Add asset kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799

.gitattributes

@@ -7182,3 +7182,4 @@ dataset/kitchen_supplies/storage/dbf281cffa6c59f7915ea82a0f62bc7a/affordance/mes
 dataset/kitchen_supplies/storage/e1fd13a296ad5270a44ef48a5553ca28/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/e6402ed0ce895973a5883a83be600799/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/affordance_annot.json

@@ -0,0 +1,122 @@
+{
+    "affordances": [
+        {
+            "part_name": "top lid",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edges to lift or remove the lid for access to the storage bin",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the lid while repositioning or stabilizing the bin",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the bin opening",
+                "protect contents from dust",
+                "provide a removable top surface",
+                "help stabilize the container"
+            ],
+            "semantic_description": "Large pale pink plastic lid with a matte smooth raised rim and a lighter textured center panel, rectangular with rounded corners, covering the entire top opening of the bin.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer body",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front or sidewalls to pull the drawer open",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "grasp the drawer body after removal to carry or empty it",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the drawer side to push it closed into the bin",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "slide in and out",
+                "provide the main storage volume",
+                "support drawer handling"
+            ],
+            "semantic_description": "Main drawer/body in very light cream to pale pink plastic with a matte slightly textured finish, broad rectangular panels, and decorative quilted and mosaic-like patterns on the sides and front.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handle recess",
+            "mask_color": "Gold",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook into the recessed handle to pull the drawer open",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle area to guide the drawer closed",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "enable drawer opening",
+                "indicate front orientation",
+                "assist drawer control"
+            ],
+            "semantic_description": "Shallow recessed handle near the top front of the drawer, in light yellow-beige plastic, smooth and curved, sized for fingertip or gripper access.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side seam or rail line",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mark a panel boundary",
+                "guide drawer alignment",
+                "connect adjacent side surfaces"
+            ],
+            "semantic_description": "Thin narrow line-like strip along a side panel joint, visible as a small seam or rail with minimal exposed grasp area.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pull knob",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front knob to pull the drawer open",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the knob to guide the drawer closed",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling point",
+                "assist drawer opening",
+                "assist drawer closing",
+                "mark the drawer front"
+            ],
+            "semantic_description": "Small oval to round pale pink plastic pull knob centered low on the drawer front, slightly raised with a ring-like shape and smooth hard surface.",
+            "id": 25,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts are misidentified: no removable lid, no front pull knob, drawer body mislabeled, and color/description mismatches."
+    }
+}

dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71ccbdc96236adc17bef13a7dff9c771340ab28b5a931187d7256e01ec30da3
+size 3834880

dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/storage_bin_097.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>5</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":"Main body is over-segmented into surface fragments; clear functional parts are lid and bin body.","merge_groups":[{"colors":["Jade","Hot Pink"],"target_part":"main body","reason":"Thin stripes are not separate functional parts"},{"colors":["Gold","Indigo"],"target_part":"main body","reason":"Small patches/edges belong to body surfaces"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>