Add asset kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6

.gitattributes

@@ -7148,3 +7148,4 @@ dataset/kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736/affordance/mes
 dataset/kitchen_supplies/storage/a0a8e0bcb1385a57af1e26f06868165b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/a82c4fe1ced959e1beb599c04ec24784/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/a6cc9841f9cf57b9b521b310abbe772d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6/affordance/affordance_annot.json

@@ -0,0 +1,201 @@
+{
+    "affordances": [
+        {
+            "part_name": "top rim",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim from opposite sides to lift or reposition the bin",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the rim to stabilize the bin while placing items inside",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "stiffen the opening",
+                "provide a lifting edge",
+                "support top opening shape",
+                "stabilize the bin walls"
+            ],
+            "semantic_description": "Wide sage-green plastic rim with a matte slightly textured finish, running around the top perimeter as a thick reinforcing lip.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9591872692108154,
+                    "position": [
+                        -0.1555868163704872,
+                        -0.04050348693272099,
+                        0.2363801058381796
+                    ],
+                    "orientation": {
+                        "w": 0.022792108773087117,
+                        "xyz": [
+                            -0.00038981110146684843,
+                            -0.9997291895562828,
+                            0.004681385918562394
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9569366574287415,
+                    "position": [
+                        0.1555038020014763,
+                        0.04251620179275051,
+                        0.21196233294904232
+                    ],
+                    "orientation": {
+                        "w": 0.004025166635350364,
+                        "xyz": [
+                            -0.02439204932685957,
+                            0.992311743671128,
+                            -0.12126924315571361
+                        ]
+                    }
+                },
+                "grasp_3": {
+                    "confidence": 0.9533815383911133,
+                    "position": [
+                        -0.16779140383005142,
+                        -0.008543766045477241,
+                        0.22717376612126827
+                    ],
+                    "orientation": {
+                        "w": 0.011868631411025959,
+                        "xyz": [
+                            0.015825271221696212,
+                            -0.9996204214853665,
+                            0.01917574844973134
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.951137125492096,
+                    "position": [
+                        -0.15782759338617325,
+                        0.007118674053344876,
+                        0.23147126100957394
+                    ],
+                    "orientation": {
+                        "w": 0.021573016082899573,
+                        "xyz": [
+                            -0.00222239222865445,
+                            -0.9976818771446057,
+                            0.06450223226435615
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9454389214515686,
+                    "position": [
+                        -0.1561923250555992,
+                        -0.023641440959181637,
+                        0.23068571649491787
+                    ],
+                    "orientation": {
+                        "w": 0.19928035790405244,
+                        "xyz": [
+                            -0.9792781985393761,
+                            -0.005498504299876916,
+                            -0.03565550826410085
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9451941251754761,
+                    "position": [
+                        -0.15875787287950516,
+                        -0.009221964457537979,
+                        0.22736442647874355
+                    ],
+                    "orientation": {
+                        "w": 0.1450995898212992,
+                        "xyz": [
+                            -0.9885573447477699,
+                            -0.015570379743590684,
+                            -0.03818440065746999
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side wall body",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to pick up the lightweight empty bin",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold a side wall to steady the bin during insertion onto a shelf",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the main enclosure",
+                "support side openings and front pull feature",
+                "provide external contact surfaces"
+            ],
+            "semantic_description": "Large tapered sage-green plastic body panels with a matte finish and smooth hard surface, decorated with pale floral patchwork graphics on the outer sides.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle opening",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the side handle opening to pull the bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "grasp through the side handle opening to lift one side of the bin",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "provide side grip",
+                "enable pulling from shelves",
+                "assist lifting and carrying",
+                "define a handhold opening"
+            ],
+            "semantic_description": "Rounded rectangular side hand-hole opening near the upper side wall, with a beige trim surrounding a dark recessed opening.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front pull handle",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front pull handle to pull the bin outward from storage",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the front pull handle to orient the front face during placement",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "provide a front pull grip",
+                "assist retrieval from shelves",
+                "indicate the bin front",
+                "offer a handhold for repositioning"
+            ],
+            "semantic_description": "Small sage-green plastic pull handle mounted near the upper center of one exterior wall, with a matching sage-green mounting frame and matte finish.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea5726d455062007aceb4c0bcc3b19aa96915633eb634c42f1001ef19b1648a7
+size 3826144

dataset/kitchen_supplies/storage/ab185f8cbe715be3968dfb1ca009c7e6/storage_bin_100.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>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>