Add asset kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6

.gitattributes

@@ -7085,4 +7085,4 @@ dataset/kitchen_supplies/storage/16570209244959cfa4ed55aa197f6c1a/affordance/mes
 dataset/kitchen_supplies/storage/16300b5cde50550990e60a5ea63c2853/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1a05641566185955acebfac0e933b1d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/16fad1062a425cde9480f52832d21bc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/1fbf893c59d9514f924b8840d0f77b1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/affordance_annot.json

@@ -0,0 +1,133 @@
+{
+    "affordances": [
+        {
+            "part_name": "main bin body",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift and reposition the storage bin",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize the bin while opening or closing the lid",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "support the lid and hardware",
+                "provide large grasp surfaces"
+            ],
+            "semantic_description": "Large box-shaped body made of rigid panels with mostly smooth matte surfaces, including the lid, base, and most wall areas; decorated with cream, tan, and blue floral patterns plus dark trim lines, forming the main storage container.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors and edge trim",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges from impact",
+                "stiffen the frame",
+                "provide wear resistance"
+            ],
+            "semantic_description": "Beige corner caps and edge trim pieces around the box and lid, likely wood or plastic, with smooth matte surfaces and angular shapes covering exposed corners and edges.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the latch to release and open the lid",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the latch while aligning and securing the lid closed",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "secure the lid shut",
+                "release the lid",
+                "align front closure",
+                "provide a small manipulation point"
+            ],
+            "semantic_description": "Small gold-toned metal clasp centered on the front, with a slightly reflective finish, smooth hard texture, and compact protruding shape used to fasten the lid.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative front and side panel band",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the exterior",
+                "cover accent panel areas",
+                "visually distinguish the front and sides"
+            ],
+            "semantic_description": "Decorative accent panels on the upper side walls and the larger lower front panel, showing floral artwork in pale blue, beige, and tan tones on a smooth rigid surface.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to pull or reposition the bin",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "use the handle to help lift one side of the bin",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a side grip",
+                "pull the bin",
+                "assist lifting",
+                "aid repositioning"
+            ],
+            "semantic_description": "Curved brass-like metal handle mounted on a side panel, with an aged gold reflective finish, smooth hard texture, and medium-sized arched shape projecting outward for gripping.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to open the storage bin",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the lid while closing it gently",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "cover the contents",
+                "open for access",
+                "protect stored items",
+                "support closure hardware"
+            ],
+            "semantic_description": "Large flat rectangular top lid in light beige-gray with a smooth matte hard surface, occupying the top of the bin and hinged along the back edge.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Main bin body wrongly includes lid; lid mask color mismatched. Side handle only one side and front cutout handle missing."
+    }
+}

dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b2b4acda1ff79bb839ed6afd3b9f79f3d9967c2920d7470e0e3ed05466e4922
+size 3801612

dataset/kitchen_supplies/storage/1ba60c198cab51a0a2a085468eea3bb6/storage_bin_009.urdf

@@ -57,6 +57,7 @@
                <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: {"summary":"Colors do not align to functional parts; hardware and body are inconsistently split.","merge_groups":[{"colors":["Green","Burnt Orange"],"target_part":"main body","reason":"handle and tiny edge bits are absorbed into body"},{"colors":["Cyan","Burnt Orange"],"target_part":"structural frame/body","reason":"corner trims and bottom edge are body structure"},{"colors":["Lime Green","Crimson"],"target_part":"front hardware area","reason":"latch/handle region is split into tiny adjacent colors"}]}</PartSegChecker>