Add asset kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471

.gitattributes

@@ -7130,3 +7130,4 @@ dataset/kitchen_supplies/storage/8097bfe5c68b5e39a803192e0d8612f3/affordance/mes
 dataset/kitchen_supplies/storage/837fa2b414075a5ab9e3b27bd0f63db8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/85a077f86d465b3db922fe5120cbbcd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/83a00d1d25ff5467a3a91b17156090b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/affordance_annot.json

@@ -0,0 +1,92 @@
+{
+    "affordances": [
+        {
+            "part_name": "bin rim",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim to lift and carry the storage bin",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold the rim to reposition or pull the bin on a shelf",
+                    "confidence": 0.81
+                },
+                {
+                    "scenario": "pinch the rim to stabilize the bin while accessing contents",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide top-edge grip",
+                "stiffen the opening",
+                "support lifting and carrying",
+                "define the opening boundary"
+            ],
+            "semantic_description": "Thick white plastic top rim with a glossy smooth hard surface and scalloped outer edge, running around the large square opening at the top of the bin.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bin body",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposing side walls to pick up the storage bin",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold a side wall to slide or reposition the bin",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "support the bin from underneath by gripping the lower body edges",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "provide main structure",
+                "support decorative panels and drawers",
+                "enclose the interior volume"
+            ],
+            "semantic_description": "Large pastel pink plastic body with a glossy smooth hard surface, boxy tapered shape, and decorative floral drawer-like front panels forming the main container walls and base.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer fronts and knobs",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a drawer knob to pull the small drawer open",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "pinch a drawer front or recessed pull to open or close a compartment",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "use a knob or front edge to steady the bin during manipulation",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "open small drawers",
+                "provide pulling points",
+                "access stored contents",
+                "organize small items"
+            ],
+            "semantic_description": "Small pastel drawer faces and round knobs in mixed cream, pink, blue, and green plastic with smooth glossy surfaces, located on the upper front area and decorated with floral patterns.",
+            "id": 15,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:097c488b23063ce69a544437656134596e14c2b50d8ed24f72b086dd6c1d1de8
+size 3843812

dataset/kitchen_supplies/storage/873adb00db9b533eb4f210a066c93471/storage_bin_104.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>3</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":"Different functional parts are merged and split inconsistently; drawer fronts and side panels are grouped with bin body.","merge_groups":[]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>