Add asset kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410

.gitattributes

@@ -7118,3 +7118,4 @@ dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/affordance/mes
 dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6293b0e4fada51219bfee87b5e168b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/affordance_annot.json

@@ -0,0 +1,195 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body frame and panels",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the box body to lift or reposition the case",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the body to stabilize the case while pulling a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "form the main structure",
+                "enclose contents",
+                "provide side support",
+                "protect stored items"
+            ],
+            "semantic_description": "Large rigid box body covering most exterior surfaces, with white leather-like textured panels set within dark brown frame trim; matte overall with hard structured sides.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges",
+                "provide impact resistance"
+            ],
+            "semantic_description": "Small gold-toned metal corner caps with smooth reflective surfaces and visible rivet-like details, mounted on the outer corners of the case.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to carry or lift the case from above",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to slightly reposition the case on a surface",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the case",
+                "aid repositioning"
+            ],
+            "semantic_description": "Arched light beige handle with a smooth matte finish, mounted centrally on the top panel and sized for a secure hand or gripper hold.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle mounts",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor the top handle",
+                "connect handle to top panel",
+                "reinforce handle attachment"
+            ],
+            "semantic_description": "Small gold-toned metal brackets at both ends of the top handle, rigid and reflective, fixed to the top surface.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top panel",
+            "mask_color": "Dark Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover the top opening",
+                "support handle hardware",
+                "protect contents from above"
+            ],
+            "semantic_description": "Rectangular white top panel with fine leather-like texture and matte finish, located inside the dark brown top frame around the handle mounts.",
+            "id": 30,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper drawer pull",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp or hook the upper pull to slide the upper drawer or compartment open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the pull to push the upper drawer closed",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "provide drawer grip",
+                "open the upper compartment",
+                "close the upper compartment"
+            ],
+            "semantic_description": "Small gold-toned metal pull on the upper front face, with a rectangular plate and curved lower grip detail, reflective and mounted centrally.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer front",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer pull area/front to slide out the lower compartment",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "push on the lower drawer front to close and seat the drawer",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "close the lower compartment",
+                "provide drawer access",
+                "support pulling the drawer",
+                "retain stored items"
+            ],
+            "semantic_description": "Lower front drawer face spanning the width of the case, matching the white leather-like exterior with dark trim and a centered gold-toned pull area.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top edge trim strip",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish panel edges",
+                "cover seams",
+                "visually separate sections"
+            ],
+            "semantic_description": "Thin white narrow strip running horizontally near the top of the side and back faces beneath the dark frame, with a smooth slightly matte appearance.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back panel",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the broad back face with a large gripper to reposition the case",
+                    "confidence": 0.48
+                },
+                {
+                    "scenario": "push or steady the case against the back panel during manipulation",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "enclose contents",
+                "form rear wall",
+                "support the box structure"
+            ],
+            "semantic_description": "Large rear white panel with leather-like texture and matte finish, filling most of the back face within the dark brown frame.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Gainsboro",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enclose contents",
+                "form side wall",
+                "provide structural surface"
+            ],
+            "semantic_description": "No distinct gainsboro-colored segmented side panel is visible in the provided mask; the side walls appear included within the main orange body region.",
+            "id": 28,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several parts mismatch mask/identity: top panel, handle, trim strip, back panel, and nonexistent side panel."
+    }
+}

dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4097b4caf435f36df8c1a6a06d090e93bf6874ea1392747a68410023828f2c62
+size 3789864

dataset/kitchen_supplies/storage/66770776e1eb520aa3bad12bea89a410/storage_bin_051.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>10</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 over-merged and some panels are split inconsistently; drawer/front handle boundaries are not properly isolated.","merge_groups":[{"colors":["Violet","Deep Sky Blue"],"target_part":"drawer/front lower body panels","reason":"same drawer/front body region split across views"},{"colors":["Brown","Dark Green"],"target_part":"top handle assembly","reason":"same handle base area split without clear function change"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>