Add asset kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af

.gitattributes

@@ -7195,4 +7195,5 @@ dataset/kitchen_supplies/storage/f6e8a9a1ce895e7bafa70bdeb5c64d3d/affordance/mes
 dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/fe7f68b639555c7b8d641def0b6c64f3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/affordance/affordance_annot.json

@@ -0,0 +1,152 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to open the box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the lid while closing and aligning it with the body",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect contents",
+                "enable opening and closing",
+                "provide top surface"
+            ],
+            "semantic_description": "Large off-white rigid lid with a matte slightly textured finish, broad flat tapered shape, and a raised border forming the top cover of the box.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to lift or reposition the box",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while operating the front latch or drawer",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the overall structure",
+                "provide side grasp surfaces",
+                "stabilize contents"
+            ],
+            "semantic_description": "Large cream-colored box body with an embossed leather-like texture and tapered form making up the sides and lower structure.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "latch plate",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the latch tab",
+                "provide a catch area at the front",
+                "help secure the lid closed",
+                "indicate the front opening side"
+            ],
+            "semantic_description": "Small rectangular cream plate at the upper front center, smooth and rigid, attached to the front edge beneath the lid and surrounding the latch tab.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "latch tab",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the small latch tab to release the lid closure",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "release the latch",
+                "help keep the lid closed",
+                "provide a small pulling point",
+                "enable front access to the lid"
+            ],
+            "semantic_description": "Small cream latch tab centered in the front latch assembly, smooth and hard with a short rounded protruding shape suitable for fingertip or gripper access.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front handle slot",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers or a gripper into the front handle slot to pull the upper box forward",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "use the slot as a front gripping point to reposition the box",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a front pull handle",
+                "assist retrieving the box from storage",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Horizontal rounded-rectangle opening on the upper front face, cream framed with a dark recessed interior, forming the main pull handle for the upper box section.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer handle cutout",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert fingers or a gripper into the lower front cutout to pull out the drawer",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "use the cutout to slightly reposition the lower drawer section",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "provide a pull for the lower drawer",
+                "assist opening the drawer",
+                "indicate drawer access point"
+            ],
+            "semantic_description": "Wide curved rectangular dark recessed handle cutout centered on the lower front drawer panel beneath the upper handle slot.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rim trim",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce edge",
+                "align lid seating",
+                "finish the rim",
+                "provide structural border"
+            ],
+            "semantic_description": "Thin cream trim running around the upper rim, with a hard smooth finish and narrow linear form that frames the top edge of the box body.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Object is a lidded storage box, not a drawer unit; lower cutout and front slot functions are mislabeled."
+    }
+}

dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:577cdf3d4d1f478cebe62289fff963b5ca07f1808a4dbc7d737e5f0dacc4aee4
+size 3784924

dataset/kitchen_supplies/storage/fe9026d72bd954d380701384e4a7f6af/storage_bin_072.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>YES</PartSegChecker>