Add asset kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b

.gitattributes

@@ -7144,4 +7144,5 @@ dataset/kitchen_supplies/storage/975ad8bd82c053deb4ef2578c037932d/affordance/mes
 dataset/kitchen_supplies/storage/9b0e5f9c788c5291b8cebefcf23b6d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b/affordance/affordance_annot.json

@@ -0,0 +1,56 @@
+{
+    "affordances": [
+        {
+            "part_name": "main wooden body and internal dividers",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite outer side walls to lift and carry the organizer bin",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold the lower body from two sides to reposition or place the bin",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "use the top rim/upper body area to stabilize the bin during handling",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structural body",
+                "form base and side support",
+                "separate contents with internal dividers",
+                "offer broad surfaces for handling"
+            ],
+            "semantic_description": "Large tan to light brown wooden organizer body with a matte finish and tapered box shape. This segmented part includes the base, outer wooden walls, top rim rails, and the internal cross dividers visible from above.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative exterior panel inlays",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "press against a side decorative panel area only to stabilize the bin during placement",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "provide decorative exterior detailing",
+                "visually differentiate the sides",
+                "cover exterior wall sections with patterned inlays"
+            ],
+            "semantic_description": "Decorative patchwork-like exterior side inlays in turquoise, purple, blue, cream, and patterned multicolor sections. They appear mostly matte with varied textures and relief patterns on the outer side faces. This segmented part does not include the cream corner guards or the round front knobs.",
+            "id": 16,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-part mapping is reversed; decorative panels and main body descriptions do not match segmented colors."
+    }
+}

dataset/kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50370d76220327249dc060853c6b4df3b14e6d91e3af1cdd8c4e62657ace50d0
+size 3834444

dataset/kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b/storage_bin_063.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>2</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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>