Add asset kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f

.gitattributes

@@ -7180,4 +7180,5 @@ dataset/kitchen_supplies/storage/db3acc55c3c459b5a6c98c12c0bba2c9/affordance/mes
 dataset/kitchen_supplies/storage/d8f8d765984556b7b66cb6f3ae63cc56/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/e4f292e9b8d65705a2871acb961df117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/affordance_annot.json

@@ -0,0 +1,136 @@
+{
+    "affordances": [
+        {
+            "part_name": "carry handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the storage box",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to reposition the box on a shelf or table",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "carry the box",
+                "provide a top grip",
+                "support lifting the container"
+            ],
+            "semantic_description": "Arched light pink plastic handle with a smooth matte finish, medium-sized and mounted at the center of the lid top.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to remove or open the box",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold the lid while aligning it back onto the box",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "protect from dust",
+                "close the top opening",
+                "support the carry handle"
+            ],
+            "semantic_description": "Large square off-white plastic lid with a smooth matte finish, pastel floral print on top, and slightly raised edges covering the box opening.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up or move the box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while opening the drawers",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the side cutout handle as an auxiliary grip",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide the main structure",
+                "support the lid and drawers",
+                "provide side walls and side handhold openings"
+            ],
+            "semantic_description": "Boxy off-white plastic body with light blue trim and pastel floral decoration, smooth matte hard surfaces, forming the main container around the drawers.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front drawers",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer front by its recessed pull to pull a drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "push on a drawer front to slide the drawer closed",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide open for access",
+                "organize contents by compartment",
+                "provide front pull surfaces"
+            ],
+            "semantic_description": "Multiple small front drawer faces in pastel colors with floral and character prints, smooth plastic surfaces, each with a recessed pull opening along the top edge.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner feet",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the box on a surface",
+                "stabilize the lower corners",
+                "elevate the base slightly",
+                "protect corners during contact"
+            ],
+            "semantic_description": "Small rounded pink plastic corner feet or caps with a smooth matte finish, located at the lower corners as surface contact points.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower front trim and horizontal separators",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate the drawer rows visually",
+                "reinforce the front opening",
+                "form lower front trim"
+            ],
+            "semantic_description": "Thin tan to golden plastic strips with smooth hard surfaces, visible as horizontal separators between drawer levels and along the lower front edge.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part colors/descriptions mismatch mask and RGB; body wrongly includes side handles/trim, and trim color/material description is inaccurate."
+    }
+}

dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60514986cbb0fab9712843d0e24c513e39b5fccb71c1889eafd1d4a603813c71
+size 3814748

dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/storage_bin_089.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>6</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":"Drawer front and knob are over-segmented; most bin body is fine.","merge_groups":[{"colors":["Magenta","Jade"],"target_part":"front drawer assembly","reason":"drawer face and recess belong together"},{"colors":["Brown","Purple"],"target_part":"drawer knob and front trim","reason":"small front details are not separate functions"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>