Add asset kitchen_supplies/storage/4fa305c7c58250a482021cf3457eaa22

.gitattributes

@@ -7108,3 +7108,4 @@ dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/affordance/mes
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4fa305c7c58250a482021cf3457eaa22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4fa305c7c58250a482021cf3457eaa22/affordance/affordance_annot.json

@@ -0,0 +1,95 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing side walls to lift or reposition the storage box",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the body to stabilize the box while manipulating the lid or front latch",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main enclosure",
+                "support the lid",
+                "provide broad surfaces for handling"
+            ],
+            "semantic_description": "Main box-shaped container with very light pink to off-white woven-texture panels on the sides and lid center, matte finish, and broad slightly tapered walls forming the storage volume.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim and corner frame",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid top rim to lift or reposition the box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the upper frame to steady the box during opening or closing",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "reinforce the top opening",
+                "support the lid perimeter",
+                "protect upper edges and corners",
+                "provide a rigid handling rim"
+            ],
+            "semantic_description": "Pink rigid frame around the top opening and lid perimeter with rounded corner caps, likely plastic, smooth matte surface, forming a rectangular border around the box top.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom reinforcement strip",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the base",
+                "protect lower edges and feet",
+                "support contact with surfaces",
+                "improve stability at the bottom"
+            ],
+            "semantic_description": "Darker red to reddish-brown narrow strip and small lower corner/foot pieces along the bottom perimeter, likely hard plastic, with a smooth finish and thin protective profile.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch and side strap handles",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front rectangular latch tab to pull and open the box",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "grasp a side strap handle or hanging loop to pull or reposition the box",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide a pull point for opening",
+                "serve as small auxiliary handles or hanging straps",
+                "assist repositioning from the sides",
+                "secure or interface with decorative metal handle hardware"
+            ],
+            "semantic_description": "Small light-colored hardware pieces including a rectangular front pull tab and short side strap-like tabs near the upper side edges; smooth hard-looking surfaces, compact size, contrasting against the pink box.",
+            "id": 28,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Front latch grouped with side handles; mask shows metal side ring/strap hardware as separate dark red part, not Gainsboro."
+    }
+}

dataset/kitchen_supplies/storage/4fa305c7c58250a482021cf3457eaa22/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd909200985958e85efcaa3229ba020c214de70a0fb069a59be7ac307bdea398
+size 3833264

dataset/kitchen_supplies/storage/4fa305c7c58250a482021cf3457eaa22/storage_bin_085.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>4</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":"Handle and latch are missed and colors mix lid rim with corner feet/base; not fully fixable by merging.","merge_groups":[{"colors":["Maroon","White"],"target_part":"main body","reason":"maroon marks small body/base fragments on white walls"},{"colors":["Violet","Gainsboro"],"target_part":"top frame/lid rim","reason":"corner caps belong with the surrounding top rim"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>