Add asset kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa

.gitattributes

@@ -7184,3 +7184,4 @@ dataset/kitchen_supplies/storage/e37331cbd2815179aefe5d9e88afceea/affordance/mes
 dataset/kitchen_supplies/storage/e58d6f20924b51a4a015ca26f8bb3e2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6aea63e88ad55c4b7610cf4a80f1296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/affordance_annot.json

@@ -0,0 +1,122 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge to lift or open the box",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the top panel while stabilizing the box during repositioning",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "form the top surface"
+            ],
+            "semantic_description": "Large dark gray rectangular top panel with a matte slightly pebbled leather-like texture, forming the main lid surface.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors and horizontal trim",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "protect edges from impacts",
+                "provide decorative trim",
+                "improve durability"
+            ],
+            "semantic_description": "Light tan hard trim pieces with a smooth matte finish, including rounded corner caps and narrow bands around the lid and upper body edges.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Sea Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite sidewalls to lift the storage box",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "hold one sidewall to slide or reposition the box",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "form sidewalls",
+                "support handling"
+            ],
+            "semantic_description": "Large dark gray box body with broad side panels wrapped in matte pebbled material, forming the main storage volume.",
+            "id": 27,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front handle",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front handle to pull the box from a shelf",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "use the handle to help orient the front during repositioning",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "pull from shelf",
+                "provide a front grip",
+                "assist repositioning",
+                "indicate the front side"
+            ],
+            "semantic_description": "Short horizontal light tan handle centered on the front upper section, with a smooth finish and rounded rectangular shape.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "label holder",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display label",
+                "identify contents",
+                "mark the front side"
+            ],
+            "semantic_description": "Small rectangular label holder on the lower front, with a light tan outer frame and a darker inner insert.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical corner rail",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce vertical edges",
+                "support corner structure",
+                "connect upper and lower trim sections"
+            ],
+            "semantic_description": "Narrow dark trim rails running vertically along the box corners, with a hard smooth appearance and slim elongated shape.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and part identities are mismatched; handle and label holder use wrong segments, and vertical rail color/description are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f581b61475915a99fc2a1f89153f21576a5aac723297d4c9bd3dd21580fe0b1
+size 3822760

dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/storage_bin_001.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>7</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":"Main parts are over-fragmented and some accents/edges are split from the same functional surfaces.","merge_groups":[{"colors":["Yellow","Crimson"],"target_part":"corner protectors and trim","reason":"same protective hardware split across views"},{"colors":["Sea Green","Burnt Orange"],"target_part":"bin body","reason":"orange is just a thin body seam/edge"},{"colors":["Maroon","Gray"],"target_part":"lid rim","reason":"both mark the same top border surface"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>