Add asset kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9

.gitattributes

@@ -7128,4 +7128,5 @@ dataset/kitchen_supplies/storage/7d3b8a897a1755c0b022d038261897c1/affordance/mes
 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/837fa2b414075a5ab9e3b27bd0f63db8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/8627b8b0dcde5dec9bee1438865753eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/affordance_annot.json

@@ -0,0 +1,144 @@
+{
+    "affordances": [
+        {
+            "part_name": "main box body",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the main body to lift and move the box",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while opening or closing the drawer",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "support the box from the lower side or underside edge during repositioning",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support the drawer assembly",
+                "main grasp surface"
+            ],
+            "semantic_description": "Large dark brown wooden body with a matte to satin finish and smooth hard surfaces, box-shaped and occupying most of the object, surrounding the decorated side and front panels.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top carry handle",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to carry or lift the box",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the handle to reposition the box on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a top grip",
+                "carry the box",
+                "lift the object",
+                "aid repositioning"
+            ],
+            "semantic_description": "Arched dark brown wooden top handle with a slightly rounded smooth hard surface and a lighter wrapped central grip, spanning between two upright supports above the lid.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle support posts",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp an upright handle support to steady the box during drawer manipulation",
+                    "confidence": 0.45
+                },
+                {
+                    "scenario": "use a support post for a careful auxiliary hold when the main handle is inaccessible",
+                    "confidence": 0.33
+                }
+            ],
+            "functional_labels": [
+                "support the carry handle",
+                "frame the upper structure",
+                "indicate top orientation"
+            ],
+            "semantic_description": "Tall narrow dark brown upright wooden supports at the upper side corners, with smooth hard surfaces and rectangular vertical form, holding the top handle assembly.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front panel",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp or press on the drawer front while pulling the drawer open",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "close the drawer opening",
+                "provide drawer access surface",
+                "protect stored contents"
+            ],
+            "semantic_description": "Rectangular dark brown front panel on the lower drawer, with smooth hard wooden surfaces and light decorative trim around the central pull area.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the central drawer pull to open the drawer",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the pull to control drawer motion while closing",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "provide drawer grip",
+                "open the drawer",
+                "close the drawer",
+                "help control drawer motion"
+            ],
+            "semantic_description": "Small light cream to beige carved pull piece with a hard smooth surface and compact protruding shape, centered on the drawer front as the primary manipulation point.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative inset panels",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "cover inset side and front faces",
+                "visually distinguish the object"
+            ],
+            "semantic_description": "Flat rectangular blue-green inset panels with ornate light cream relief artwork and trim, medium-sized and mounted on the outer sides and parts of the front of the wooden box.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Multiple mask-color/part mismatches; top teal part is lid, not main body, and brown mask conflates handle and decorative panels."
+    }
+}

dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4447ba807ee326a958e42db3b615e8c402a3338976ada5553efbd19f3577ff9
+size 3958568

dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/storage_bin_002.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":"Functional parts are inconsistently split and merged; handle, side posts, feet, and decorative panels are not cleanly grouped.","merge_groups":[{"colors":["Brown","Crimson"],"target_part":"front drawer/panel area","reason":"same front section split without functional difference"},{"colors":["Blue","Teal"],"target_part":"main body with side posts","reason":"posts are structural body, not separate function"},{"colors":["Green","Teal"],"target_part":"base/body corners","reason":"small corner pieces look like body-attached feet noise"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>