Add asset kitchen_supplies/storage/a82c4fe1ced959e1beb599c04ec24784

.gitattributes

@@ -7146,3 +7146,4 @@ dataset/kitchen_supplies/storage/9ff222208333598e8359fb0846996d23/affordance/mes
 dataset/kitchen_supplies/storage/9bba3c4648165defbe9321d75436d38e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/a332f0b7769d58edae7f46073f4a6736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/a82c4fe1ced959e1beb599c04ec24784/affordance/affordance_annot.json

@@ -0,0 +1,95 @@
+{
+    "affordances": [
+        {
+            "part_name": "frame rails and edge trim",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim rail to lift and carry the bin",
+                    "confidence": 0.86
+                },
+                {
+                    "scenario": "hold a side frame rail to pull or reposition the bin",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "pinch a corner section of the frame to stabilize the bin while accessing contents",
+                    "confidence": 0.7
+                }
+            ],
+            "functional_labels": [
+                "provide structural reinforcement",
+                "support lifting and carrying",
+                "protect edges and corners",
+                "stabilize the bin shape",
+                "offer a gripping boundary"
+            ],
+            "semantic_description": "Gray wood-like frame rails with tan protective corner caps, hard matte surfaces, slight wood grain, and medium-thick members wrapping the top rim, vertical edges, and lower edges of the bin.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main enclosure panels",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the recessed handhold opening on the yellow end panel to lift or pull the bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hold the lower yellow panel area to steady the bin during placement",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "contain contents",
+                "form the enclosure surfaces",
+                "provide base support",
+                "support stacked load",
+                "define the bin body",
+                "provide a handhold on the end panel"
+            ],
+            "semantic_description": "Large light gray hard panels with a matte finish and irregular cracked-stone or pebbled texture, visible on the top, bottom, and end faces; one yellow-masked end panel includes a centered recessed handhold cutout.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_2": {
+                    "confidence": 0.6961695551872253,
+                    "position": [
+                        0.017760937684215605,
+                        0.21623146370984614,
+                        -0.07912426441907883
+                    ],
+                    "orientation": {
+                        "w": 0.6007564089644535,
+                        "xyz": [
+                            0.42739468130127545,
+                            0.5370783810386061,
+                            -0.40984428275195595
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "contain contents",
+                "form side enclosure",
+                "provide contact surface for pushing",
+                "help maintain overall rigidity"
+            ],
+            "semantic_description": "Light gray hard side panel with a matte finish and fine irregular pebbled texture, forming the longer side wall of the storage bin without a handhold opening.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Yellow and magenta part identities/functions are mismatched; handhold assigned to wrong panel and top/bottom grouped incorrectly."
+    }
+}

dataset/kitchen_supplies/storage/a82c4fe1ced959e1beb599c04ec24784/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86471436fc180f69b6c645fd540d1da6baa83d9ef83f451ef39916309a1d6357
+size 3786244

dataset/kitchen_supplies/storage/a82c4fe1ced959e1beb599c04ec24784/storage_bin_013.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>