Add asset kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c

.gitattributes

@@ -7078,3 +7078,4 @@ dataset/kitchen_supplies/storage/0e8ca3bf6c2d55a7a179b4fad8c1076a/affordance/mes
 dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0fd0aab9f4a55a5584f1c15e58ad5b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/1275baeebd9456bebcd9ba7e67937dd3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/affordance/affordance_annot.json

@@ -0,0 +1,169 @@
+{
+    "affordances": [
+        {
+            "part_name": "main body panels",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or reposition the storage box",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold opposing side panels to stabilize the box during placement",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "form the main enclosure",
+                "contain stored items",
+                "provide broad support surfaces",
+                "provide broad grasp surfaces"
+            ],
+            "semantic_description": "Large cream-colored rigid panels with a matte smooth finish and subtle floral pattern, forming most of the side walls and lower front areas of the decorative storage box.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "frame rails",
+            "mask_color": "Dark Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim or edge rail to lift the box",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold a side frame rail to steady the box during handling",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "reinforce structure",
+                "join panels",
+                "protect edges",
+                "provide rigid handling edges"
+            ],
+            "semantic_description": "Cream to white rigid frame strips with a smooth matte finish, running along edges and panel boundaries as narrow structural rails around the box.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Gold",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce corner joints",
+                "reduce wear at corners"
+            ],
+            "semantic_description": "Small beige corner caps with a smooth matte surface and rounded protective shape, mounted at the outer corners of the box.",
+            "id": 21,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper front drawer face",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper drawer by hooking fingers in the centered pull cutout to open it",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "push on the drawer face to close the drawer",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "close the upper drawer",
+                "provide access to drawer contents",
+                "serve as drawer front"
+            ],
+            "semantic_description": "Rectangular upper front drawer panel with cream and dark floral decorative sections, smooth hard surface, located on the upper front of the storage box.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull cutout",
+            "mask_color": "Midnight Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers or a gripper into the recessed pull cutout to open a drawer",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the cutout area while guiding the drawer closed",
+                    "confidence": 0.87
+                }
+            ],
+            "functional_labels": [
+                "pull drawer open",
+                "assist drawer closing",
+                "provide a grip point",
+                "indicate drawer access location"
+            ],
+            "semantic_description": "Small centered beige recessed pull cutout on each drawer front, with a smooth matte finish and rounded rectangular opening.",
+            "id": 31,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side decorative panel",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "visually differentiate side section",
+                "cover side surface"
+            ],
+            "semantic_description": "Narrow cream-colored rectangular side insert with a smooth hard surface, located vertically on a side wall between the white frame rails.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base trim",
+            "mask_color": "Indigo",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect lower edges",
+                "stiffen lower frame",
+                "separate lower panels"
+            ],
+            "semantic_description": "Dark narrow trim strips with a smooth hard finish running along lower panel boundaries near the base of the box.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid top panel",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge area to open the top compartment",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "press on the lid to close the top compartment",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "cover top opening",
+                "protect contents",
+                "provide top closure",
+                "provide a top surface"
+            ],
+            "semantic_description": "Large cream decorative top panel with dark floral border accents, a smooth matte hard surface, and a flat slightly tapered rectangular shape on the top of the box.",
+            "id": 0,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Multiple part identities and colors mismatch mask: no separate violet side panel, crimson is both drawers, and upper front drawer face description is incorrect."
+    }
+}

dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4826f1784827d5aa89e3faca77e417d1006873767c2c7fbc26fb3504c450f657
+size 3825056

dataset/kitchen_supplies/storage/141524c4eb6f5b11844a6870453ae46c/storage_bin_071.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":"Main body, drawers, frame, corners, and handles are merged or inconsistently split; not actionable by merging alone.","merge_groups":[{"colors":["Gold","Dark Red"],"target_part":"corner protectors","reason":"same corner caps split across views"},{"colors":["Lime Green","Crimson"],"target_part":"main storage body","reason":"body panels and drawer faces share storage-bin enclosure function"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>