Add asset kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df

.gitattributes

@@ -7155,3 +7155,4 @@ dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/affordance/mes
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/b138efeab8795782be4d598d05695934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/affordance_annot.json

@@ -0,0 +1,121 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls to lift or relocate the storage bin",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "grasp opposite side walls to stabilize the bin during placement",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main structure",
+                "support the base and side walls",
+                "provide broad grasp surfaces"
+            ],
+            "semantic_description": "Large tapered light sage-green plastic body with a matte smooth hard surface, open-top box shape, decorative floral side panels, and the main volume of the bin below the rim.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.8616173267364502,
+                    "position": [
+                        -0.20478759985417128,
+                        -0.012216945178806782,
+                        -0.07659664936363697
+                    ],
+                    "orientation": {
+                        "w": 0.715090443906628,
+                        "xyz": [
+                            0.016818650685310025,
+                            0.6957061286918467,
+                            -0.06599827666803519
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8573119640350342,
+                    "position": [
+                        -0.21187520306557417,
+                        0.010616860585287213,
+                        -0.08412925340235233
+                    ],
+                    "orientation": {
+                        "w": 0.7474228334771826,
+                        "xyz": [
+                            0.025680039561713275,
+                            0.6638234323045493,
+                            0.0061720570685343265
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "top rim",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the reinforced rim from the top edge to lift the empty or lightly loaded bin",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the front rim cutout area to pull the bin from a shelf",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while inserting or removing contents",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "reinforce the opening",
+                "provide an upper grip",
+                "define the opening boundary",
+                "help pull the bin from storage"
+            ],
+            "semantic_description": "Thick light green plastic rim with a matte smooth hard finish, running around the top perimeter with shallow cutout notches and a broad rectangular lip above the bin walls.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle to pull the bin outward from a shelf",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the handle to reposition or carry the bin one side at a time",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "use the handle to steady the bin while loading or unloading items",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide a pulling grip",
+                "assist carrying",
+                "help reposition the bin",
+                "stabilize during access"
+            ],
+            "semantic_description": "Small beige plastic pull handle with a matte slightly rounded hard surface, mounted on the upper side panel near the front and shaped as a short rectangular loop or tab.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d120e5839f72c41f3d60b35b6002faf4c1f67493aca955413a45c81835993a7
+size 3934976

dataset/kitchen_supplies/storage/b3565798b8c158c38a1eafbb010137df/storage_bin_111.urdf

@@ -57,6 +57,7 @@
                <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>YES</PartSegChecker>