Add asset kitchen_supplies/storage/4c8a72daf0b55301a0ca5ff5c46f3b62

.gitattributes

@@ -7105,4 +7105,4 @@ dataset/kitchen_supplies/storage/43c17b23eee7581a8a7553bee5af277a/affordance/mes
 dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/4a8bbdbce7b75f8c9c6bfa1403c14b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4c8a72daf0b55301a0ca5ff5c46f3b62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4c8a72daf0b55301a0ca5ff5c46f3b62/affordance/affordance_annot.json

@@ -0,0 +1,219 @@
+{
+    "affordances": [
+        {
+            "part_name": "top frame and lid rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift or reposition the small drawer box",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the top frame to stabilize the unit while opening a drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "frame the lid",
+                "provide structural reinforcement",
+                "protect top edges",
+                "offer a grasping rim"
+            ],
+            "semantic_description": "A white plastic rim with a smooth glossy finish and rounded corners wraps around the top perimeter above the drawer body.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer body and outer side panels",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body from the sides to reposition the whole unit",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "steady the body while pulling a drawer open",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "form the main body",
+                "enclose contents",
+                "support the drawers",
+                "provide side containment"
+            ],
+            "semantic_description": "The main body is a light pastel pink plastic structure with smooth semi-gloss surfaces surrounding the drawers and side decorative panels.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base frame and corner posts",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower frame from underneath to shift the box",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold a corner post to stabilize the unit during drawer use",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "support the structure",
+                "stabilize corners",
+                "protect lower edges",
+                "raise the body slightly above the surface"
+            ],
+            "semantic_description": "A white glossy plastic lower frame with rounded ball-like corner feet/posts outlines the bottom edges and supports the box.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom panel",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored weight",
+                "close the underside",
+                "provide a base surface"
+            ],
+            "semantic_description": "The underside is a broad flat light beige plastic panel with a smooth matte-to-semi-gloss surface, inset within the lower frame.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid top panels",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the top opening",
+                "provide a decorative top surface",
+                "protect contents from above"
+            ],
+            "semantic_description": "The lid top contains flat decorative plastic panels in pastel blue and pink tones with subtle textured patterns and a smooth slightly glossy finish.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Maroon",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central knob to lift the lid",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "pinch the knob to place or align the lid",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide a lid grip",
+                "enable lid lifting",
+                "assist lid alignment"
+            ],
+            "semantic_description": "A small round pink plastic knob sits near the center of the lid, with a glossy smooth surface and shallow raised detail.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer pull recess",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers or a gripper into the recessed upper pull to open the top drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "use the recess to slide the top drawer outward",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "pull the top drawer",
+                "provide a drawer grip",
+                "enable drawer opening"
+            ],
+            "semantic_description": "A shallow dark recessed pull opening is centered near the lower edge of the top pink drawer front.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "middle divider strip",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate the two drawer fronts visually",
+                "mark the drawer boundary",
+                "provide front-panel trim"
+            ],
+            "semantic_description": "A thin horizontal beige-pink strip spans across the front between the upper and lower drawers, appearing as a narrow divider rather than a handle.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer handle",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower handle to pull open the bottom drawer",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "pinch the lower handle to slide the drawer outward",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "pull the bottom drawer",
+                "provide a drawer grip",
+                "assist drawer opening"
+            ],
+            "semantic_description": "A small rounded pink plastic handle with a smooth glossy surface protrudes from the lower drawer front and is centered horizontally.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left side decorative insert",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the side",
+                "visually segment the side wall",
+                "fill a side panel section"
+            ],
+            "semantic_description": "A narrow vertical pastel blue decorative insert appears on one side panel near the front corner, with a smooth semi-gloss patterned surface.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right side decorative insert",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the side",
+                "visually segment the side wall",
+                "fill a side panel section"
+            ],
+            "semantic_description": "A rectangular pastel peach-orange decorative insert appears on the opposite side panel, with a smooth semi-gloss surface and non-structural decorative role.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Multiple part descriptions mismatch images: lower drawer pull type/color, side inserts, top panel colors, and body color/material details are inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/4c8a72daf0b55301a0ca5ff5c46f3b62/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed7a735d7b5b483067fcf10f1cb2ef59eb9b59632709eccfb3fbd0c9754687b
+size 3812880

dataset/kitchen_supplies/storage/4c8a72daf0b55301a0ca5ff5c46f3b62/storage_bin_101.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>12</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":"Different drawer fronts and side panels are merged; top is over-segmented into decorative regions.","merge_groups":[{"colors":["Teal","Indigo"],"target_part":"top lid surface","reason":"same top surface split decoratively"},{"colors":["Lawn Green","Dark Orange"],"target_part":"drawer front panels","reason":"different drawers merged with side body colors"},{"colors":["Brown","Lime Green"],"target_part":"drawer handles","reason":"all handles share same function"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>