Add asset kitchen_supplies/storage/f665aa20195d573384f7a9d1378ef80e

.gitattributes

@@ -7191,4 +7191,4 @@ dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/affordance/mes
 dataset/kitchen_supplies/storage/f5ff273f716755d9be1ba974c8e8ff70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f62906a06c505447929323af6eb445c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f10105347572501ba2a885d0d1319c94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/f6e8a9a1ce895e7bafa70bdeb5c64d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f665aa20195d573384f7a9d1378ef80e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f665aa20195d573384f7a9d1378ef80e/affordance/affordance_annot.json

@@ -0,0 +1,62 @@
+{
+    "affordances": [
+        {
+            "part_name": "corner protectors and small side trim patches",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [
+                {
+                    "scenario": "small corner protector may be contacted incidentally while stabilizing the cabinet, but is not suitable for a secure robotic grasp",
+                    "confidence": 0.14
+                },
+                {
+                    "scenario": "small rectangular side trim patch may be touched during repositioning, but it is too small and flush for reliable gripping",
+                    "confidence": 0.1
+                }
+            ],
+            "functional_labels": [
+                "protect cabinet corners from bumps",
+                "provide small decorative trim accents"
+            ],
+            "semantic_description": "Small tan plastic corner protectors at a few visible cabinet corners and several small tan rectangular side trim inserts on the side panels; smooth hard plastic, compact, slightly protruding or flush-mounted.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "storage cabinet body and drawers",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side frame or cabinet body to reposition the storage unit on a surface",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "grasp a drawer handle opening to pull a drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "push on a drawer front to close a drawer",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "stabilize the cabinet by holding the outer frame while another manipulator opens a drawer",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support structure",
+                "house and organize stored items",
+                "provide sliding drawer access",
+                "enable repositioning of the cabinet"
+            ],
+            "semantic_description": "Boxy multi-drawer plastic storage cabinet with cream and dark gray frame sections, tan accent panels, and drawers/fronts in white, tan, and smoky translucent dark gray. Surfaces are hard, smooth, mostly matte, with rounded edges and a modular cabinet form.",
+            "id": 26,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Dark Orange part incorrectly merges cabinet body and drawers; drawers are distinct functional parts and handle/open-close claims don't match one masked part."
+    }
+}

dataset/kitchen_supplies/storage/f665aa20195d573384f7a9d1378ef80e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f579c028aaea1a268f3c5e560532c9fccf9aeb00fb3cad3df7754f93c90bd067
+size 3822224

dataset/kitchen_supplies/storage/f665aa20195d573384f7a9d1378ef80e/storage_bin_049.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>NO: {"summary":"Masks miss clear functional drawers/handle/lid structure and highlight scattered panels; not fixable by merging.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>