Add asset kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b

.gitattributes

@@ -7444,3 +7444,4 @@ dataset/kitchen_supplies/utensils/62532811104d5fadad69ca298ef4db5e/affordance/me
 dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.426455974578857</ImageAestheticChecker>
          <overall>NO</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>43</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <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>
    </custom_data>
 </robot>

dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/affordance/affordance_annot.json

@@ -0,0 +1,180 @@
+{
+    "affordances": [
+        {
+            "part_name": "top rim",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift or reposition the basket when empty or lightly loaded",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the basket during loading or unloading",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "define the basket opening",
+                "reinforce the top edge",
+                "provide a gripping edge"
+            ],
+            "semantic_description": "Continuous silver metal wire rim with a smooth slightly reflective finish, forming a rounded rectangular top edge around the basket opening.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_15": {
+                    "confidence": 0.12121747434139252,
+                    "position": [
+                        0.07925961725413799,
+                        -0.07454596876050346,
+                        -0.17916090600192547
+                    ],
+                    "orientation": {
+                        "w": 0.9910382130025039,
+                        "xyz": [
+                            -0.09247544957926641,
+                            0.0824389848465763,
+                            -0.04995363221410717
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.1075114756822586,
+                    "position": [
+                        -0.03488495294004679,
+                        0.008673251169966534,
+                        0.034553246572613716
+                    ],
+                    "orientation": {
+                        "w": 0.8171161865474229,
+                        "xyz": [
+                            0.11269658958090487,
+                            -0.5482891328399463,
+                            0.13783919322402466
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "swing handle",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the basket",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "pull the handle upright before transport",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hold the raised handle to move the basket while keeping distance from contents",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "carry the basket",
+                "lift the basket",
+                "pivot down for storage",
+                "provide a dedicated handhold"
+            ],
+            "semantic_description": "Arched silver metal wire handle with a smooth reflective finish, spanning across the basket as a movable carrying loop.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle side support loop",
+            "mask_color": "Yellow Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the side support loop to steady the basket briefly during handling",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "use the loop as a secondary grasp point for small adjustments",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "support the handle pivot",
+                "brace the upper side",
+                "add local structural stiffness"
+            ],
+            "semantic_description": "Small curved silver metal wire loop near the upper side corner, connecting the handle area to the basket frame as a support feature.",
+            "id": 33,
+            "grasp_group": {
+                "grasp_52": {
+                    "confidence": 0.34999334812164307,
+                    "position": [
+                        -0.14008829183876514,
+                        -0.16780994503642432,
+                        0.09822842665016651
+                    ],
+                    "orientation": {
+                        "w": 0.5689821410851704,
+                        "xyz": [
+                            -0.7365530615562568,
+                            0.3457989536297532,
+                            0.11904618560377427
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.39083752036094666,
+                    "position": [
+                        -0.1305615622550249,
+                        -0.18067741065169685,
+                        0.06790739484131336
+                    ],
+                    "orientation": {
+                        "w": 0.06378688422805888,
+                        "xyz": [
+                            -0.1929653932810325,
+                            -0.7308849051602523,
+                            -0.6515388290848539
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.9368496537208557,
+                    "position": [
+                        -0.04053846374154091,
+                        0.10682721764896996,
+                        0.1345916260033846
+                    ],
+                    "orientation": {
+                        "w": 0.270914095576622,
+                        "xyz": [
+                            0.7957989381187313,
+                            -0.4975056069718996,
+                            -0.21400414467603748
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.9300724267959595,
+                    "position": [
+                        -0.03279306972399354,
+                        0.10843266130541451,
+                        0.12922235019505024
+                    ],
+                    "orientation": {
+                        "w": 0.2698006018072739,
+                        "xyz": [
+                            -0.4573475320230427,
+                            -0.7928440308629251,
+                            0.29906389441370884
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:004ef4ec8f1b527d88aa3e054458960671f66ea7e5109ad68d4b147925831cfb
+size 754340