Add asset kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3

.gitattributes

@@ -7126,3 +7126,4 @@ dataset/kitchen_supplies/storage/7329ff3f392956b4961bac96afe80c6e/affordance/mes
 dataset/kitchen_supplies/storage/77e6760085b5540a80f6590650f08481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8071e096b00d5bceb0e058d2aaa779e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the box",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "hold the lid while closing or repositioning it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the container opening",
+                "protect contents",
+                "open and close access",
+                "provide a top surface"
+            ],
+            "semantic_description": "Large flat dark brown wooden lid with a smooth semi-gloss finish, rectangular shape, ornate carved lattice paneling, and a circular gold-toned medallion centered on top.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and carry the box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while opening the lid",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp opposing side edges to reposition the box on a surface",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the lid",
+                "provide main structure",
+                "stabilize contents",
+                "rest on a surface"
+            ],
+            "semantic_description": "Box-shaped dark brown wooden body with smooth sides, semi-gloss finish, decorative cream-colored corner fittings, and carved lattice-style side panels around the exterior.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner base support",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "not intended as a primary grasp point; may only be contacted incidentally while setting the box down",
+                    "confidence": 0.2
+                }
+            ],
+            "functional_labels": [
+                "support the box at the lower corners",
+                "elevate the base slightly from the surface",
+                "help stabilize the box on a flat surface"
+            ],
+            "semantic_description": "Cream or gold-toned rigid corner support at the lower edge of the box, larger than a simple foot and extending along the corner/base area with a smooth decorative finish.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Body description includes unsegmented decorative panels; corner support identity and graspability need correction."
+    }
+}

dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ebd376645e398762e24ce7395f6a82c07ee4013505c5e244605ee9e5dc56abf
+size 3779972

dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/storage_bin_073.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":"Misses clear handle/latch parts and uses mostly top-vs-body surfaces, which is not functional segmentation.","merge_groups":[]}</PartSegChecker>