Add asset kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7

.gitattributes

@@ -7109,4 +7109,4 @@ dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/affordance/mes
 dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/4ef0585ad3535cc3b10d9df0ae880bda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/529a38be95275c82bcbab6b941208a70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/52bc7476808253dbab92ecb1d856469f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7/affordance/affordance_annot.json

@@ -0,0 +1,122 @@
+{
+    "affordances": [
+        {
+            "part_name": "storage bin body panels",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side panels to lift and relocate the storage bin",
+                    "confidence": 0.85
+                },
+                {
+                    "scenario": "hold a side or front panel to stabilize the bin while another tool opens the lid",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "form the lid and body walls",
+                "enclose contents",
+                "provide broad support surfaces",
+                "serve as primary surfaces for lifting and carrying"
+            ],
+            "semantic_description": "Large off-white or cream panels with a matte finish and fine pebbled leather-like texture, forming the lid, front, back, sides, and lower body of the rectangular storage bin.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_17": {
+                    "confidence": 0.7783020734786987,
+                    "position": [
+                        0.14441535994410515,
+                        -0.0589051425922662,
+                        -0.1948932884261012
+                    ],
+                    "orientation": {
+                        "w": 0.9946270355284458,
+                        "xyz": [
+                            -0.10152469674505331,
+                            -0.015987742927441984,
+                            -0.012417255043139215
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "edge trim and corner protectors",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the rigid upper rim or edge trim to slightly reposition or steady the bin",
+                    "confidence": 0.6
+                },
+                {
+                    "scenario": "hold a corner protector area to stabilize the box during handling",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "reinforce edges",
+                "protect corners from wear",
+                "provide structural rigidity",
+                "help maintain lid and body alignment"
+            ],
+            "semantic_description": "Narrow brown edge trim with beige corner caps and protectors, likely rigid plastic or leather-covered reinforcement pieces, with smooth slightly matte surfaces running along the bin edges and corners.",
+            "id": 17,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.4613952040672302,
+                    "position": [
+                        -0.008012308739125729,
+                        0.16119035030715168,
+                        0.2120254011824727
+                    ],
+                    "orientation": {
+                        "w": 0.03892708456711441,
+                        "xyz": [
+                            -0.7241108636765546,
+                            -0.6884400471395312,
+                            0.014086897714512943
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.3852098882198334,
+                    "position": [
+                        -0.04303113743662834,
+                        0.1539883508812636,
+                        0.21068995911628008
+                    ],
+                    "orientation": {
+                        "w": 0.04216477191137778,
+                        "xyz": [
+                            -0.7261921078273343,
+                            -0.686180772350727,
+                            0.004806474291435993
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.36224621534347534,
+                    "position": [
+                        -0.0030093220993876457,
+                        0.13667527283541858,
+                        0.20679931063205004
+                    ],
+                    "orientation": {
+                        "w": 0.08115079969666407,
+                        "xyz": [
+                            0.687324693503047,
+                            -0.7173329962073475,
+                            -0.08020402709168695
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow part wrongly includes lid; body-panel function and description are inaccurate and omit visible front latch/handle hardware."
+    }
+}

dataset/kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d1b02a043d9a934592c5f859cff2d3e165310a0262474499556181e66631309
+size 3804560

dataset/kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7/storage_bin_040.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":"Latch and side handle are unsegmented; only body and trim are separated, which misses clear functional parts.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>