Add asset kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1

.gitattributes

@@ -7155,4 +7155,5 @@ dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mes
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/b41f32f6d8d757be9e77cf7904a72b34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/affordance/affordance_annot.json

@@ -0,0 +1,135 @@
+{
+    "affordances": [
+        {
+            "part_name": "top handle",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the arched top handle to lift and carry the storage box",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to reposition or pull the box",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "carry the box",
+                "provide a top grip",
+                "pull or reposition",
+                "support lifting load"
+            ],
+            "semantic_description": "A medium-sized arched light pink handle with a smooth slightly glossy hard surface is mounted near the center of the lid top and stands up for easy gripping.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main bin body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up or stabilize the box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the body while opening or closing the drawers",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the structure",
+                "provide side support",
+                "stabilize during drawer use"
+            ],
+            "semantic_description": "The large tapered box-shaped body forms the outer shell of the organizer. It is mostly light cream to white with smooth hard surfaces, pink trim near the top edges, and broad side panels that support the drawers and lid.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_12": {
+                    "confidence": 0.677952766418457,
+                    "position": [
+                        0.09019930474460125,
+                        -0.25259732315316796,
+                        -0.12673816177994013
+                    ],
+                    "orientation": {
+                        "w": 0.5241702075293299,
+                        "xyz": [
+                            -0.5087352260359274,
+                            -0.47161846734880086,
+                            -0.49397376912585234
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "upper small drawers",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front faces or knobs of the two small upper drawers to pull them open",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold one of the small drawers while sliding it farther out for access",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide open for access",
+                "organize contents",
+                "provide upper compartments"
+            ],
+            "semantic_description": "Two small shallow drawers occupy the upper front row. They have pastel front faces in cream, light blue, and pink tones with small round pink knobs, and smooth hard surfaces directly beneath the lid.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower drawer",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower drawer front or its round knob to pull the drawer open",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the lower drawer while sliding it out for access",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "store small items",
+                "slide open for access",
+                "organize contents",
+                "provide lower compartment"
+            ],
+            "semantic_description": "A wider deeper lower drawer spans the lower front of the organizer. Its front panel is pastel yellow to peach with pale decorative patterns and a centered round pink knob, with a smooth hard surface.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "flower decorations",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "provide visual identification",
+                "indicate front or side orientation"
+            ],
+            "semantic_description": "Small flat flower motifs in pastel yellow, blue, pink, and green appear printed or applied on the side panels and lid, with smooth surfaces and purely decorative placement on the exterior.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main body incorrectly includes lid; drawer colors/descriptions mismatch mask and RGB views."
+    }
+}

dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84421fdcae1f5d4ec2fbef194f54268e9b852b7092e7b8505a6f3309cc6aa88f
+size 3793356

dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/storage_bin_096.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":"Decorations are incorrectly segmented as parts; drawers/front regions are inconsistently split.","merge_groups":[{"colors":["Lime Green","Olive"],"target_part":"drawer fronts","reason":"Both colors cover the same drawer/front face function"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>