Add asset kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f

.gitattributes

@@ -7115,4 +7115,4 @@ dataset/kitchen_supplies/storage/55d1d8d0bfbf584ca54fd029d8a98472/affordance/mes
 dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/5cff10b0d41054db9d2684471d67830c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/60475268886f5773865375991821801b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/affordance/affordance_annot.json

@@ -0,0 +1,51 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage bin body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the sidewalls to lift and carry the storage box",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "clamp the lower body to pull the box from a shelf",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold opposite sides of the body to stabilize the box while accessing the front drawers",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "support the overall structure",
+                "provide main grasp surface",
+                "protect contents",
+                "stabilize the box on a surface"
+            ],
+            "semantic_description": "Large box-like main body with light gray textured panels, tan frame members, and tan corner caps, mostly matte with a hard slightly pebbled surface, forming the outer shell and front drawer housing.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side corner frame trim",
+            "mask_color": "Dark Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce the side edge structure",
+                "protect the body corners and seams",
+                "connect the top and bottom frame sections"
+            ],
+            "semantic_description": "Narrow tan vertical frame/trim pieces along the upper side corners, with a smooth matte plastic-like finish, positioned on the side edges beneath the top corner caps rather than across the top surface.",
+            "id": 29,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Dark Red mask marks top panel and front-side corner strips, not only side corner trim; graspability also understated."
+    }
+}

dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b251d8d3bb492c0dc65f14c6c1b5ba22d1ba602e8563719622ace01c6e703a4
+size 3781308

dataset/kitchen_supplies/storage/5e59d77c9c5b511f8fe0525deed9fb6f/storage_bin_022.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":"Top lid is inconsistently split while latches and body are merged; merge cannot fix missing functional boundaries.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>