Add asset kitchen_supplies/storage/d64cc5dbf60e512095fd587c9a70080a

.gitattributes

@@ -7173,3 +7173,4 @@ dataset/kitchen_supplies/storage/ce4b7a2608125a81ba7921876170b090/affordance/mes
 dataset/kitchen_supplies/storage/d29ec18cf3f950e8a4209742c24f179b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d64cc5dbf60e512095fd587c9a70080a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d64cc5dbf60e512095fd587c9a70080a/affordance/affordance_annot.json

@@ -0,0 +1,138 @@
+{
+    "affordances": [
+        {
+            "part_name": "case body",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of the case to lift or reposition it",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "clamp the body to stabilize the case while manipulating the latch or lid",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support attached hardware",
+                "offer broad stabilization surfaces"
+            ],
+            "semantic_description": "Large dark charcoal to black rectangular case shell with a matte lightly pebbled leather-like texture, visible stitched seams, and rigid boxy walls forming most of the exterior.",
+            "id": 22,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper rim and lid edge band",
+            "mask_color": "Indigo",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front upper edge while opening the case after releasing the latch",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "hold the upper band to steady the case during closing",
+                    "confidence": 0.64
+                }
+            ],
+            "functional_labels": [
+                "form the upper opening boundary",
+                "support lid closure alignment",
+                "provide an edge for opening interaction"
+            ],
+            "semantic_description": "Dark band around the top perimeter and front upper edge of the case, matching the black textured exterior with stitched seams and framing the lid opening.",
+            "id": 25,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top carry handle",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top handle to lift and carry the case",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to pull or reposition the case on a surface",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide a carrying grip",
+                "lift the case",
+                "pull to reposition"
+            ],
+            "semantic_description": "Arched cream to light beige handle with a smooth finish, centered on the top panel and attached by small gold-toned mounts, serving as the main carrying feature.",
+            "id": 15,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front latch and clasp",
+            "mask_color": "Dark Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or pull the front latch to release and open the case",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "press or manipulate the clasp to secure the lid closed",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "secure the case closed",
+                "release the closure",
+                "provide front access control"
+            ],
+            "semantic_description": "Small gold or brass-toned front latch assembly with a slightly reflective hard finish, mounted at the center of the front face with a matching clasp component below.",
+            "id": 26,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner protectors",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corners",
+                "reinforce edges",
+                "reduce wear from impact"
+            ],
+            "semantic_description": "Cream-colored hard corner caps with a smooth slightly glossy finish and rounded shield-like shapes attached to the case corners.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side hardware strip",
+            "mask_color": "Burnt Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook or pinch the side hardware to help steady the case during handling",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "manipulate the side hardware if used as a strap attachment point",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "provide side hardware attachment",
+                "support accessory or strap connection",
+                "reinforce the side fitting area"
+            ],
+            "semantic_description": "Gold-toned elongated metal hardware mounted on the case side with a smooth reflective finish, appearing as a side fitting or attachment bracket rather than simple decorative trim.",
+            "id": 18,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Handle mask color and description are wrong; side hardware graspability is overstated and latch color mapping appears inconsistent."
+    }
+}

dataset/kitchen_supplies/storage/d64cc5dbf60e512095fd587c9a70080a/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a95b13527fd2144d9be7d5f51d6c1211582b3ecb47c55bc9d80c7175593d9d4
+size 5921096

dataset/kitchen_supplies/storage/d64cc5dbf60e512095fd587c9a70080a/storage_bin_025.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":"Not actionable: handle is split, trim/corners merged inconsistently, and side strips are mislabeled.","merge_groups":[{"colors":["Gray","Burnt Orange"],"target_part":"carrying handle and mounts","reason":"same handle assembly split across views"},{"colors":["Navy","Indigo"],"target_part":"edge trim and corner protectors","reason":"same protective hardware uses two colors"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>