Add asset kitchen_supplies/storage/8cbbea651f36551997cc4379b46bb2ed

.gitattributes

@@ -7133,3 +7133,4 @@ dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mes
 dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8aedd70810845845874f7593e3f7a546/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/8bf2981d3d1a501a81d74c82dd01c11f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/8cbbea651f36551997cc4379b46bb2ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/8cbbea651f36551997cc4379b46bb2ed/affordance/affordance_annot.json

@@ -0,0 +1,191 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid edge or top surface to open the box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the lid while closing or repositioning it",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "cover the box opening",
+                "protect stored contents",
+                "provide top closure",
+                "support opening and closing"
+            ],
+            "semantic_description": "Flat rectangular top panel with cream framing and two decorative inlays, one light blue floral and one cream floral, likely rigid laminated board or plastic with a smooth matte finish forming the box's upper cover.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_3": {
+                    "confidence": 0.8079918026924133,
+                    "position": [
+                        -0.01607468631118536,
+                        0.145646330434829,
+                        0.22765034332405776
+                    ],
+                    "orientation": {
+                        "w": 0.038960197827313615,
+                        "xyz": [
+                            -0.7117542617069114,
+                            -0.6997670043698971,
+                            0.04705436773017764
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.789838969707489,
+                    "position": [
+                        -0.0403148690238595,
+                        -0.13137790886685252,
+                        0.2268887598766014
+                    ],
+                    "orientation": {
+                        "w": 0.04163380546888936,
+                        "xyz": [
+                            0.7078506258775178,
+                            -0.7051183488739398,
+                            0.004715057610904375
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.7842615842819214,
+                    "position": [
+                        -0.03422727156430483,
+                        0.12301759840920568,
+                        0.2285045225871727
+                    ],
+                    "orientation": {
+                        "w": 0.040764191108485406,
+                        "xyz": [
+                            -0.7320828811617441,
+                            -0.6799947290638256,
+                            -0.00032292197917370365
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.7819191217422485,
+                    "position": [
+                        -0.09489208925515413,
+                        0.09585038246586919,
+                        0.2195686687482521
+                    ],
+                    "orientation": {
+                        "w": 0.2581747592838882,
+                        "xyz": [
+                            0.9651659246939306,
+                            0.03314459900064082,
+                            -0.02649466050930299
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the box",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "pull the handle slightly to reposition the lid while opening",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the box",
+                "aid transport",
+                "help manipulate the lid"
+            ],
+            "semantic_description": "Arched beige handle centered on the lid, made of hard smooth material with a matte finish, medium-sized and raised above the surface for easy finger or gripper access.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to pick up or stabilize the box",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the body while opening the lid",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "provide side support",
+                "enclose contents"
+            ],
+            "semantic_description": "Large box-shaped body with cream frame members and decorative blue and cream floral side panels, likely rigid laminated board or plastic, featuring smooth hard surfaces and the main storage volume.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_50": {
+                    "confidence": 0.8623630404472351,
+                    "position": [
+                        -0.21738540846854448,
+                        -0.007366304751485586,
+                        -0.08852949098218232
+                    ],
+                    "orientation": {
+                        "w": 0.6841066817554693,
+                        "xyz": [
+                            0.015374851221617903,
+                            0.7292006728918528,
+                            0.0052953358253853096
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front lower decorative panel",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the front face",
+                "cover part of the lower front exterior",
+                "provide visual accent"
+            ],
+            "semantic_description": "Horizontal dark blue decorative panel across the lower front of the box, patterned with floral motifs and a smooth hard surface, appearing fixed rather than a separate drawer front.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner fittings, hinges, and front latch hardware",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce corners",
+                "connect structural panels",
+                "support lid hinging",
+                "secure the front closure"
+            ],
+            "semantic_description": "Small beige hardware pieces including corner caps, side hinge-like connectors, and a front latch element, made of hard smooth material and positioned at edges, joints, and the front center as structural and closure hardware.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front purple part is a drawer front/handle area, not just decorative panel; olive hardware description color/material also mismatches visible metal latch/hinges."
+    }
+}

dataset/kitchen_supplies/storage/8cbbea651f36551997cc4379b46bb2ed/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85413c666439f6ef4cd4e5b66118296b2558105e839f58fe216bd46e1e39357a
+size 3793472

dataset/kitchen_supplies/storage/8cbbea651f36551997cc4379b46bb2ed/storage_bin_061.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>5</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":"Decorative/trim pieces are split across colors instead of coherent functional parts.","merge_groups":[{"colors":["Olive","Pink"],"target_part":"main body","reason":"corner trims and side panels form one storage body"},{"colors":["Violet","Pink"],"target_part":"front drawer/body face","reason":"drawer/front panel not functionally distinct here"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>