Add asset kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35

.gitattributes

@@ -7106,4 +7106,4 @@ dataset/kitchen_supplies/storage/40e052a4e3fe5933b2929546a57be005/affordance/mes
 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/47fd24c169725c2fa5c4150eb00dec1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/4e5a56a66ff856a59e6dbc5272eb3f89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/affordance_annot.json

@@ -0,0 +1,87 @@
+{
+    "affordances": [
+        {
+            "part_name": "chest body and lid panels",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls from opposite sides to lift or reposition the chest",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "clamp the body to stabilize the object during transport or placement",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "hold the body steady while another tool manipulates the front latch or top handle",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "form the lid and side panel surfaces",
+                "provide broad surfaces for lifting and stabilization"
+            ],
+            "semantic_description": "Large rectangular dark brown wooden chest body with smooth semi-matte surfaces, lattice-style paneling on the lid and sides, a boxy form, and light gold decorative corner trim around edges and faces.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle rails and corner posts",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top longitudinal rail/handle to help lift or carry the chest",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold a vertical corner post to rotate or reposition the chest",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "grip the front top rail to steady the chest while accessing the front latch area",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "reinforce the chest structure",
+                "provide a top carrying handle/rail",
+                "frame the lid and upper edges",
+                "protect corners"
+            ],
+            "semantic_description": "Dark brown raised wooden rails and corner post elements with smooth semi-matte finish, elongated rectangular profiles, including a prominent bar-like handle running across the top and posts descending at the corners.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "metal latch and decorative plaques",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the front latch hardware to open or close the chest",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "lightly contact the front metal piece to stabilize manipulation near the closure",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "secure the lid at the front closure",
+                "decorate the exterior",
+                "accent the front and side faces"
+            ],
+            "semantic_description": "Light gold metal-like hardware with a smooth slightly reflective finish, including a prominent front latch assembly and flat decorative plaques mounted on the front and side faces of the dark wooden chest.",
+            "id": 17,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brown part misidentified as handle rails; top bar is decorative/structural, not a clear carrying handle."
+    }
+}

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48c10816763159f49bad8ffececeddedaef700ec6e1d0b165e54eed912b9ad5c
+size 3801412

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</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":"Large side/front decorative panels are split from the bin body without distinct functional roles.","merge_groups":[{"colors":["Lime Green","White"],"target_part":"main body","reason":"white panels are body surfaces, not separate functional parts"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>