Add asset kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62

.gitattributes

@@ -7460,3 +7460,4 @@ dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/affordance/me
 dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.urdf

@@ -42,16 +42,17 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.506392478942871</ImageAestheticChecker>
          <overall>NO</overall>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Over-fragmented basket; many colors split the same body wires and rim with no distinct functions.","merge_groups":[{"colors":["Lime Green","Maroon","Navy","Gainsboro","Dark Red","Midnight Blue","Dark Slate Blue","Light Sea Green","Orchid","Light Steel Blue","Dark Khaki","Turquoise","Dark Violet","Light Coral","Medium Slate Blue","Moccasin","Slate Gray","Aquamarine"],"target_part":"basket body lattice","reason":"all are repeated wire segments of one holder body"},{"colors":["Orange","Dark Khaki"],"target_part":"main body/rim","reason":"rim and base shell are one continuous basket structure"}]}</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>19</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/92bf2332f2ba550e8c26e9278d90fd62/affordance/affordance_annot.json

@@ -0,0 +1,150 @@
+{
+    "affordances": [
+        {
+            "part_name": "basket rim and outer frame",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper rim to lift and carry the basket",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the side frame to reposition the basket on a counter or in a sink",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "stabilize the basket by clamping the outer rim during loading or unloading",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "support the basket structure",
+                "provide main grasp surface",
+                "define the open top boundary",
+                "reinforce the side walls"
+            ],
+            "semantic_description": "Large black plastic outer frame with a matte to slightly satin finish, smooth hard surface, and rounded rectangular shape forming the top rim, corners, and main perimeter of the basket.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "raised interior platform",
+            "mask_color": "Moccasin",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items above the lower grid",
+                "help separate contents from the bottom area",
+                "promote drainage and airflow",
+                "stiffen the interior structure"
+            ],
+            "semantic_description": "Flat black plastic platform integrated into one end of the basket interior, with a matte smooth surface and rectangular shape, appearing molded as part of the basket rather than a removable tray.",
+            "id": 46,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front wall slats",
+            "mask_color": "Dark Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain utensils or items",
+                "form side barrier",
+                "allow airflow and drainage",
+                "reduce weight"
+            ],
+            "semantic_description": "Thin black plastic vertical rods with a hard smooth finish arranged across the front wall, creating an open lattice that helps contain contents while leaving gaps for drainage.",
+            "id": 29,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "back wall slats",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain utensils or items",
+                "form side barrier",
+                "allow airflow and drainage",
+                "reduce weight"
+            ],
+            "semantic_description": "Thin black plastic vertical rods on the back wall with a matte smooth texture, forming an open retaining barrier below the upper cutout area.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "left wall slats",
+            "mask_color": "Light Sea Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain contents",
+                "form side barrier",
+                "allow airflow and drainage",
+                "reduce weight"
+            ],
+            "semantic_description": "Narrow black plastic vertical bars on the left side wall with a hard smooth finish, contributing to the open basket structure and side containment.",
+            "id": 36,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "right wall slats",
+            "mask_color": "Light Steel Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "retain contents",
+                "form side barrier",
+                "allow airflow and drainage",
+                "reduce weight"
+            ],
+            "semantic_description": "Narrow black plastic vertical bars on the right side wall with a matte smooth surface, forming part of the open lattice that keeps contents inside.",
+            "id": 38,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom grid",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support stored items",
+                "permit drainage",
+                "reduce contact area",
+                "form basket floor"
+            ],
+            "semantic_description": "Black plastic grid at the basket bottom with a hard smooth finish and square lattice openings, spanning most of the interior floor to support contents while letting water pass through.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear upper crossbar below cutout",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or hook the rear upper crossbar to pull or reposition the basket",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "use the bar as a light stabilizing contact while orienting the basket",
+                    "confidence": 0.46
+                }
+            ],
+            "functional_labels": [
+                "reinforce the rear wall opening",
+                "support the rear wall structure",
+                "help maintain basket shape",
+                "provide a minor pull point"
+            ],
+            "semantic_description": "Short black plastic horizontal bar across the upper rear wall just below the semicircular cutout, with a smooth matte finish and molded integral shape connecting the rear vertical slats.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several wall-slat parts are actually graspable basket sides/rim; graspability labels are too strict for robotic manipulation."
+    }
+}

dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a06a70c65cd2232eb4b22bc10c020c07ed7c646c3b2b9ac92bc6f704544ab4
+size 763740