift the box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold a side wall to slide or reposition the box on a surface",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "form the main enclosure",
+                "contain stored items",
+                "provide structural support",
+                "support attached side ornaments"
+            ],
+            "semantic_description": "Dark brown wood or wood-like panels with a matte to satin finish and fine linear grain, forming most of the side and rear exterior surfaces of the box.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front body panel",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hold the front wall to steady the box while operating the latch",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "push or pull against the front wall to nudge the box into position",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "form the front wall of the enclosure",
+                "retain contents",
+                "provide front structural support",
+                "support the front latch and decorative hardware"
+            ],
+            "semantic_description": "Dark brown front wall panel with a matte to satin finish and carved lattice-like decorative sections, carrying the latch hardware and a circular ornament on the front face.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top circular medallion",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the raised circular medallion lightly as a secondary contact point while stabilizing the lid",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "decorate the lid",
+                "provide a visual focal point",
+                "mark the top center of the lid"
+            ],
+            "semantic_description": "Raised circular cream-colored ornament centered on the lid, with a smooth satin finish and engraved decorative patterning.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid center panel",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form the central lid surface",
+                "support the raised top medallion",
+                "provide decorative contrast on the lid"
+            ],
+            "semantic_description": "Dark reddish-brown square recessed panel in the middle of the lid, flat and smooth, surrounding and supporting the circular top ornament.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base feet and lower corner supports",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "elevate the box above the surface",
+                "stabilize the base",
+                "protect the lower corners",
+                "support the object at contact points"
+            ],
+            "semantic_description": "Light cream-colored rigid feet and lower corner brackets with a smooth satin finish, protruding at the bottom corners to raise and steady the box.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts misidentified: top rim includes lid corners, front panel omits circular ornament, and lid medallion description/function incomplete versus mask."
+    }
+}

dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d87ce323c5c6a383a826bdc18f7e8082d1a099a16897afc94cdc4cde2870c5a
+size 3785624

dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/storage_bin_036.urdf

@@ -57,6 +57,7 @@
                <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: {"summary":"Major functional parts are mislabeled and merged inconsistently; merge fixes are limited.","merge_groups":[{"colors":["Yellow","Pink"],"target_part":"feet/base trim","reason":"corner feet and trim share one support role"},{"colors":["Orange","Maroon"],"target_part":"lid top ornament","reason":"top medallion and inset panel form one lid surface"}]}</PartSegChecker>